{"id":12361,"date":"2024-07-04T17:03:24","date_gmt":"2024-07-04T09:03:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12361"},"modified":"2024-07-04T17:03:24","modified_gmt":"2024-07-04T09:03:24","slug":"2024-07-04-%e5%8d%97%e5%a4%a7%e7%ad%89%e6%9c%80%e6%96%b0qd-bev%ef%bc%9a%e9%ab%98%e6%95%88%e9%87%8f%e5%8c%96%e8%a7%a3%e5%86%b3%e6%96%b9%e6%a1%88%e5%8a%a9%e5%8a%9b%e5%a4%9a%e8%a7%86%e8%a7%923d%e6%a3%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/04\/12361\/","title":{"rendered":"2024-07-04 \u5357\u5927\u7b49\u6700\u65b0QD-BEV\uff1a\u9ad8\u6548\u91cf\u5316\u89e3\u51b3\u65b9\u6848\u52a9\u529b\u591a\u89c6\u89d23D\u68c0\u6d4b \uff01"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"335\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-9-1024x335.png\" alt=\"\" class=\"wp-image-12362\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-9-1024x335.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-9-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-9-768x251.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-9.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>1 Introduction<\/p>\n\n\n\n<p>\u57fa\u4e8e\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7684\u591a\u89c6\u89d23D\u68c0\u6d4b\u7531\u4e8e\u5176\u6f5c\u5728\u7684\u81ea\u52a8\u9a7e\u9a76\u80fd\u529b\uff0c\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u91cd\u8981\u7814\u7a76\u65b9\u5411\u3002\u6839\u636e\u8f93\u5165\u4f20\u611f\u5668\uff0c\u4ee5\u524d\u7684\u5de5\u4f5c\u53ef\u4ee5\u5206\u4e3a\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u548c\u4ec5\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u3002\u4e0e\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u4ec5\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u5177\u6709\u90e8\u7f72\u6210\u672c\u4f4e\u3001\u66f4\u63a5\u8fd1\u4eba\u773c\u3001\u66f4\u5bb9\u6613\u83b7\u53d6\u9a7e\u9a76\u73af\u5883\u4e2d\u7684\u89c6\u89c9\u4fe1\u606f\u7b49\u4f18\u70b9\u3002\u7136\u800c\uff0c\u5373\u4f7f\u4f7f\u7528\u4ec5\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\uff0c\u8fd0\u884c\u6700\u5148\u8fdb\u7684BEV\u6a21\u578b\u7684\u8ba1\u7b97\u548c\u5185\u5b58\u6210\u672c\u4ecd\u7136\u5f88\u9ad8\uff0c\u4f7f\u5f97\u5b83\u4eec\u96be\u4ee5\u90e8\u7f72\u5230\u8f66\u8f86\u4e0a\u3002\u4f8b\u5982\uff0cBEVFormer-Base\u5728\u5355\u4e2aNVIDIA V100 GPU\u4e0a\u7684\u63a8\u7406\u5ef6\u8fdf\u4e3a540\u6beb\u79d2\uff08\u76f8\u5f53\u4e8e1.85\u5e27\/\u79d2\uff09\uff0c\u8fd9\u5bf9\u4e8e\u901a\u5e38\u9700\u898130\u5e27\/\u79d2\u7684\u5b9e\u9645\u5e94\u7528\u6765\u8bf4\u662f\u4e0d\u53ef\u884c\u7684\u3002\u7531\u4e8e\u76f8\u5f53\u5927\u7684\u5ef6\u8fdf\u4f1a\u635f\u5bb3\u6d41\u5f0f\u611f\u77e5\uff0c\u56e0\u6b64\u63a2\u7d22\u548c\u8bbe\u8ba1\u57fa\u4e8eBEV\u7684\u4ec5\u76f8\u673a3D\u76ee\u6807\u68c0\u6d4b\u7684\u8f7b\u91cf\u7ea7\u6a21\u578b\u5c24\u4e3a\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u91cf\u5316\u53ef\u4ee5\u51cf\u5c11\u7528\u4e8e\u8868\u793a\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u4e2d\u7684\u6743\u91cd\u548c\u6fc0\u6d3b\u7684\u6bd4\u7279\u5bbd\u5ea6\uff0c\u4ece\u800c\u5728\u63d0\u9ad8\u6a21\u578b\u63a8\u7406\u901f\u5ea6\u7684\u540c\u65f6\uff0c\u5927\u5e45\u8282\u7701\u6a21\u578b\u5927\u5c0f\u548c\u8ba1\u7b97\u6210\u672c\u3002\u7136\u800c\uff0c\u76f4\u63a5\u5e94\u7528\u91cf\u5316\u4f1a\u5bfc\u81f4\u6027\u80fd\u663e\u8457\u4e0b\u964d\u3002\u4e0e\u5728\u56fe\u50cf\u5206\u7c7b\u548c2D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4e2d\u91cf\u5316\u6807\u51c6\u65b9\u6cd5\u8868\u73b0\u7a81\u51fa\u76f8\u6bd4\uff0c\u7531\u4e8e\u5b58\u5728\u591a\u89c6\u89d2\u548c\u591a\u7ef4\u5ea6\u4fe1\u606f\uff08\u4f8b\u5982\uff0cBEVFormer[23]\u4e2d\u4f7f\u7528\u7684\u65f6\u57df\u4fe1\u606f\u548c\u7a7a\u57df\u4fe1\u606f\uff09\uff0c\u591a\u76f8\u673a3D\u68c0\u6d4b\u4efb\u52a1\u8981\u590d\u6742\u548c\u56f0\u96be\u5f97\u591a\u3002\u56e0\u6b64\uff0cBEV\u7f51\u7edc\u7684\u67b6\u6784\u5f80\u5f80\u53d8\u5f97\u66f4\u590d\u6742\uff0c\u5177\u6709\u66f4\u6df1\u7684\u5377\u79ef\u795e\u7ecf\u7f51\u7edc Backbone \u4ee5\u4ece\u591a\u89c6\u89d2\u63d0\u53d6\u56fe\u50cf\u4fe1\u606f\uff0c\u4ee5\u53ca\u7528\u4e8e\u7f16\u7801\u548c\u89e3\u7801BEV\u57df\u7279\u5f81\u7684 Transformer \u3002\u4e0d\u540c\u795e\u7ecf\u67b6\u6784\u7684\u5b58\u5728\u3001\u591a\u4e2a\u76ee\u6807\u548c\u6765\u81ea\u4e0d\u540c\u6a21\u6001\u7684\u77e5\u8bc6\u6781\u5927\u5730\u6311\u6218\u4e86\u6807\u51c6\u91cf\u5316\u65b9\u6cd5\uff0c\u964d\u4f4e\u4e86\u5b83\u4eec\u7684\u7a33\u5b9a\u6027\u548c\u51c6\u786e\u6027\uff0c\u751a\u81f3\u4f7f\u6574\u4e2a\u8bad\u7ec3\u8fc7\u7a0b\u53d1\u6563\u3002\u5728\u56fe1\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86\u5728BEVFormer-Tiny\u6a21\u578b\u4e0a\u5e94\u7528W4A6\u91cf\u5316\u65f6\u7684\u8bad\u7ec3\u66f2\u7ebf\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u91cf\u5316\u611f\u77e5\u8bad\u7ec3\uff08QAT\uff09\u5728\u4e0d\u540c\u65f6\u671f\u7684\u6027\u80fd\u6ce2\u52a8\u663e\u8457\uff0c\u800c\u4f5c\u8005\u6240\u63d0\u51fa\u7684QD-BEV\u65b9\u6cd5\u663e\u793a\u51fa\u7a33\u5b9a\u7684\u4e0a\u5347\u8d8b\u52bf\u3002\u4f5c\u8005\u5728\u7b2c5\u8282\u8fdb\u884c\u66f4\u591a\u5b9e\u9a8c\u4ee5\u9a8c\u8bc1QD-BEV\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"782\" height=\"601\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-10.png\" alt=\"\" class=\"wp-image-12363\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-10.png 782w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-10-300x231.