{"id":12322,"date":"2024-07-03T16:55:54","date_gmt":"2024-07-03T08:55:54","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12322"},"modified":"2024-07-03T16:55:54","modified_gmt":"2024-07-03T08:55:54","slug":"2024-07-03-cvpr-2024-%e5%9b%bd%e9%99%85%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%8c%91%e6%88%98%e8%b5%9b%e7%ac%ac%e4%b8%80%e5%90%8d%ef%bc%81%e6%97%a0%e5%9b%be%e8%a7%a3%e5%86%b3%e6%96%b9%e6%a1%88","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/03\/12322\/","title":{"rendered":"2024-07-03 CVPR 2024 \u56fd\u9645\u81ea\u52a8\u9a7e\u9a76\u6311\u6218\u8d5b\u7b2c\u4e00\u540d\uff01\u65e0\u56fe\u89e3\u51b3\u65b9\u6848 \uff01"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"242\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-22-1024x242.png\" alt=\"\" class=\"wp-image-12323\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-22-1024x242.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-22-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-22-768x181.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-22.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>1 Introduction<\/strong><\/p>\n\n\n\n<p>\u9ad8\u6e05\u6670\u5ea6\uff08HD\uff09\u5730\u56fe\u662f\u4e3a\u9ad8\u7cbe\u5ea6\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u7684\uff0c\u5b83\u5305\u542b\u5b9e\u4f8b Level \u7684\u77e2\u91cf\u8868\u793a\uff0c\u5982\u4eba\u884c\u6a2a\u9053\u3001\u8f66\u9053\u5206\u9694\u7ebf\u3001\u9053\u8def\u8fb9\u754c\u7b49\u3002\u9053\u8def\u62d3\u6251\u548c\u4ea4\u901a\u89c4\u5219\u7684\u4e30\u5bcc\u8bed\u4e49\u4fe1\u606f\u5bf9\u81ea\u52a8\u9a7e\u9a76\u5bfc\u822a\u81f3\u5173\u91cd\u8981\u3002\u65e0\u5730\u56fe\u9a7e\u9a76\u8f68\u8ff9[2]\u65e8\u5728\u4ece\u8f66\u8f7d\u5468\u56f4\u6444\u50cf\u5934\u56fe\u50cf\u548cSD\u5730\u56fe\u52a8\u6001\u6784\u5efa\u5c40\u90e8HD\u5730\u56fe\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u591a\u9636\u6bb5\u6846\u67b6\uff0c\u5c062D\/3D\u5143\u7d20\u68c0\u6d4b\u548c\u62d3\u6251\u9884\u6d4b\u4efb\u52a1\u89e3\u8026\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u4e09\u4e2a\u65b9\u9762\u6765\u5e94\u5bf9\u7ade\u4e89\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u4ece\u8fd1\u5230\u8fdc\u7684\u878d\u5408\u3002\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u65b9\u6cd5\uff0c\u5c06\u524d\u5411\u6295\u5f71\u548c\u540e\u5411\u6295\u5f71\u7b56\u7565\u4e0eSD\u5730\u56fe\u878d\u5408\u548c\u6df1\u5ea6\u76d1\u7763\u76f8\u7ed3\u5408\u3002<\/li>\n\n\n\n<li>\u4ece\u5c40\u90e8\u5230\u5168\u5c40\u7684\u878d\u5408\u3002\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u6d41\u7a0b\uff0c\u9002\u7528\u4e8e\u77ed\u8ddd\u79bb\u548c\u957f\u8ddd\u79bb\uff0c\u6574\u5408\u4e86\u6d41\u5f0f\u7b56\u7565\u548c\u5806\u53e0\u7b56\u7565\u3002<\/li>\n\n\n\n<li>\u4eba\u884c\u6a2a\u9053\u91cd\u91c7\u6837\u3002\u4f5c\u8005\u5c06\u4eba\u884c\u6a2a\u9053\u7b80\u5316\u4e3a4\u4e2a\u89d2\u70b9\uff0c\u7136\u540e\u5728\u6bcf\u6761\u8fb9\u4e0a\u5747\u5300\u91c7\u68376\u4e2a\u70b9\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>2 