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size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"775\" height=\"438\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-34.png\" alt=\"\" class=\"wp-image-12397\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-34.png 775w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-34-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-34-768x434.png 768w\" sizes=\"(max-width: 775px) 100vw, 775px\" \/><\/figure>\n\n\n\n<p>\u7136\u540e\u4f7f\u7528\u6211\u4eec\u8bbe\u8ba1\u7684\u65b9\u6cd5\uff0c\u5c06\u63d0\u53d6\u7684\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20\u7279\u5f81FL\u548c\u76f8\u673a\u7279\u5f81FC\u76f8\u4e92\u4f5c\u7528\u5e76\u878d\u5408\u3002\u6211\u4eec\u7684\u591a\u6a21\u5f0f\u878d\u5408\u7a7a\u95f4\u5305\u542b\u4e24\u4e2a\u878d\u5408\uff0c\u5728\u9884\u878d\u5408\u9636\u6bb5\uff0c\u6211\u4eec\u7684\u4f53\u7d20\u589e\u5f3a\u6a21\u5757\uff08VEM\uff09\u548c\u56fe\u50cf\u589e\u5f3a\u6a21\u5757\uff08IEM\uff09\u5bf9\u4e24\u79cd\u6a21\u5f0f\u8fdb\u884c\u7279\u5b9a\u7684\u53cc\u5411\u4e92\u8865\u589e\u5f3a\uff0c\u4ee5\u63d0\u9ad8\u4f53\u7d20\u7684\u8bed\u4e49\u80fd\u529b\u548c\u56fe\u50cf\u7684\u7a7a\u95f4\u80fd\u529b\uff0c\u6709\u6548\u5730\u907f\u514d\u4e86\u5f31\u8868\u793a\u5e26\u6765\u7684\u8d1f\u9762\u5f71\u54cd\uff0c\u4e5f\u4e3a\u4e0b\u4e00\u6b65\u51c6\u5907\u4e86\u66f4\u5168\u9762\u7684\u7279\u5f81\u3002\u7136\u540e\uff0c\u5728\u7edf\u4e00\u878d\u5408\u9636\u6bb5\uff08U-Fusion\uff09\u4e2d\uff0c\u901a\u8fc7\u89c6\u56fe\u53d8\u6362\u5c06\u589e\u5f3a\u7684\u7a7a\u95f4\u611f\u77e5\u76f8\u673a\u7279\u5f81FSpC\u63d0\u5347\u52303D\u4f53\u7d20\u7a7a\u95f4\u4e2d\uff0c\u5e76\u4ee5\u81ea\u9002\u5e94\u7684\u65b9\u5f0f\u4e0e\u8bed\u4e49\u611f\u77e5\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20\u7279\u5f81FSeL\u8fdb\u4e00\u6b65\u878d\u5408\u3002<\/p>\n\n\n\n<p>\u6700\u540e\uff0c\u6309\u7167\u57fa\u4e8e\u4f53\u7d20\u7684\u65b9\u6cd5\u7684\u5de5\u4f5c\u6d41\u7a0b\uff0c\u6211\u4eec\u6298\u53e0\u878d\u5408\u7684\u4f53\u7d20\u7279\u5f81Ff\u7684\u9ad8\u5ea6\uff0c\u4ee5\u4fbf\u5c06\u5b83\u4eec\u8f6c\u6362\u5230BEV\u7a7a\u95f4\u4e2d\uff0c\u7136\u540eBEV\u7279\u5f81FB\u7ecf\u8fc7\u57fa\u4e8e\u5377\u79ef\u7684BEV\u7f16\u7801\u5668\u548c\u68c0\u6d4b\u5934\uff0c\u4ee5\u83b7\u5f97\u6700\u7ec8\u76843D\u68c0\u6d4b\u7ed3\u679c\u3002\u5728UVTR\u4e4b\u540e\uff0c\u5728\u8bad\u7ec3\u671f\u95f4\u5e94\u7528\u5308\u7259\u5229\u7b97\u6cd5\u6765\u5339\u914d\u9884\u6d4b\u548c\u5730\u9762\u5b9e\u51b5\u3002\u540c\u65f6\uff0cFocal loss\u548cL1 