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-10-768x590.png 768w\" sizes=\"(max-width: 782px) 100vw, 782px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u6807\u51c6QAT\u7684\u95ee\u9898\uff0c\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u9996\u5148\u5bf9\u91cf\u5316BEV\u7f51\u7edc\u8fdb\u884c\u4e86\u7cfb\u7edf\u7684\u5b9e\u9a8c\u548c\u5206\u6790\u3002\u7136\u540e\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u79cd\u91cf\u5316\u611f\u77e5\u7684\u89c6\u89d2\u5f15\u5bfc\u84b8\u998f\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u65e2\u89e3\u51b3\u4e86\u7a33\u5b9a\u6027\u95ee\u9898\uff0c\u53c8\u63d0\u9ad8\u4e86\u7d27\u51d1\u578bBEV\u6a21\u578b\u7684\u6700\u7ec8\u6027\u80fd\u3002\u4f5c\u8005\u63d0\u51fa\u7684\u89c6\u89d2\u5f15\u5bfc\u84b8\u998f\u53ef\u4ee5\u66f4\u597d\u5730\u5229\u7528\u6765\u81ea\u56fe\u50cf\u57df\u548cBEV\u57df\u7684\u4fe1\u606f\u8fdb\u884c\u591a\u89c6\u89d23D\u76ee\u6807\u68c0\u6d4b\u3002\u8fd9\u663e\u8457\u4f18\u4e8e\u65e0\u6cd5\u8054\u5408\u5904\u7406BEV\u7f51\u7edc\u4e2d\u4e0d\u540c\u7c7b\u578b\u635f\u5931\u7684\u5148\u524d\u84b8\u998f\u65b9\u6cd5\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5982\u56fe2\u6240\u793a\uff0c\u4f5c\u8005\u9996\u5148\u5c06FP\uff08\u6d6e\u70b9\uff09\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\u6a21\u578b\uff0c\u5c06\u91cf\u5316\u6a21\u578b\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\uff0c\u7136\u540e\u5206\u522b\u8ba1\u7b97\u56fe\u50cf\u7279\u5f81\u548cBEV\u7279\u5f81\u7684KL\u6563\u5ea6\u3002\u6700\u540e\uff0c\u4f5c\u8005\u5229\u7528\u6620\u5c04\u5173\u7cfb\uff0c\u901a\u8fc7\u76f8\u673a\u7684\u5916\u90e8\u53c2\u6570\u6709\u673a\u5730\u7ed3\u5408\u56fe\u50cf\u7279\u5f81\u548cBEV\u7279\u5f81\uff0c\u5b9e\u73b0 VGD\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728QD-BEV\u4e2d\uff0c\u4f5c\u8005\u6ca1\u6709\u4f7f\u7528\u989d\u5916\u7684\u8bad\u7ec3\u6570\u636e\u6216\u66f4\u5927\u7684\u5f3a\u5927\u6559\u5e08\u7f51\u7edc\u6765\u8c03\u6574\u7cbe\u5ea6\uff0c\u4f46 QD-BEV \u6a21\u578b\u4ecd\u7136\u80fd\u591f\u5728\u6a21\u578b\u5927\u5c0f\u548c\u8ba1\u7b97\u8981\u6c42\u663e\u8457\u8f83\u5c0f\u7684\u60c5\u51b5\u4e0b\u8d85\u8d8a\u5148\u524d\u7684 Baseline \u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"793\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-11-1024x793.png\" alt=\"\" class=\"wp-image-12364\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-11-1024x793.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-11-300x232.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-11-768x594.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-11.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f5c\u8005\u5bf9\u91cf\u5316BEV\u6a21\u578b\u8fdb\u884c\u4e86\u7cfb\u7edf\u5b9e\u9a8c\uff0c\u63ed\u793a\u4e86\u963b\u788d\u6807\u51c6\u91cf\u5316\u611f\u77e5\u8bad\u7ec3\u65b9\u6cd5\u5728BEV\u4e0a\u7684\u4e3b\u8981\u95ee\u9898\u3002<\/li>\n\n\n\n<li>\u4f5c\u8005\u7279\u522b\u4e3aBEV\u6a21\u578b\u8bbe\u8ba1\u4e86\u89c6\u89d2\u5f15\u5bfc\u84b8\u998f\uff08VGD\uff09\uff0c\u5b83\u8054\u5408\u5229\u7528\u4e86\u56fe\u50cf\u57df\u548cBEV\u57df\u7684\u4fe1\u606f\u3002VGD\u5728\u89e3\u51b3\u6807\u51c6QAT\u7684\u7a33\u5b9a\u6027\u7684\u540c\u65f6\uff0c\u63d0\u5347\u4e86\u6700\u7ec8\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u4f5c\u8005\u7684W4A6\u91cf\u5316\u7684QD-BEV-Tiny\u6a21\u578b\u4ec5\u62e5\u670915.8 MB\u7684\u6a21\u578b\u5927\u5c0f\uff0c\u5374\u8fbe\u5230\u4e8637.2%\u7684NDS\uff0c\u6bd48\u500d\u5927\u7684BevFormer-Tiny\u6a21\u578b\u6027\u80fd\u9ad8\u51fa1.8%\u3002<\/li>\n<\/ul>\n\n\n\n<p>2 Related Works<\/p>\n\n\n\n<p>Camera-only 3D object detection<\/p>\n\n\n\n<p>\u5728\u4ec5\u4f7f\u7528\u76f8\u673a\u76843D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4e2d\uff0c\u57fa\u4e8e\u9e1f\u77b0\u56fe\uff08BEV\uff09\u6d8c\u73b0\u51fa\u4e86\u8bb8\u591a\u4f18\u79c0\u7684\u65b9\u6cd5\u3002\u5148\u524d\u7684\u5de5\u4f5c\uff0c\u5982LSS [31]\u548cBEVDet <br>[14]\uff0c\u91c7\u7528\u81ea\u4e0b\u800c\u4e0a\u7684\u65b9\u5f0f\u5c06\u56fe\u50cf\u7279\u5f81\u6295\u5f71\u5230BEV\u7a7a\u95f4\u3002\u57fa\u4e8eDETR \u548c Deformable DETR [48]\uff0cDETR3D <br>[38]\u901a\u8fc7Backbone + FPN + \u89e3\u7801\u5668\u7684\u67b6\u6784\u5c062D\u76ee\u6807\u68c0\u6d4b\u6269\u5c55\u52303D\u7a7a\u95f4\u3002\u6b64\u5916\uff0cPETR [24]\u5728DETR3D <br>[38]\u7684\u57fa\u7840\u4e0a\u5f15\u5165\u4e863D\u4f4d\u7f6e\u7f16\u7801\u3002\u5728BEVFormer [23]\u4e2d\uff0c\u4f5c\u8005\u4f7f\u7528\u5bc6\u96c6\u7684BEV Query <br>\u5728BEV\u7a7a\u95f4\u4e0e\u591a\u89c6\u89d2\u56fe\u50cf\u7a7a\u95f4\u4e4b\u95f4\u4ea4\u6362\u4fe1\u606f\u3002\u901a\u8fc7\u5177\u6709\u65f6\u95f4\u81ea\u6ce8\u610f\u529b\u548c\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u7684 