Method<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u4ecb\u7ecd\u4e86\u4f5c\u8005\u65b9\u6cd5\u7684\u5177\u4f53\u7ec6\u8282\u3002\u4f5c\u8005\u9996\u5148\u4ecb\u7ecdLGmap\u67b6\u6784\u7684\u4e3b\u8981\u6d41\u7a0b\uff0c\u5982\u56fe1\u6240\u793a\u3002\u7136\u540e\u5448\u73b0\u533a\u57df\u7ec4\u4ef6\u548c\u8f66\u9053\u7ebf\u6bb5\u7ec4\u4ef6\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u4ea4\u901a\u5143\u7d20\u3002\u6700\u540e\uff0c\u4f5c\u8005\u63cf\u8ff0\u4e86\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u62d3\u6251\u63a8\u7406\u5934\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"448\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-23-1024x448.png\" alt=\"\" class=\"wp-image-12324\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-23-1024x448.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-23-300x131.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-23-768x336.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-23.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h6 class=\"wp-block-heading\">Pipeline<\/h6>\n\n\n\n<h6 class=\"wp-block-heading\">2.1.1 Encoder<\/h6>\n\n\n\n<p>\u4e3b\u8981\u6709\u4e24\u79cd\u89c6\u56fe\u53d8\u6362\u7c7b\u578b\uff0c\u6b63\u5411\u6295\u5f71\u548c\u53cd\u5411\u6295\u5f71\u3002Lift-Splat-Shoot (LSS)[4] \u5229\u7528\u6df1\u5ea6\u5206\u5e03\u6765\u6a21\u62df\u6bcf\u4e2a\u50cf\u7d20\u6df1\u5ea6\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u4f46\u6b63\u5411\u6295\u5f71\u7684\u7f3a\u70b9\u662f\u79bb\u6563\u4e14\u7a00\u758f\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u3002BEVFormer [5] \u5c063D\u70b9\u53cd\u5411\u6295\u5f71\u56de2D\u56fe\u50cf\u3002\u4f5c\u4e3a\u4e00\u79cd\u53cd\u5411\u6295\u5f71\uff0cBEVFormer\u7684\u4e00\u4e2a\u5c40\u9650\u6027\u662f\u7531\u4e8e\u906e\u6321\u5bfc\u81f4\u76843D\u4e0e2D\u7a7a\u95f4\u4e4b\u95f4\u7684\u865a\u5047\u76f8\u5173\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u4e00\u79cd\u5bf9\u79f0\u89c6\u56fe\u53d8\u6362\u3002\u6bcf\u4e2a\u76f8\u673a\u7684\u6df1\u5ea6\u56fe\u662f\u4ece\u4e0e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u540c\u6b65\u751f\u6210\u7684\u3002LSS\u53ea\u5728\u8bad\u7ec3\u9636\u6bb5\u4f7f\u7528\u6df1\u5ea6\u76d1\u7763\u3002\u7ed9\u5b9a\u573a\u666f\u7684SD\u56fe\uff0c\u4f5c\u8005\u6cbf\u7740\u6bcf\u6761\u591a\u6bb5\u7ebf\u5747\u5300\u91c7\u6837\u56fa\u5b9a\u6570\u91cf\u7684\u70b9\u3002\u901a\u8fc7\u6b63\u5f26\u5d4c\u5165\uff0cBEVFormer\u5728\u6bcf\u4e2a\u7f16\u7801\u5668\u5c42\u5c06SD\u56fe\u7684\u7279\u6027\u8868\u793a\u4e0e\u6765\u81ea\u89c6\u89c9\u8f93\u5165\u7684\u7279\u6027\u4e4b\u95f4\u5e94\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u3002\u4e3a\u4e86\u878d\u5408BEV\u8868\u793a\uff0c\u4f5c\u8005\u4f7f\u7528\u4e86\u57fa\u4e8e\u901a\u9053\u6ce8\u610f\u529b\u7684\u878d\u5408\u6a21\u5757\u3002<\/p>\n\n\n\n<p><strong>2.1.2 Decoder<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5904\u7406\u5177\u6709\u4e0d\u540c\u5f62\u72b6\u5148\u9a8c\u7684\u4e0d\u540c\u5730\u56fe\u5143\u7d20\uff0c\u4f5c\u8005\u6269\u5c55\u4e86\u5b9e\u4f8b\u7ea7\u68c0\u6d4b\u89e3\u7801\u5668\uff0c\u589e\u52a0\u4e86\u989d\u5916\u7684\u5206\u5272\u4efb\u52a1\u3002\u57fa\u4e8e\u7edf\u4e00 