Transformer <br>\u7ed3\u6784\u63d0\u53d6\u65f6\u95f4\u548c\u7a7a\u95f4\u4fe1\u606f\uff0c\u83b7\u5f97\u4e86\u66f4\u7a33\u5b9a\u7684BEV\u7279\u5f81\u3002\u57fa\u4e8eBEVFormer\u4e2d\u7684\u65f6\u95f4\u4ea4\u4e92\uff0c\u6700\u8fd1\u7684\u5de5\u4f5cPETRv2 [25]\u548cBEVDet4D <br>[13]\u53d6\u5f97\u4e86\u8fdb\u4e00\u6b65\u7684\u6539\u8fdb\u3002\u9664\u4e86\u4e0a\u8ff0\u5de5\u4f5c\u4e4b\u5916\uff0cBEVDepth \u00a0\u548cBEVstereo <br>\u00a0\u5206\u522b\u662f\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u548c\u7acb\u4f53\u89c6\u89c9\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u9886\u57df\u7684\u4e24\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\uff0c\u5b83\u4eec\u5229\u7528BEV\u8868\u793a\u7684\u72ec\u7279\u7279\u6027\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u548c\u9ad8\u6548\u7387\u3002<\/p>\n\n\n\n<p>Quantization<\/p>\n\n\n\n<p>\u4e3a\u4e86\u51cf\u5c11\u6a21\u578b\u5927\u5c0f\uff0c\u91cf\u5316\u65b9\u6cd5\u4f7f\u7528\u4f4e\u6bd4\u7279\u5bbd\u5ea6\u6765\u8868\u793a\u795e\u7ecf\u7f51\u7edc\u4e2d\u7684\u6743\u91cd\u548c\u6fc0\u6d3b\u503c\u3002\u901a\u8fc7\u4f7f\u7528\u4f4e\u7cbe\u5ea6\u77e9\u9635\u4e58\u6cd5\u6216\u5377\u79ef\uff0c\u91cf\u5316\u8fd8\u53ef\u4ee5\u4f7f\u63a8\u7406\u8fc7\u7a0b\u66f4\u5feb\u3001\u66f4\u9ad8\u6548\u3002\u7ed9\u5b9a\u4e00\u4e2a\u9884\u8bad\u7ec3\u6a21\u578b\uff0c\u76f4\u63a5\u8fdb\u884c\u91cf\u5316\u800c\u4e0d\u8fdb\u884c\u4efb\u4f55\u5fae\u8c03\u7684\u65b9\u6cd5\u79f0\u4e3a\u540e\u8bad\u7ec3\u91cf\u5316\uff08PTQ\uff09\u3002\u5c3d\u7ba1\u6709\u5176\u4f18\u70b9\uff0c\u4f46\u4f4e\u6bd4\u7279\u5bbd\u5ea6\u7684PTQ\u4ecd\u7136\u4f1a\u5bfc\u81f4\u663e\u8457\u7684\u51c6\u786e\u5ea6\u4e0b\u964d\u3002\u56e0\u6b64\uff0c\u63d0\u51fa\u4e86\u91cf\u5316\u611f\u77e5\u8bad\u7ec3\uff08QAT\uff09\u6765\u8bad\u7ec3\u6a21\u578b\u4ee5\u66f4\u597d\u5730\u9002\u5e94\u91cf\u5316\u3002\u4e0ePTQ\u76f8\u6bd4\uff0cQAT\u65b9\u6cd5[9, 7, 40]\u6210\u672c\u66f4\u9ad8\uff0c\u4f46\u6709\u53ef\u80fd\u83b7\u5f97\u66f4\u9ad8\u7684\u51c6\u786e\u5ea6\u3002\u6b64\u5916\uff0c\u5728\u8d85\u4f4e\u91cf\u5316\u6bd4\u7279\u5bbd\u5ea6\uff08\u4f8b\u5982\uff0c4\u6bd4\u7279\uff09\u7684\u60c5\u51b5\u4e0b\uff0c\u5373\u4f7f\u662fQAT\u4e5f\u65e0\u6cd5\u5f25\u5408\u51c6\u786e\u5ea6\u5dee\u8ddd\u3002\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\u7684\u6709\u5e0c\u671b\u7684\u65b9\u5411\u662f\u4f7f\u7528\u6df7\u5408\u7cbe\u5ea6\u91cf\u5316[46, 36, 39]\uff0c\u5176\u4e2d\u67d0\u4e9b\u654f\u611f\u5c42\u4fdd\u6301\u8f83\u9ad8\u7cbe\u5ea6\u4ee5\u6062\u590d\u51c6\u786e\u5ea6\u3002\u867d\u7136\u6709\u6548\uff0c\u4f46\u6df7\u5408\u7cbe\u5ea6\u91cf\u5316\u5728\u901a\u7528\u8ba1\u7b97\u673a\uff08CPU\u548cGPU\uff09\u4e0a\u7684\u652f\u6301\u76ee\u524d\u5c1a\u4e0d\u6210\u719f\uff0c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u989d\u5916\u7684\u5ef6\u8fdf\u5f00\u9500\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u6807\u51c6\u91cf\u5316\u65b9\u6cd5\u5728\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u4e0a\u5df2\u7ecf\u53d6\u5f97\u4e86\u5f88\u597d\u7684\u7ed3\u679c\uff0c\u4f46\u8fd1\u671f\u7684\u7814\u7a76[27, 44]\u63d0\u5230\uff0c\u5b83\u53ef\u80fd\u5728\u5176\u4ed6\u795e\u7ecf\u67b6\u6784\uff08\u5982 Transformer \uff09\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u5728BEV\u7f51\u7edc\u4e2d\u540c\u65f6\u5b58\u5728\u5377\u79ef\u5757\u548c Transformer \uff0c\u4f7f\u5f97\u5b83\u4eec\u5bf9\u4f20\u7edf\u91cf\u5316\u65b9\u6cd5\u63d0\u51fa\u4e86\u6311\u6218\u3002<\/p>\n\n\n\n<p>Distillation<\/p>\n\n\n\n<p>\u6a21\u578b\u84b8\u998f\u901a\u5e38\u4f7f\u7528\u5927\u578b\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\u6765\u8bad\u7ec3\u4e00\u4e2a\u7d27\u51d1\u7684\u5b66\u751f\u6a21\u578b\u3002\u5728\u8bad\u7ec3\u5b66\u751f\u6a21\u578b\u65f6\uff0c\u4e0d\u662f\u4f7f\u7528\u7c7b\u522b\u6807\u7b7e\uff0c\u5173\u952e\u601d\u60f3\u662f\u5229\u7528\u6559\u5e08\u4ea7\u751f\u7684\u8f6f\u6982\u7387\u6765\u6307\u5bfc\u5b66\u751f\u7684\u8bad\u7ec3\u3002\u4e4b\u524d\u7684\u84b8\u998f\u65b9\u6cd5\u63a2\u7d22\u4e86\u4e0d\u540c\u7684\u77e5\u8bc6\u6765\u6e90\uff08\u4f8b\u5982\uff0c[12, 22, 30]\u4f7f\u7528\u903b\u8f91\u503c\uff0c\u5373\u8f6f\u6982\u7387\uff09\u3002\u6559\u5e08\u6a21\u578b\u7684\u9009\u62e9\u4e5f\u8fdb\u884c\u4e86\u7814\u7a76\uff0c\u5176\u4e2d[41, 34]\u4f7f\u7528\u591a\u4e2a\u6559\u5e08\u6a21\u578b\uff0c\u800c[8, 43]\u5e94\u7528\u81ea\u84b8\u998f\uff0c\u65e0\u9700\u989d\u5916\u7684\u6559\u5e08\u6a21\u578b\u3002\u5176\u4ed6\u5148\u524d\u7684\u52aa\u529b\u5728\u4e0d\u540c\u7684\u5e94\u7528\u4e0a\u5e94\u7528\u4e86\u4e0d\u540c\u7684\u8bbe\u7f6e\u8fdb\u884c\u84b8\u998f\u3002\u5173\u4e8e\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7f51\u7edc\uff0c\u4e4b\u524d\u7684\u5de5\u4f5c[6]\u8bd5\u56fe\u901a\u8fc7\u84b8\u998f\u5c06\u6fc0\u5149\u96f7\u8fbe\u4fe1\u606f\u4f20\u6388\u7ed9\u57fa\u4e8e\u76f8\u673a\u7684\u7f51\u7edc\uff0c\u4f46\u5728\u4f5c\u8005\u7eaf\u57fa\u4e8e\u76f8\u673a\u7684\u8bbe\u7f6e\u4e2d\uff0c\u5bf9\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u989d\u5916\u8981\u6c42\u4f7f\u5176\u53d8\u5f97\u4e0d\u53ef\u884c\u3002\u6b64\u5916\uff0cBEV\u7f51\u7edc\u4e2d\u5b58\u5728\u4e0d\u540c\u7c7b\u578b\u7684\u635f\u5931\u4f7f\u5f97\u6807\u51c6\u7684\u84b8\u998f\u65b9\u6cd5\u65e0\u6548\u3002\u4efb\u610f\u6216\u6b21\u4f18\u7684\u77e5\u8bc6\u6765\u6e90\u7ec4\u5408\u4e5f\u4f1a\u4f7f\u5f97\u8bad\u7ec3\u4e0d\u7a33\u5b9a\uff0c\u8868\u73b0\u4e0d\u4f73\uff0c\u751a\u81f3\u53d1\u6563\u3002<\/p>\n\n\n\n<p>3 Method<\/p>\n\n\n\n<p>Overview of QD-BEV pipeline<\/p>\n\n\n\n<p>\u672c\u7814\u7a76\u65e8\u5728\u63d0\u9ad8\u73b0\u6709\u9876\u5c16\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u6a21\u578b\u7684\u6548\u7387\u3002\u4f5c\u8005\u4ece\u5e7f\u6cdb\u4f7f\u7528\u7684BEVFormer\u6a21\u578b[23]\u51fa\u53d1\uff0c\u91c7\u7528\u9010\u6b65\u7684\u91cf\u5316\u611f\u77e5\u8bad\u7ec3\u8fc7\u7a0b\uff0c\u5206\u9636\u6bb5\u8fdb\u884c\uff08\u5177\u4f53\u7ec6\u8282\u57283.2\u8282\u4ecb\u7ecd\uff09\u3002\u4f5c\u8005\u8fdb\u4e00\u6b65\u901a\u8fc7\u4e00\u79cd\u65b0\u9896\u7684\u89c6\u56fe\u5f15\u5bfc\u7684\u84b8\u998f\u8fc7\u7a0b\u6765\u63d0\u5347\u5176\u7a33\u5b9a\u6027\u548c\u6027\u80fd\uff0c\u8fd9\u5728\u56fe2\u4e2d\u8fdb\u884c\u4e86\u7a81\u51fa\u5c55\u793a\uff0c\u5176\u4e2d\u4f5c\u8005\u4f7f\u7528\u6d6e\u70b9\u6559\u5e08\u6a21\u578b\u6765\u4fc3\u8fdb\u4f5c\u8005\u91cf\u5316\u7684QD-BEV\u5b66\u751f\u6a21\u578b\u7684\u5b66\u4e60\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u8f93\u5165\u7684\u591a\u6444\u50cf\u5934\u56fe\u50cf\u5206\u522b\u8f93\u5165\u5230\u6559\u5e08\u6a21\u578b\u548c\u5b66\u751f\u6a21\u578b\u4e2d\uff0c\u7136\u540e\u4f7f\u7528\u7f51\u7edc\u7684\u56fe\u50cf Backbone \u548c\u56fe\u50cf Neck \u90e8\u5206\u6765\u63d0\u53d6\u591a\u6444\u50cf\u5934\u56fe\u50cf\u7279\u5f81\u3002\u5728\u7f51\u7edc Transformer \u90e8\u5206\u4e4b\u540e\uff0c\u63d0\u53d6BEV\u7279\u5f81\uff0c\u5e76\u5206\u522b\u4f7f\u7528\u6559\u5e08\u6a21\u578b\u548c\u5b66\u751f\u6a21\u578b\u7684\u4e24\u4e2a\u90e8\u5206\u6765\u8ba1\u7b97\u56fe\u50cf\u84b8\u998f\u635f\u5931\u548cBEV\u84b8\u998f\u635f\u5931\u3002\u7136\u540e\u901a\u8fc7\u6444\u50cf\u5934\u7684\u989d\u5916\u53c2\u6570\u5c06\u8fd9\u4e24\u4e2a\u84b8\u998f\u635f\u5931\u878d\u5408\u8d77\u6765\uff0c\u5b9e\u73b0\u4f5c\u8005\u72ec\u7279\u7684\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f\u673a\u5236\u3002\u4f5c\u8005\u57283.3\u8282\u63d0\u4f9b\u4e86\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f\u8fc7\u7a0b\u7684\u8be6\u7ec6\u516c\u5f0f\u3002<\/p>\n\n\n\n<p>Quantization-aware training<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70401.png\" alt=\"\" class=\"wp-image-12365\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70401.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70401-300x137.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-12-1024x384.png\" alt=\"\" class=\"wp-image-12366\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-12-1024x384.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-12-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-12-768x288.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-12.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>View-guided distillation<\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u7684\u5355\u9886\u57df\u84b8\u998f\u65b9\u6cd5\u76f8\u6bd4\uff0c\u4f5c\u8005\u7684\u65b9\u6cd5\u5229\u7528\u4e86BEV\uff08\u9e1f\u77b0\u56fe\uff09\u548c\u56fe\u50cf\u9886\u57df\u7684\u4e92\u8865\u7279\u6027\uff0c\u5b83\u4eec\u63d0\u4f9b\u4e86\u4e0d\u540c\u7684\u89c6\u89d2\u5e76\u6355\u6349\u573a\u666f\u7684\u4e0d\u540c\u65b9\u9762\u3002BEV\u9886\u57df\u63d0\u4f9b\u4e86\u4e00\u4e2a\u81ea\u4e0a\u800c\u4e0b\u7684\u89c6\u56fe\uff0c\u80fd\u591f\u51c6\u786e\u611f\u77e5\u548c\u8bc6\u522b\u5468\u56f4\u73af\u5883\uff0c\u4f8b\u5982\u9053\u8def\u7684\u7ed3\u6784\u3001\u8f66\u8f86\u7684\u4f4d\u7f6e\u548c\u8f66\u9053\u6807\u8bb0\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u56fe\u50cf\u9886\u57df\u63d0\u4f9b\u4e86\u66f4\u771f\u5b9e\u7684\u89c6\u89c9\u4fe1\u606f\uff0c\u6355\u6349\u4e30\u5bcc\u7684\u573a\u666f\u7ec6\u8282\u548c\u989c\u8272\u4fe1\u606f\u3002\u5728\u4ee5\u4e0b\u5404\u8282\u4e2d\uff0c\u4f5c\u8005\u5c06\u8be6\u7ec6\u4ecb\u7ecdVGD\uff1a\u5728\u7b2c3.3.1\u8282\u4e2d\u4ecb\u7ecd\u56fe\u50cf\u7279\u5f81\u84b8\u998f\u7684\u8ba1\u7b97\uff0c\u7b2c3.3.2\u8282\u4e2d\u4ecb\u7ecdBEV\u7279\u5f81\u84b8\u998f\uff0c\u4ee5\u53ca\u7b2c3.3.3\u8282\u4e2d\u7ed3\u5408\u524d\u4e24\u4e2a\u84b8\u998f\u635f\u5931\u7684\u89c2\u70b9\u5f15\u5bfc\u84b8\u998f\u3002<\/p>\n\n\n\n<p>3.3.1 Image feature distillation<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"321\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70402.png\" alt=\"\" class=\"wp-image-12367\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70402.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70402-300x144.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p>3.3.2 BEV feature distillation<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"146\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70403.png\" alt=\"\" class=\"wp-image-12368\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70403.