Transformer \u7684\u5b9e\u4f8b\u68c0\u6d4b\u548c\u5206\u5272\u89e3\u7801\u5668\u4ece\u50cf\u7d20\u7ea7\u5206\u7c7b\u4efb\u52a1\u548c\u533a\u57df\u7ea7\u56de\u5f52\u4efb\u52a1\u4e2d\u53d7\u76ca\u3002\u989d\u5916\u7684\u5206\u5272\u5206\u652f\u52a0\u5feb\u4e86\u5b9e\u4f8b\u7ea7\u7279\u5f81\u5d4c\u5165\u7684\u6536\u655b\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>2.1.3 Temporal fusion<\/strong><\/p>\n\n\n\n<p>\u6d41\u5f0f\u7b56\u7565\u6709\u52a9\u4e8e\u66f4\u957f\u65f6\u95f4\u7684\u65f6\u95f4\u5173\u8054\uff0c\u56e0\u4e3a\u4f20\u64ad\u7684\u9690\u85cf\u72b6\u6001\u7f16\u7801\u4e86\u6240\u6709\u5386\u53f2\u4fe1\u606f\u3002\u4f46\u662f\uff0c\u50cfconvGRU [6]\u8fd9\u6837\u7684\u65f6\u95f4\u878d\u5408\u5668\u4ecd\u53ef\u80fd\u9762\u4e34\u9057\u5fd8\u95ee\u9898\u3002\u5806\u53e0\u7b56\u7565\u53ef\u80fd\u6574\u5408\u6765\u81ea\u7279\u5b9a\u5148\u524d\u5e27\u7684\u7279\u5f81\uff0c\u63d0\u4f9b\u4e86\u5728\u957f\u8ddd\u79bb\u4fe1\u606f\u878d\u5408\u4e2d\u7684\u7075\u6d3b\u6027\u3002\u8ba1\u7b97\u6210\u672c\u4e0e\u878d\u5408\u7684\u5e27\u6570\u7ebf\u6027\u76f8\u5173\u3002\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5206\u5c42\u65f6\u95f4\u878d\u5408\uff08HTF\uff09\u3002\u5206\u5c42\u65f6\u95f4\u878d\u5408\u5145\u5206\u5229\u7528\u4e86\u6d41\u5f0f\u7b56\u7565\u7684\u5c40\u90e8\u878d\u5408\u80fd\u529b\u548c\u5806\u53e0\u7b56\u7565\u7684\u957f\u8ddd\u79bb\u878d\u5408\u80fd\u529b\u3002\u4e0e\u5806\u53e0\u7b56\u7565\u76f8\u6bd4\uff0c\u5b83\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c11\u4e86\u5185\u5b58\u548c\u5ef6\u8fdf\u6210\u672c\u3002\u5728\u8fd9\u91cc\uff0c\u4f5c\u8005\u4ecb\u7ecd\u4e86HTF\u7684\u4e24\u4e2a\u53d8\u4f53\uff0c\u5373\u6d41\u5f0f-\u6d41\u5f0f\u7b56\u7565\u548c\u6d41\u5f0f-\u5806\u53e0\u7b56\u7565\uff0c\u5982\u56fe2\u6240\u793a\u3002\u5bf9\u4e8e\u6d41\u5f0f-\u5806\u53e0\u7b56\u7565\uff0c\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u4f5c\u8005\u4ece\u6700\u65b0\u7684M\u4e2a\u5148\u524d\u5e27\u4e2d\u968f\u673a\u9009\u62e9N\u5e27\u7528\u4e8e\u5806\u53e0\u6a21\u5f0f\u5c42\u3002\u5728\u6d4b\u8bd5\u9636\u6bb5\uff0c\u901a\u8fc7\u4e00\u5b9a\u7684\u8ddd\u79bb\u6b65\u957f\u9009\u62e9N\u5e27\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"807\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-24.png\" alt=\"\" class=\"wp-image-12325\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-24.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-24-286x300.png 286w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<p><strong>2.1.4 Loss functions<\/strong><\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u4e0eMapTR [8]\u76f8\u540c\u7684\u5206\u7c7b\u635f\u5931\u3001\u70b9\u5bf9\u70b9\u635f\u5931\u548c\u8fb9\u7f18\u65b9\u5411\u635f\u5931\u3002\u5176\u6b21\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u4e0eMapTRv2 [9]\u76f8\u540c\u7684\u56fe\u50cf\u5206\u5272\u8f85\u52a9\u5bc6\u96c6\u9884\u6d4b\u635f\u5931\u548c\u6df1\u5ea6\u9884\u6d4b\u635f\u5931\u3002\u7b2c\u4e09\uff0c\u4f5c\u8005\u91c7\u7528\u4e86BEV\u5b9e\u4f8b\u5206\u5272\u635f\u5931\u3002\u6700\u540e\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u51e0\u4f553D\u635f\u5931\u3002\u4e0e\u5ffd\u7565Z\u8f74\u7684GeMap [10]\u7684\u51e0\u4f55\u635f\u5931\u4e0d\u540c\uff0c\u4f5c\u8005\u5c06\u6b27\u51e0\u91cc\u5f97\u635f\u5931\u7684\u7ef4\u5ea6\u4ece2D\u6269\u5c55\u52303D\u3002### \u533a\u57df<\/p>\n\n\n\n<p>\u53d7\u5230Machmap [11]\u7684\u542f\u53d1\uff0c\u4f5c\u8005\u5c06\u4eba\u884c\u6a2a\u9053\u7b80\u5316\u4e3a\u56db\u4e2a\u89d2\u3002\u7136\u540e\u5c06\u8fd9\u56db\u4e2a\u89d2\u7edf\u4e00\u4e3aMapTR\u5f62\u5f0f\u7684N\u4e2a\u70b9\u3002\u4e3b\u8981\u533a\u522b\u5728\u4e8eMapTR\u4f7f\u752820\u4e2a\u5747\u5300\u91c7\u6837\u7684\u70b9\uff0cMachMap\u4f7f\u75284\u4e2a\u70b9\uff0c\u800c\u4f5c\u8005\u6cbf\u7740\u6bcf\u6761\u8fb9\u5747\u5300\u91c7\u68376\u4e2a\u70b9\uff0c\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"778\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-25.png\" alt=\"\" class=\"wp-image-12326\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-25.png 778w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-25-300x88.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-25-768x226.png 768w\" sizes=\"(max-width: 778px) 100vw, 778px\" \/><\/figure>\n\n\n\n<p>\u4f5c\u8005\u7684\u4eba\u884c\u6a2a\u9053\u8868\u793a\u4fdd\u7559\u4e86\u56db\u4e2a\u89d2\u4f5c\u4e3a\u5173\u952e\u70b9\uff0c\u8fd9\u4e9b\u662f\u57fa\u672c\u7684\u5f62\u72b6\u5148\u9a8c\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0c\u4eba\u884c\u6a2a\u9053\u7684\u6392\u5217\u6bd4MapTR\u7b80\u5355\u3002\u4e0e\u4e00\u4e2a20\u4e2a\u70b9\u7684\u591a\u8fb9\u5f62MapTR\u768440\u4e2a\u7b49\u6548\u6392\u5217\u76f8\u6bd4\uff0cLGmap\u53ea\u9700\u89818\u4e2a\u3002\u4f5c\u8005\u4e0d\u4f7f\u7528\u9010\u70b9\u6392\u5217\uff0c\u800c\u53ea\u4f7f\u7528\u89d2\u70b9\u6392\u5217\u3002\u6700\u540e\uff0c\u4fdd\u7559\u89d2\u70b9\u6709\u5229\u4e8e\u5b9e\u4f8b Query \u5d4c\u5165\u3002<\/p>\n\n\n\n<p><strong>Lane segments<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u56de\u5f52\u5206\u652f\u7684\u4e2d\u5fc3\u7ebf\u8f93\u51fa\uff0c\u5f15\u5165\u4e86\u4e00\u4e2a\u504f\u79fb\u5206\u652f\u6765\u9884\u6d4b\u5de6\u53f3\u8f66\u9053\u8fb9\u754c\u7684\u4f4d\u7f6e\u504f\u79fb\uff0c\u5e76\u5f15\u5165\u4e24\u4e2a\u5206\u7c7b\u5206\u652f\u6765\u9884\u6d4b\u8f66\u9053\u8fb9\u754c\u7684\u5c5e\u6027\uff0c\u53c2\u8003LaneSegNet [2]\u3002<\/p>\n\n\n\n<p><strong>Traffic elements<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u91c7\u7528YOLOv8\u4f5c\u4e3a\u57fa\u672c\u76842D\u68c0\u6d4b\u5668\uff0c\u5e76\u4e14\u989d\u5916\u4f7f\u7528YOLOv9[3]\u8fdb\u884c\u6a21\u578b\u96c6\u6210\u3002\u57fa\u4e8eOpenlaneV2\u6570\u636e\u96c6\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u7cfb\u5217\u6570\u636e\u589e\u5f3a\u65b9\u6cd5\uff0c\u4e0d\u5305\u62ecHSV\u53d8\u6362\u548c\u6c34\u5e73\u7ffb\u8f6c\uff0c\u56e0\u4e3a\u8fd9\u4e9b\u6280\u5de7\u53ef\u80fd\u5bfc\u81f4\u4ea4\u901a\u706f\u548c\u4ea4\u901a\u6807\u5fd7\u65b9\u5411\u7684\u6df7\u6dc6\u3002\u6570\u636e\u96c6\u4e2d\u7c7b\u522b\u7684\u5206\u5e03\u9ad8\u5ea6\u4e0d\u5e73\u8861\uff0c\u6709\u4e9b\u7c7b\u522b\u7684\u5dee\u5f02\u8fbe\u5230\u4e00\u4e2a\u6570\u91cf\u7ea7\u3002\u6b64\u5916\uff0c\u5728\u6d4b\u8bd5\u96c6\u4e0a\u751f\u6210\u7684\u4f2a\u6807\u7b7e\u4e5f\u63d0\u9ad8\u4e86\u7ed3\u679c\u3002\u4f5c\u8005\u91c7\u7528\u6d4b\u8bd5\u65f6\u589e\u5f3a\uff08TTA\uff09\uff0c\u7f29\u653e\u8303\u56f4\u57280.7-1.4\u4e4b\u95f4\uff0c\u4ee5\u6539\u5584\u5c0f\u7269\u4f53\u548c\u5927\u7269\u4f53\u7684\u53ec\u56de\u7387\u3002<\/p>\n\n\n\n<p><strong>Lane-Lane