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70403-300x66.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p>3.3.3 View-guided distillation objective<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"413\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70404.png\" alt=\"\" class=\"wp-image-12369\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70404.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70404-300x185.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"767\" height=\"805\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-13.png\" alt=\"\" class=\"wp-image-12370\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-13.png 767w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-13-286x300.png 286w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/figure>\n\n\n\n<p><strong>\u7b97\u6cd51<\/strong>\u00a0\u6e10\u8fdb\u91cf\u5316\u611f\u77e5\u7684VGD\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f<\/p>\n\n\n\n<p>4 Experiments<\/p>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u4f5c\u8005\u9996\u5148\u8be6\u7ec6\u9610\u8ff0\u5b9e\u9a8c\u8bbe\u7f6e\uff0c\u7136\u540e\u5728BEV\u7f51\u7edc\u4e0a\u8bc4\u4f30PTQ\u548cQAT\u65b9\u6cd5\u3002\u57fa\u4e8e\u8fd9\u4e9b\u7ed3\u679c\u7684\u5206\u6790\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86QD-BEV\u6765\u514b\u670d\u6807\u51c6PTQ\u548cQAT\u7684\u4e0d\u8db3\uff0c\u5e76\u4e14\u4f5c\u8005\u4e13\u95e8\u5728\u4e0d\u540c\u7684\u8bbe\u7f6e\u548c\u7ea6\u675f\u4e0b\u5c06\u4f5c\u8005\u7684\u7ed3\u679c\u4e0e\u4e4b\u524d\u7684\u5de5\u4f5c\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p>Experimental settings<\/p>\n\n\n\n<p>4.1.1 Dataset<\/p>\n\n\n\n<p>\u4f5c\u8005\u4f7f\u7528nuScenes\u6570\u636e\u96c6[3]\u5bf9\u4f5c\u8005\u7684 Proposal \u65b9\u6cd5\u8fdb\u884c\u4e86\u5177\u6709\u6311\u6218\u6027\u76843D\u68c0\u6d4b\u4efb\u52a1\u8bc4\u4f30\uff0c\u8fd9\u662f\u4e00\u4e2a\u7531Motional\uff08\u524d\u8eab\u4e3anuTonomy\uff09\u56e2\u961f\u5f00\u53d1\u7684\u5927\u89c4\u6a21\u516c\u5f00\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u5305\u542b\u4e86\u5728\u6ce2\u58eb\u987f\u548c\u65b0\u52a0\u5761\u6536\u96c6\u76841000\u4e2a\u624b\u52a8\u6311\u9009\u768420\u79d2\u9a7e\u9a76\u573a\u666f\uff0c\u5176\u4e2d750\u4e2a\u7528\u4e8e\u8bad\u7ec3\uff0c100\u4e2a\u7528\u4e8e\u9a8c\u8bc1\uff0c150\u4e2a\u7528\u4e8e\u6d4b\u8bd5\u3002\u6570\u636e\u96c6\u4e2d\u7684\u56fe\u50cf\u6765\u81ea6\u4e2a\u5177\u6709\u5df2\u77e5\u5185\u5916\u53c2\u6570\u7684\u76f8\u673a\u3002<\/p>\n\n\n\n<p>4.1.2 Evaluation metrics<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"333\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/70405.png\" alt=\"\" class=\"wp-image-12371\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70405.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/70405-300x149.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p>4.1.3 Baselines &amp; Implementation Details<\/p>\n\n\n\n<p>\u4f5c\u8005\u4e3b\u8981\u4e0eBEVFormer [23]\u63d0\u51fa\u7684\u4e0d\u540c\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u7684\u6d6e\u70b9\u57fa\u51c6\u6a21\u578b\u8fdb\u884c\u6bd4\u8f83\uff08\u5177\u4f53\u6765\u8bf4\uff0c\u5206\u522b\u662fBEVFormer-Tiny\u3001BEVFormer-Small\u548cBEVFormer-Base\uff09\u3002\u5bf9\u4e8e\u91cf\u5316\u57fa\u51c6\uff0c\u4f5c\u8005\u5e94\u7528\u5148\u524d\u7684PTQ\u65b9\u6cd5DFQ [29]\u4ee5\u53caQAT\u65b9\u6cd5PACT [7]\u548cHAWQv3 [40]\u5bf9BEVFormer\u6a21\u578b\u8fdb\u884c\u91cf\u5316\uff0c\u5e76\u4e0eQD-BEV\u8fdb\u884c\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6d6e\u70b9\u6a21\u578b\uff0c\u4f5c\u8005\u4f7f\u7528\u4e86BEVFormer\u7684\u5f00\u6e90\u5e93\uff0c\u5e76\u91c7\u7528\u4e86\u4e24\u79cd\u4e0d\u540c\u7684 Backbone \u7f51\u7edc\uff1aResNet50\u548cResNet101-DCN\u3002\u4f5c\u8005\u5728\u6743\u91cd\u4e0a\u91c7\u7528\u9010\u901a\u9053\u7684\u5bf9\u79f0\u7ebf\u6027\u91cf\u5316\uff0c\u5728\u6fc0\u6d3b\u4e0a\u91c7\u7528\u9010\u5c42\u7684\u91cf\u5316\uff0c\u8fd9\u4e9b\u90fd\u662f\u5148\u524d\u91cf\u5316\u65b9\u6cd5\u7684\u6807\u51c6\u8bbe\u7f6e\u3002\u7531\u4e8e\u5728\u4f5c\u8005\u7684\u8bbe\u7f6e\u4e2d\u51e0\u4e4e\u6ca1\u6709\u76f8\u5173\u7684\u5de5\u4f5c\u53ef\u4f9b\u53c2\u8003\uff0c\u4f5c\u8005\u8ba9\u4f5c\u8005\u7684\u8bad\u7ec3\u91c7\u7528\u4e0eBEVFormer\u539f\u59cb\u8bad\u7ec3\u7b56\u7565\u76f8\u540c\u7684\u65b9\u6848\uff0c\u5373\u6bcf\u4e2a\u6b65\u9aa4\u8bad\u7ec324\u4e2a\u5468\u671f\uff0c\u4f7f\u7528AdamW\u4f18\u5316\u5668\uff0c\u521d\u59cb\u5b66\u4e60\u7387\u8bbe\u4e3a2e-4\uff0c\u7ebf\u6027\u9884\u70ed500\u6b21\u8fed\u4ee3\uff0c\u7136\u540e\u4f7f\u7528\u4f59\u5f26\u9000\u706b\u3002<\/p>\n\n\n\n<p>Analysis on BEV Quantization<\/p>\n\n\n\n<p>4.2.1 PTQ results<\/p>\n\n\n\n<p>\u4f5c\u8005\u9996\u5148\u5728\u88681\u4e2d\u5206\u6790\u4e86\u4e0d\u540c\u6a21\u5757\u5bf9\u91cf\u5316\u7684\u654f\u611f\u6027\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u7f51\u7edc\u7684\u4e3b\u4f53\u90e8\u5206\u548c\u7f16\u7801\u5668\u90e8\u5206\u5bf9\u91cf\u5316\u66f4\u4e3a\u654f\u611f\uff0c\u800c Neck \u548c\u89e3\u7801\u5668\u90e8\u5206\u7684\u91cf\u5316\u5bf9\u51c6\u786e\u5ea6\u4ec5\u5e26\u6765\u8f7b\u5fae\u7684\u5e72\u6270\u3002\u4f5c\u8005\u8981\u6307\u51fa\u7684\u662f\uff0c\u57fa\u4e8e\u654f\u611f\u6027\u5206\u6790\uff0c\u53ef\u4ee5\u5e94\u7528\u6df7\u5408\u7cbe\u5ea6\u91cf\u5316\u6765\u66f4\u597d\u5730\u4fdd\u62a4\u654f\u611f\u6a21\u5757\uff0c\u4f46\u9274\u4e8e\u8fd9\u8d85\u51fa\u4e86\u672c\u6587\u7684\u7814\u7a76\u8303\u56f4\uff0c\u4f5c\u8005\u5c06\u5176\u4f5c\u4e3a\u672a\u6765\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"357\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-14-1024x357.png\" alt=\"\" class=\"wp-image-12372\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-14-1024x357.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-14-300x105.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-14-768x268.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-14.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7136\u540e\uff0c\u4f5c\u8005\u5206\u6790\u4e86\u4e0d\u540c\u91cf\u5316\u4f4d\u5bbd\u5bf9\u6700\u7ec8\u6027\u80fd\u7684\u5f71\u54cd\u3002\u88682\u663e\u793a\uff0c\u76f4\u63a5\u5e94\u7528\u5c11\u4e8e8\u4f4d\u7cbe\u5ea6\u7684PTQ\u4f1a\u5bfc\u81f4\u663e\u8457\u7684\u51c6\u786e\u5ea6\u4e0b\u964d\uff0c\u7279\u522b\u662f\u5f53\u91cf\u5316\u5230W4A4\u65f6\uff0c\u7ed3\u679c\u51e0\u4e4e\u53d8\u6210\u4e86\u7eaf\u566a\u58f0\uff0c\u5927\u7ea60 mAP\u3002\u4ece\u88682\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u4e3a\u4e86\u5728\u5b9e\u73b0\u8d85\u4f4e\u6bd4\u7279\u91cf\u5316\u65f6\u4fdd\u6301\u51c6\u786e\u5ea6\uff0c\u8fdb\u884cQAT\u662f\u5fc5\u8981\u7684\u3002<\/p>\n\n\n\n<p>4.2.2 QAT\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"767\" height=\"792\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-15.png\" alt=\"\" class=\"wp-image-12373\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-15.png 767w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-15-291x300.png 291w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/figure>\n\n\n\n<p>\u88684\uff1a\u4e0e\u5148\u524d\u65b9\u6cd5\u6216 Baseline \u76f8\u6bd4\u7684QD-BEV\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"590\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-16-1024x590.png\" alt=\"\" class=\"wp-image-12374\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-16-1024x590.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-16-300x173.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-16-768x442.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-16.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3PTQ\u4e25\u91cd\u7684\u51c6\u786e\u5ea6\u9000\u5316\u95ee\u9898\uff0c\u4f5c\u8005\u5e94\u7528QAT\u4ee5\u66f4\u597d\u5730\u4f7f\u6a21\u578b\u9002\u5e944\u4f4d\u91cf\u5316\u3002\u5728\u6240\u6709\u5b9e\u9a8c\u4e2d\uff0c\u76f4\u63a5\u5c06\u6574\u4e2a\u7f51\u7edc\u91cf\u5316\u5230\u76ee\u6807\u4f4d\u5bbd\u7684\u6807\u51c6QAT\u65b9\u6cd5\u4f1a\u5bfc\u81f4\u4e0d\u7a33\u5b9a\u7684QAT\u8fc7\u7a0b\uff0c\u5728\u5927\u6a21\u578b\u4e2d\u4f1a\u5f15\u8d77\u68af\u5ea6\u7206\u70b8\u6216\u51c6\u786e\u5ea6\u8fc5\u901f\u4e0b\u964d\uff08\u4f8b\u5982\uff0cW4A6\u7684BEVFormer-Base\u4ec5\u67090.07 mAP\uff09\u3002\u57fa\u4e8e\u8fd9\u4e00\u89c2\u5bdf\uff0c\u4f5c\u8005\u5047\u8bbe\u6807\u51c6QAT\u4e2d\u5f15\u5165\u7684\u91cf\u5316\u6270\u52a8\u592a\u5927\uff0c\u65e0\u6cd5\u6062\u590d\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u5e94\u7528\u6e10\u8fdb\u5f0fQAT\u6765\u9650\u5236\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u91cf\u5316\u6270\u52a8\u3002\u88683\u6bd4\u8f83\u4e86\u5728\u76f8\u540c\u8bad\u7ec3\u5468\u671f\u6570\u4e0b\u6e10\u8fdb\u5f0fQAT\u4e0e\u6807\u51c6QAT\u7684\u6027\u80fd\u3002\u4f5c\u8005\u53ef\u4ee5\u770b\u5230\uff0c\u5728BEVFormer-Tiny\u548cBEVFormer-Small\u4e2d\uff0c\u6e10\u8fdb\u5f0fQAT\u4e00\u81f4\u4f18\u4e8e\u6807\u51c6QAT\uff08\u9ad8\u8fbe5% mAP\uff09\uff0c\u5728BEVFormer-Base\u4e0a\u53d6\u5f97\u4e86\u66f4\u5927\u7684\u6027\u80fd\u63d0\u5347\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u9a8c\u8bc1\u4f5c\u8005\u7684\u5206\u6790\uff0c\u4f5c\u8005\u5728\u56fe3\u4e2d\u7ed8\u5236\u4e86\u524d60\u4e2a\u5468\u671f\u7684\u6e10\u8fdb\u5f0fQAT\u8bad\u7ec3\u66f2\u7ebf\uff0c\u5176\u4e2d\u5bf9BEVFormer-Tiny\u8fdb\u884cW4A6\u91cf\u5316\u3002\u4f5c\u8005\u5c06\u6e10\u8fdb\u5f0fQAT\u5206\u4e3a4\u4e2a\u9636\u6bb5\uff0c\u5e76\u5728\u6bcf\u4e2a\u9636\u6bb5\u8fed\u4ee3\u91cf\u5316\u4e00\u4e2a\u65b0\u7684\u6a21\u5757\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u6bcf\u9636\u6bb5\u7684\u5f00\u59cb\uff0cNDS\u90fd\u4f1a\u4e0b\u964d\uff0c\u5bf9\u5e94\u4e8e\u91cf\u5316\u6bcf\u4e2a\u65b0\u6a21\u5757\u5f15\u5165\u7684\u91cf\u5316\u6270\u52a8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"775\" height=\"465\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-17.png\" alt=\"\" class=\"wp-image-12375\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-17.png 775w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-17-300x180.