topology<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528\u4e86TopoMLP\u65b9\u6cd5[12]\u3002\u9996\u5148\uff0c\u4f5c\u8005\u5c06\u4e2d\u5fc3\u7ebf\u5750\u6807\u4f20\u9012\u7ed9MLP\uff0c\u5e76\u5c06\u5176\u6dfb\u52a0\u5230\u7cbe\u70bc\u7684 Query \u7279\u5f81\u4e2d\u3002\u6700\u540e\uff0c\u4f5c\u8005\u5e94\u7528MLP\u8fdb\u884c\u62d3\u6251\u5206\u7c7b\u3002<\/p>\n\n\n\n<p><strong>Lane-Traffic topology<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528\u4e2d\u5fc3\u7ebf\u7684\u5750\u6807\u4ee5\u53ca\u4ea4\u901a\u5143\u7d20\u8fb9\u754c\u6846\u7684\u5750\u6807\u548c\u7c7b\u522b\u3002\u7531\u4e8e\u6ca1\u6709\u4f7f\u7528\u7279\u5f81\u5d4c\u5165\uff0c\u4f5c\u8005\u4f7f\u7528\u8f66\u9053\u6bb5\u548c\u4ea4\u901a\u5143\u7d20\u7684\u771f\u5b9e\u6570\u636e\u8fdb\u884c\u62d3\u6251\u6a21\u578b\u7684\u8bad\u7ec3\u3002\u901a\u8fc7\u4e0e\u4e0a\u6e38\u68c0\u6d4b\u6a21\u578b\u7684\u89e3\u8026\uff0c\u62d3\u6251\u7684\u8bad\u7ec3\u548c\u9884\u6d4b\u8fc7\u7a0b\u53d8\u5f97\u66f4\u52a0\u65b9\u4fbf\u3002\u7531\u4e8e\u4ea4\u53c9\u53e3\u7684\u590d\u6742\u6027\uff0c\u4f5c\u8005\u4f7f\u7528\u81ea\u6ce8\u610f\u529b\u6765\u4fc3\u8fdb\u5143\u7d20\u95f4\u7684\u4fe1\u606f\u4ea4\u6362\u5e76\u83b7\u5f97\u76f8\u5bf9\u5173\u7cfb\u3002<\/p>\n\n\n\n<p><strong>3 Experiments<\/strong><\/p>\n\n\n\n<p><strong>Implementation details<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u57fa\u4e8eMapTRv2\u4ee3\u7801\u5e93[9]\u6784\u5efa\u4e86\u4f5c\u8005\u7684\u7cfb\u7edf\u3002\u8bad\u7ec3\u8bbe\u7f6e\u3002\u4f5c\u8005\u91c7\u7528\u4e86\u4e24\u79cd\u6570\u636e\u589e\u5f3a\u65b9\u6cd5\uff0c\u5206\u522b\u662f\u56fe\u50cf\u6570\u636e\u589e\u5f3a\u548cBEV\u6570\u636e\u589e\u5f3a\uff0c\u4f8b\u5982\u968f\u673a\u65cb\u8f6c\u3001\u7f29\u653e\u3001\u88c1\u526a\u548c\u7ffb\u8f6c\u3002\u4e3a\u4e86\u8fdb\u884c\u6d88\u878d\u7814\u7a76\uff0c\u4f5c\u8005\u4f7f\u7528\u4e86\u5728ImageNet\u6570\u636e\u96c6\u4e0a\u9884\u8bad\u7ec3\u7684ResNet50[13]\u3002\u5e76\u5c06ViT-L[14]\u4f5c\u4e3a\u653e\u5927\u56fe\u50cf Backbone \u7f51\u7edc\u3002\u4f5c\u8005\u4f7f\u7528nuScenes\u6570\u636e\u96c6\u901a\u8fc7\u5411\u91cf\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u5bf9ViT\u6a21\u578b\u8fdb\u884c\u9884\u8bad\u7ec3\u3002\u5728\u8bad\u7ec3\u5927\u89c4\u6a21\u6a21\u578b\u65f6\uff0c\u4f5c\u8005\u572816\u4e2aA800 GPU\u4e0a\u4f7f\u7528\u6279\u91cf\u5927\u5c0f\u4e3a16\uff0c\u4f7f\u7528AdamW[15]\u4f18\u5316\u5668\uff0c\u5b66\u4e60\u7387\u4e3a6e-4\u3002\u5c42\u7ea7\u7684 \u5b66\u4e60\u7387\u8870\u51cf\u4e3a0.9\u3002ViT\u7684\u90e8\u5206\u51bb\u7ed3\u5757\u6570\u91cf\u4e3a3\u3002\u8f93\u5165\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u4e3a1536 x 1536\u3002\u5e76\u4e14\uff0c\u4ece Backbone \u7f51\u7edc\u4e2d\u7684\u56fe\u50cf\u7279\u5f81\u4ee516\u7684\u6b65\u957f\u8fdb\u884c\u4e0b\u91c7\u6837\u3002\u6df1\u5ea6\u7f51\u7edc\u9884\u6d4b\u4ece1\u7c73\u523056\u7c73\u7684\u6df1\u5ea6\u3002BEV\u7279\u5f81\u56fe\u7684\u5206\u8fa8\u7387\u4e3a100 x 200\u3002\u4f5c\u8005\u901a\u8fc7\u4e24\u4e2a\u9636\u6bb5\u8bad\u7ec3\u6a21\u578b\u3002\u5355\u5e27\u6a21\u5f0f\u8bad\u7ec348\u4e2a\u5468\u671f\uff0c\u6d41\u5f0f\u5806\u53e0\u6a21\u5f0f\u8bad\u7ec336\u4e2a\u5468\u671f\u3002\u5728\u65f6\u95f4\u878d\u5408\u6a21\u5f0f\u671f\u95f4\uff0c\u4f5c\u8005\u5c06ViT\u7684\u90e8\u5206\u51bb\u7ed3\u5757\u6570\u91cf\u6539\u4e3a12\u3002\u5e76\u5173\u95ed\u56fe\u50cf\u548cBEV\u6570\u636e\u589e\u5f3a\u3002<\/p>\n\n\n\n<p><strong>Ablation Study<\/strong><\/p>\n\n\n\n<p><strong>3.2.1 SymmetricVT<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u901a\u8fc7\u6d88\u878d\u7814\u7a76\u6765\u68c0\u9a8cSVT\u7ec4\u4ef6\u7684\u6709\u6548\u6027\uff0c\u4f7f\u7528OpenlaneV2\u6570\u636e\u96c6[1]\u3002\u4ee5BEVFormer [5]\u548cLSS [4]\u4f5c\u4e3a Baseline \uff0c\u88681\u663e\u793a\u5728\u9a8c\u8bc1\u96c6\u4e0a\u6700\u4f73\u5f97\u5206\u4e3a40.36%\u3002\u4e0e\u6700\u4f73 Baseline \u76f8\u6bd4\uff0c\u7ed3\u5408BEVFormer\u548cLSS\u4f7fmAP\u63d0\u9ad8\u4e860.5%\u3002\u5728\u52a0\u5165\u56fe\u50cf\u6570\u636e\u589e\u5f3a\u548cBEV\u6570\u636e\u589e\u5f3a\u540e\uff0c\u6a21\u578b\u6027\u80fd\u63d0\u5347\u5230\u4e8643.75%\u3002<\/p>\n\n\n\n<p><strong>3.2.2 \u65f6\u95f4\u878d\u5408<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"310\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-26.png\" alt=\"\" class=\"wp-image-12327\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-26.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-26-300x134.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p>\u4f5c\u8005\u901a\u8fc7\u8bad\u7ec372\u4e2a\u5468\u671f\u7684ResNet50\u9884\u8bad\u7ec3\u6743\u91cd\u5efa\u7acb\u4e86\u4e00\u4e2a\u5355\u5e27 Baseline \u6a21\u578b\u3002\u7136\u540e\u6240\u6709\u5b9e\u9a8c\u90fd\u901a\u8fc712\u4e2a\u5468\u671f\u5fae\u8c03 Baseline \u6a21\u578b\u3002\u4f5c\u8005\u4f7f\u7528\u5355\u5e27\u6a21\u5f0f\u5fae\u8c03 Baseline \u6a21\u578b\uff0c\u6a21\u578b\u53ef\u4ee5\u8fbe\u523052.93%\u7684mAP\u5f97\u5206\uff0c\u5982\u88682\u6240\u793a\u3002\u5bf9\u4e8e\u6d41\u5f0f\u7b56\u7565\uff0c\u4f5c\u8005\u4f7f\u7528\u4e00\u4e2aconvGRU [6]\u4f5c\u4e3a\u5bc6\u96c6\u878d\u5408\u7f16\u7801\u5668\u3002\u5176\u6027\u80fd\u63d0\u9ad8\u4e863.7%\u3002\u5bf9\u4e8e\u6d41\u5f0f-\u6d41\u5f0f\u7b56\u7565\uff0c\u4f7f\u7528\u4e24\u5c42\u800c\u4e0d\u662f\u4e00\u5c42\u7684convGRU\u3002\u4e0d\u5e78\u7684\u662f\uff0c\u4e0e\u5355\u5e27\u76f8\u6bd4\uff0c\u6027\u80fd\u53ea\u63d0\u9ad8\u4e860.56%\u3002\u5bf9\u4e8e\u6d41\u5f0f-\u5806\u53e0\u6a21\u5f0f\uff0c\u5728\u8bad\u7ec3\u9636\u6bb5\u4f5c\u8005\u4ece\u6700\u8fd1\u768410\u5e27\u4e2d\u9009\u62e94\u5e27\u7528\u4e8e\u5806\u53e0\u6a21\u5f0f\u7684\u5c42\uff0c\u5e76\u5728\u6d4b\u8bd5\u9636\u6bb5\u4f7f\u7528\u4e00\u5b9a\u7684\u8ddd\u79bb\u6b65\u957f5\u300110\u300115\u300120\u7c73\u3002\u6027\u80fd\u8fbe\u5230\u4e8657.13%\u7684mAP\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"307\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-27.png\" alt=\"\" class=\"wp-image-12328\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-27.