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-17-768x461.png 768w\" sizes=\"(max-width: 775px) 100vw, 775px\" \/><\/figure>\n\n\n\n<p>\u5c3d\u7ba1\u6e10\u8fdb\u5f0fQAT\u6709\u5176\u4f18\u70b9\uff0c\u4f46\u4f5c\u8005\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5b83\u4ecd\u7136\u5b58\u5728\u8bad\u7ec3\u4e0d\u7a33\u5b9a\u548c\u6027\u80fd\u4e0b\u964d\u7684\u95ee\u9898\u3002\u5982\u56fe1\u6240\u793a\uff0c\u5bf9\u5e94\u4e8e\u56fe3\u7684\u6700\u540e20\u4e2a\u5468\u671f\uff0c\u6e10\u8fdb\u5f0fQAT\u5728\u8fbe\u5230\u5e73\u53f0\u671f\u540e\u6301\u7eed\u4e0a\u4e0b\u6ce2\u52a8\uff0c\u800cVGD\u7684\u8bad\u7ec3\u66f2\u7ebf\u663e\u793a\u51fa\u66f4\u4e3a\u7a33\u5b9a\u4e0a\u5347\u7684\u8d8b\u52bf\u3002<\/p>\n\n\n\n<p>Main Results of QD-BEV<\/p>\n\n\n\n<p>\u4e3a\u4e86\u83b7\u5f97\u66f4\u597d\u7684\u51c6\u786e\u6027\u548c\u7a33\u5b9a\u6027\uff0c\u4f5c\u8005\u5e94\u7528\u4e86\u4ee5\u6d6e\u70b9\u6a21\u578b\u4e3a\u6559\u5e08\u3001\u91cf\u5316\u6a21\u578b\u4e3a\u5b66\u751f\u7684\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f\u3002\u56fe3\u5c55\u793a\u4e86VGD\u5bf9BEVFormer-Tiny\u8fdb\u884cW4A6\u91cf\u5316\u65f6\u7684\u5f71\u54cd\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u6700\u521d\u768460\u4e2a\u5468\u671f\u5185\uff0c\u4f5c\u8005\u5c06VGD\u4e0e\u9010\u6b65\u91cf\u5316\u8bad\u7ec3\uff08QAT\uff09\u5206\u5f00\uff0c\u4ee5\u4fbf\u66f4\u6e05\u6670\u5730\u6bd4\u8f83\u548c\u8bf4\u660e\uff0c\u5b9e\u9645\u4e0aVGD\u662f\u4e00\u4e2a\u5373\u63d2\u5373\u7528\u7684\u529f\u80fd\uff0c\u53ef\u4ee5\u59cb\u7ec8\u4e0eQAT\u8054\u5408\u5e94\u7528\uff0c\u6b63\u5982\u4f5c\u8005\u5728\u6700\u540e20\u4e2a\u5468\u671f\u4e2d\u6240\u505a\u7684\u90a3\u6837\u3002\u5f97\u76ca\u4e8e\u56fe\u50cf\u57df\u548cBEV\u57df\u7684\u77e5\u8bc6\uff0cQD-BEV\u7f51\u7edc\u80fd\u591f\u5b8c\u5168\u6062\u590d\u91cf\u5316\u9000\u5316\uff0c\u751a\u81f3\u8d85\u8d8a\u6d6e\u70b9 Baseline \u3002\u5982\u88684\u6240\u793a\uff0c\u8be5\u6a21\u578b\u7684NDS\u548cmAP\u4e0d\u4ec5\u4f18\u4e8e\u5148\u524d\u7684\u6d6e\u70b9 Baseline \uff0c\u4e5f\u4f18\u4e8e\u91cf\u5316\u7f51\u7edc\u3002\u7531\u4e8e\u76ee\u524d\u8fd8\u6ca1\u6709\u7d27\u51d1\u578bBEV\u7f51\u7edc\u7684\u73b0\u6709\u7ed3\u679c\uff0c\u4f5c\u8005\u5728BEVFormer\u4e0a\u5b9e\u65bd\u4e86\u6807\u51c6\u91cf\u5316\u65b9\u6cd5DFQ [29]\uff0cHAWQv3 [40]\u548cPACT [7]\u4f5c\u4e3a\u6bd4\u8f83\u3002\u5bf9\u4e8eDFQ\uff08DFQ\u662f\u4e00\u79cdPTQ\u65b9\u6cd5\uff0c\u8f83\u4f4e\u7684\u4f4d\u5bbd\u4f1a\u5bfc\u81f4\u65e0\u6cd5\u5bb9\u5fcd\u7684\u51c6\u786e\u5ea6\u4e0b\u964d\uff09\uff0c\u4f5c\u8005\u5e94\u7528W8A8\u91cf\u5316\uff0c\u5bf9\u4e8eQAT\u65b9\u6cd5\u548cQD-BEV\u6a21\u578b\uff0c\u4f5c\u8005\u4f7f\u7528W4A6\u91cf\u5316\u3002\u4f5c\u4e3a\u6bd4\u8f83\uff0cQD-BEV\u4ec5\u752832.9 MB\u7684\u6a21\u578b\u5927\u5c0f\u5c31\u80fd\u8fbe\u52300.509\u7684NDS\uff0c\u4e0eBEVFormer-T-DFQ\uff080.340 NDS\uff09\u7684\u5927\u5c0f\u76f8\u4f3c\uff0c\u4f46\u6bd4BEVFormer-Tiny\uff08126.8 MB\uff0c0.354 NDS\uff09\u5c0f\u5f97\u591a\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u5728PETR [24]\u548cBEVDepth [21]\u6a21\u578b\u4e0a\u8fdb\u884c\u4e86\u521d\u6b65\u6d4b\u8bd5\uff0c\u4f7f\u7528\u7684\u662f\u56fe5\u4e2d\u7684\u4f5c\u8005\u7684\u65b9\u6cd5\u3002\u6027\u80fd\u867d\u672a\u8fbe\u5230BEVFormer\u7684\u6c34\u5e73\uff0c\u4f46\u4ecd\u7136\u8d85\u8d8a\u4e86\u4f20\u7edf\u91cf\u5316\u65b9\u6cd5\uff0c\u5c3d\u7ba1\u7ed3\u679c\u5404\u5f02\uff0c\u4f46\u8fd9\u4e5f\u7a81\u663e\u4e86\u8be5\u65b9\u6cd5\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"522\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-18.png\" alt=\"\" class=\"wp-image-12376\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-18.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-18-300x204.png 300w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<p>\u5728\u56fe4\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86QD-BEV-Base\u6a21\u578b\u5728nuScenes\u9a8c\u8bc1\u6570\u636e\u96c6\u4e0a\u7684\u53ef\u89c6\u5316\u7ed3\u679c\uff0c\u5e76\u4e0eBEVFormer-Tiny\u7684\u7ed3\u679c\u548c GT \u60c5\u51b5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u53ef\u4ee5\u770b\u51fa\uff0cQD-BEV-Base\u68c0\u6d4b\u5230\u4e86\u66f4\u591a\u7684\u76ee\u6807\uff0c\u5e76\u4e143D\u6846\u9884\u6d4b\u6bd4BEVFormer-Tiny\u66f4\u51c6\u786e\u3002\u66f4\u591a\u53ef\u89c6\u5316\u7ed3\u679c\u5728\u8865\u5145\u6750\u6599\u4e2d\u63d0\u4f9b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"771\" height=\"736\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-19.png\" alt=\"\" class=\"wp-image-12377\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-19.png 771w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-19-300x286.