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-27-300x134.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>3.2.3 Ped crossing resampling<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528\u4e86\u4e0eMapTR\u76f8\u540c\u7684\u57fa\u4e8e\u5206\u5c42\u6ce8\u610f\u529b\u89e3\u7801\u5668\u4f5c\u4e3a Baseline \u3002\u5982\u88683\u6240\u793a\uff0c\u6a21\u578b\u7684\u6027\u80fd\u8fbe\u5230\u4e8633.6%\u7684DET-a\u5f97\u5206\u3002\u7136\u540e\u4f5c\u8005\u5c06\u89e3\u7801\u5668\u6539\u4e3a\u5b9e\u4f8b\u6ce8\u610f\u529b\uff0c\u6a21\u578b\u7684\u6027\u80fd\u63d0\u5347\u4e860.45%\u3002\u6700\u540e\uff0c\u4f5c\u8005\u5229\u7528\u884c\u4eba\u8fc7\u8857\u91cd\u91c7\u6837\u6765\u5c06\u6027\u80fd\u63d0\u5347\u523035.42%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"755\" height=\"345\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-28.png\" alt=\"\" class=\"wp-image-12329\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-28.png 755w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-28-300x137.png 300w\" sizes=\"(max-width: 755px) 100vw, 755px\" \/><\/figure>\n\n\n\n<p><strong>3.2.4 Traffic elements<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528COCO\u9884\u8bad\u7ec3\u6a21\u578b\uff0c\u5e76\u5bf9\u5176\u8fdb\u884c40\u8f6e\u5fae\u8c03\u4f5c\u4e3a\u4f5c\u8005\u76842D\u68c0\u6d4b\u5668 Baseline \u3002\u6570\u636e\u96c6\u901a\u8fc75\u523020\u500d\u7684\u6bd4\u4f8b\u8fdb\u884c\u91cd\u91c7\u6837\u3002\u6574\u4e2a\u6a21\u578b\u4f7f\u7528AdamW\u4f18\u5316\u5668\u8fdb\u884c\u4f18\u5316\uff0c\u5b66\u4e60\u7387\u4e3a0.04\uff0c\u5206\u8fa8\u7387\u4e3a1568 x 2048\u3002\u7136\u540e\u4f5c\u8005\u901a\u8fc70.3\u7684\u9608\u503c\u751f\u6210\u4f2a\u6807\u7b7e\u3002\u5982\u88684\u6240\u793a\uff0c\u91c7\u7528\u6570\u636e\u589e\u5f3a\u7684YOLOv8-x\u5728DET-l\u4e0a\u7684\u5f97\u5206\u53ef\u4ee5\u8fbe\u523079.42%\u3002\u91cd\u91c7\u6837\u7684\u5e94\u7528\u6027\u80fd\u63d0\u9ad8\u4e860.64%\u3002TTA\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e861.0%\u7684\u5f97\u5206\u3002\u4f5c\u8005\u4f7f\u7528\u4f2a\u6807\u7b7e\u5c06\u6027\u80fd\u63d0\u5347\u523081.81%\u3002\u6700\u540e\uff0cYOLOv8\u548cYOLOv9[3]\u7684\u6a21\u578b\u96c6\u6210\u5c06\u6027\u80fd\u63d0\u5347\u523082.4%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"777\" height=\"378\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-29.png\" alt=\"\" class=\"wp-image-12330\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-29.png 777w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-29-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-29-768x374.png 768w\" sizes=\"(max-width: 777px) 100vw, 777px\" \/><\/figure>\n\n\n\n<p><strong>3.2.5 Lane segments<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u8bad\u7ec3\u4e86\u4e09\u4e2a\u7248\u672c\u7684\u6a21\u578b\uff0c\u4f7f\u7528\u4e86\u4e0d\u540c\u7684 Backbone \u7f51\u7edc\uff08ViT [14], InternImage-XL [16]\uff09\u4ee5\u53ca\u4e0d\u540c\u7684\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u6bd4\u4f8b\uff080.5, 0.75, 1\uff09\u3002\u5728\u96c6\u6210\u8fc7\u7a0b\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u4e00\u79cd\u878d\u5408\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u7ed3\u5408\u4e86\u76f8\u4f3c\u5ea6\u8f83\u4f4e\u7684\u9884\u6d4b\u3002\u6700\u521d\uff0c\u6a21\u578b\u6309\u7167\u5b83\u4eec\u7684\u8bc4\u4f30\u5206\u6570\u6392\u5e8f\uff0c\u6700\u4f73\u6a21\u578b\u4f5c\u4e3a\u57fa\u7840\u6a21\u578b\uff0c\u5176\u4f59\u4e24\u4e2a\u6a21\u578b\u968f\u540e\u4f5c\u4e3a Proposal \u6a21\u578b\u8fdb\u884c\u6574\u5408\u3002\u4ece\u88685\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u96c6\u6210\u7684\u6a21\u578b\u8d8a\u591a\uff0c\u6027\u80fd\u63d0\u5347\u8d8a\u663e\u8457\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"881\" height=\"383\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-30.png\" alt=\"\" class=\"wp-image-12331\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-30.png 881w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-30-300x130.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-30-768x334.png 768w\" sizes=\"(max-width: 881px) 100vw, 881px\" \/><\/figure>\n\n\n\n<p><strong>4 Conclusion<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u91cd\u65b0\u601d\u8003\u4e86\u65e0\u5730\u56fe\u9a7e\u9a76\u4e2d2D\/3D\u5143\u7d20\u68c0\u6d4b\u548c\u62d3\u6251\u63a8\u7406\u7684\u6d41\u7a0b\u3002\u9996\u5148\uff0c\u4f5c\u8005\u91c7\u7528\u5bf9\u79f0\u89c6\u89d2\u53d8\u6362\uff08SVT\uff09\u5c06\u6b63\u5411\u6295\u5f71\u548c\u53cd\u5411\u6295\u5f71\u76f8\u7ed3\u5408\uff0c\u4ee5\u5f62\u6210\u4e92\u8865\u4f18\u52bf\u3002\u5176\u6b21\uff0c\u4f5c\u8005\u5f15\u5165\u5206\u5c42\u65f6\u95f4\u878d\u5408\uff08HTF\uff09\u6280\u672f\uff0c\u4ee5\u7a33\u5b9a\u5730\u4ece\u5c40\u90e8\u5230\u5168\u5c40\u6574\u5408\u65f6\u95f4\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u4f5c\u8005\u901a\u8fc7\u4e00\u79cd\u65b0\u9896\u7684\u91cd\u91c7\u6837\u65b9\u6cd5\u6539\u8fdb\u4e86\u884c\u4eba\u6a2a\u7a7f\u8868\u793a\u3002\u6700\u7ec8\uff0cLGmap\u662f \u65e0\u5730\u56fe\u9a7e\u9a76\u8d5b\u9053\u4e0a\u7684\u7b2c\u4e00\u540d\u89e3\u51b3\u65b9\u6848\uff0c\u8fbe\u5230\u4e860.66\u7684UniScore\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1].LGmap: Local-to-Global Mapping Network for Online Long-Range Vectorized HD Map Construction.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1 Introduction \u9ad8\u6e05\u6670\u5ea6\uff08HD\uff09 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-12322","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12322"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=12322"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12322\/revisions"}],"predecessor-version":[{"id":12332,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12322\/revisions\/12332"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12322"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12322"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12322"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}