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-19-768x733.png 768w\" sizes=\"(max-width: 771px) 100vw, 771px\" \/><\/figure>\n\n\n\n<p>Streaming perception result<\/p>\n\n\n\n<p>\u88685\uff1a\u5728BEVDepth[21]\u548cPETR[24]\u4e0a\u7684QD-BEV\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"754\" height=\"802\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-20.png\" alt=\"\" class=\"wp-image-12378\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-20.png 754w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-20-282x300.png 282w\" sizes=\"(max-width: 754px) 100vw, 754px\" \/><\/figure>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u80cc\u666f\u4e0b\uff0c\u6d41\u5f0f\u611f\u77e5[19]\u5bf9\u4e8e\u4f7f\u6a21\u578b\u80fd\u591f\u5b9e\u65f6\u5feb\u901f\u3001\u7cbe\u786e\u5730\u505a\u51fa\u51b3\u7b56\u81f3\u5173\u91cd\u8981\u3002\u9ad8\u5ef6\u8fdf\u4f1a\u964d\u4f4e\u6d41\u5f0f\u611f\u77e5\u7684\u6548\u679c\uff0c\u56e0\u4e3a\u5b83\u4f1a\u5bfc\u81f4\u611f\u77e5\u6570\u636e\u4e0e\u795e\u7ecf\u7f51\u7edc\u8f93\u51fa\u4e4b\u95f4\u7684\u5ef6\u8fdf\u3002\u4e3a\u4e86\u589e\u5f3a\u6d41\u5f0f\u611f\u77e5\uff0c\u91cf\u5316\u662f\u4e00\u9879\u5fc5\u8981\u7684\u6280\u5de7\uff0c\u5b83\u538b\u7f29\u4e86\u6a21\u578b\u5927\u5c0f\uff0c\u51cf\u5c11\u4e86\u8ba1\u7b97\u8d1f\u8f7d\uff0c\u5e76\u52a0\u5feb\u4e86\u63a8\u7406\u8fc7\u7a0b\u3002\u5728\u88686\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86\u91cf\u5316\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u5bf9sAP\u6307\u6807\u7684\u91cd\u8981\u5f71\u54cd\u3002\u5982\u4f5c\u8005\u6240\u89c1\uff0c\u4e0e\u6d6e\u70b9\u6a21\u578b\u548c\u91cf\u5316 Baseline \u76f8\u6bd4\uff0cQD-BEV\u6a21\u578b\u5728sAP\u4e0a\u663e\u793a\u51fa\u4e00\u81f4\u7684\u6539\u8fdb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"631\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/image-21.png\" alt=\"\" class=\"wp-image-12379\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-21.png 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/image-21-300x253.png 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/figure>\n\n\n\n<p>5 Ablation study<\/p>\n\n\n\n<p>\u5728\u56fe5\u4e2d\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u4e00\u9879\u6d88\u878d\u7814\u7a76\uff0c\u6bd4\u8f83\u4e86\u5728\u4ec5\u4f7f\u7528\u56fe\u50cf\u7279\u5f81\u4e0a\u7684\u84b8\u998f\u3001\u4ec5\u4f7f\u7528BEV\u7279\u5f81\u4e0a\u7684\u84b8\u998f\u4ee5\u53ca\u4f5c\u8005\u63d0\u51fa\u7684\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f\u3002\u6240\u63d0\u5230\u7684\u65b9\u6cd5\u79f0\u4e3aCWD [33]\u3002\u4e3a\u4e86\u516c\u5e73\u6bd4\u8f83\uff0c\u4f5c\u8005\u4f7f\u7528\u4e86\u76f8\u540c\u7684\u9884\u8bad\u7ec3\u6743\u91cd\u548c\u8d85\u53c2\u6570\uff0c\u5982\u6e29\u5ea6\u548c\u5b66\u4e60\u7387\u3002\u4ece\u56fe\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u89c6\u56fe\u5f15\u5bfc\u84b8\u998f\u660e\u663e\u4f18\u4e8eCWD\u65b9\u6cd5\u3002\u65e0\u8bba\u662f\u5728mAP\u8fd8\u662fNDS\u66f2\u7ebf\u4e0a\uff0cVGD\u90fd\u5448\u73b0\u51fa\u66f4\u660e\u663e\u4e14\u7a33\u5b9a\u7684\u4e0a\u5347\u8d8b\u52bf\uff0c\u5e76\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u6700\u7ec8\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>6 Conclusion<\/p>\n\n\n\n<p>\u5728\u672c\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u7cfb\u7edf\u5730\u7814\u7a76\u4e86\u5728BEV\u7f51\u7edc\u4e0a\u7684PTQ\u548cQAT\uff0c\u5e76\u5c55\u793a\u4e86\u5b83\u4eec\u9762\u4e34\u7684\u4e3b\u8981\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u4f5c\u8005\u7684\u5206\u6790\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u89c6\u56fe\u5f15\u5bfc\u7684\u84b8\u998f\uff08VGD\uff09\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u901a\u8fc7\u5229\u7528\u56fe\u50cf\u57df\u548cBEV\u57df\u7684\u4fe1\u606f\u6765\u7a33\u5b9aQAT\u8fc7\u7a0b\u5e76\u63d0\u5347\u6700\u7ec8\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5c06VGD\u4f5c\u4e3a\u4e00\u79cd\u5373\u63d2\u5373\u7528\u7684\u529f\u80fd\uff0c\u5728\u91cf\u5316\u7684BEV\u6a21\u578b\u4e2d\u8054\u5408\u5e94\u7528\uff0cQD-BEV\u53ef\u4ee5\u7f29\u5c0f\u7cbe\u5ea6\u5dee\u8ddd\uff0c\u751a\u81f3\u8d85\u8d8a\u6d6e\u70b9 Baseline \u3002<\/p>\n\n\n\n<p>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u4ec515.8 MB\u6a21\u578b\u5927\u5c0f\u76844\u4f4d\u6743\u91cd\u548c6\u4f4d\u6fc0\u6d3b\u91cf\u5316\u7684QD-BEV-Tiny\u6a21\u578b\u8fbe\u5230\u4e8637.2%\u7684NDS\uff0c\u76f8\u8f83\u4e8eBevFormer-Tiny\uff0c\u5728\u6a21\u578b\u538b\u7f298\u500d\u7684\u60c5\u51b5\u4e0b\u6027\u80fd\u63d0\u9ad8\u4e861.8%\u3002<\/p>\n\n\n\n<p>\u53c2\u8003<\/p>\n\n\n\n<p>[1].QD-BEV : Quantization-aware View-guided Distillation for Multi-view.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1 Introduction \u57fa\u4e8e\u9e1f\u77b0\u56fe\uff08BE [&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-12361","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12361"}],"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=12361"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12361\/revisions"}],"predecessor-version":[{"id":12380,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12361\/revisions\/12380"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12361"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12361"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12361"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}