loss\u5206\u522b\u7528\u4e8e\u5206\u7c7b\u548c3D\u8fb9\u754c\u6846\u56de\u5f52\u3002<\/p>\n\n\n\n<p><strong>Pre-Fusion<\/strong><\/p>\n\n\n\n<p>\u9884\u878d\u5408\u7531\u4e24\u4e2a\u5173\u952e\u6a21\u5757\u7ec4\u6210\uff1aVEM\u548cIEM\u3002\u8fd9\u4e24\u4e2a\u6a21\u5757\u4ee5\u53cc\u5411\u4e92\u8865\u7684\u65b9\u5f0f\u5de5\u4f5c\uff0c\u4ee5\u589e\u5f3a\u4f53\u7d20\u7684\u8bed\u4e49\u548c\u56fe\u50cf\u7684\u7a7a\u95f4\u7279\u5f81\u3002\u5b83\u7f13\u89e3\u4e86\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u7684\u5f31\u8868\u793a\u3002\u540c\u65f6\u5b83\u4eec\u7684\u5f3a\u8868\u793a\u88ab\u4fdd\u7559\uff0c\u4ece\u800c\u5141\u8bb8\u66f4\u5168\u9762\u76843D\u8868\u793a\u30021\uff09\u4f53\u7d20\u589e\u5f3a\u6a21\u5757\uff1a\u5c3d\u7ba1\u5177\u6709\u5f3a\u5927\u7684\u7a7a\u95f4\u5b9a\u4f4d\u80fd\u529b\uff0c\u4f46\u4ece\u6fc0\u5149\u96f7\u8fbe\u5206\u652f\u83b7\u5f97\u7684\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20\u7279\u5f81FL\u7f3a\u4e4f\u91cd\u8981\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u8fd9\u4e2a\u7f3a\u70b9\u53ef\u4ee5\u901a\u8fc7\u7edf\u4e00\u878d\u5408\u8fc7\u7a0b\u4f20\u64ad\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u95ee\u9898\u5e76\u4e3a\u7edf\u4e00\u878d\u5408\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u529f\u80fd\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86VEM\uff0c\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"389\" height=\"319\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-35.png\" alt=\"\" class=\"wp-image-12398\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-35.png 389w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-35-300x246.png 300w\" sizes=\"(max-width: 389px) 100vw, 389px\" \/><\/figure>\n\n\n\n<p>\u5728VEM\u4e2d\uff0c\u9996\u5148\u4f7f\u7528\u5185\u5916\u53c2\u5c06\u6bcf\u4e2a\u975e\u7a7a\u4f53\u7d20\u7684\u4e2d\u5fc3\u70b9\u6295\u5f71\u5230\u56fe\u50cf\u5750\u6807\u4e0a\u3002\u4e3a\u4e86\u51cf\u5c11\u4e0d\u6b63\u786e\u7684\u5bf9\u9f50\uff0c\u6211\u4eec\u968f\u540e\u68c0\u7d22\u6295\u5f71\u70b9\u5468\u56f4\u7684K\u4e2a\u6700\u8fd1\u7684\u76f8\u673a\u7279\u5f81\u3002\u5728\u878d\u5408\u8fc7\u7a0b\u4e2d\uff0c\u8fd9\u4e9b\u76f8\u673a\u7279\u5f81\u7684\u8d21\u732e\u5e94\u8be5\u662f\u4e0d\u540c\u7684\uff0c\u56e0\u6b64\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u8ddd\u79bb\u4f18\u5148\u52a0\u6743\u65b9\u6848\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5bf9\u4e8eK\u4e2a\u76f8\u673a\u7279\u5f81\uff0c\u6211\u4eec\u9996\u5148\u8ba1\u7b97\u5230\u6295\u5f71\u70b9\u7684\u8ddd\u79bb\u7684\u5012\u6570\uff0c\u8868\u793a\u4e3aLnearest\uff0c\u5176\u5f62\u6210\u4e3aFnearest\u7684\u6743\u91cd\u3002\u7136\u540e\u5f97\u5230\u8ddd\u79bb\u5148\u9a8c\u52a0\u6743\u7684\u76f8\u673a\u7279\u5f81Fweighted<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"345\" height=\"26\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-36.png\" alt=\"\" class=\"wp-image-12399\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-36.png 345w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-36-300x23.png 300w\" sizes=\"(max-width: 345px) 100vw, 345px\" \/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u7ebf\u6027\u5c42\u548c\u6fc0\u6d3b\u51fd\u6570\uff0c\u7136\u540e\u8fdb\u884c\u52a0\u6cd5\uff0c\u4ee5\u5b9e\u73b0\u53ef\u5b66\u4e60\u7684\u878d\u5408\u8fc7\u7a0b\uff0c\u4ece\u800c\u4ea7\u751f\u8bed\u4e49\u611f\u77e5\u7684\u4f53\u7d20\u7279\u5f81\uff0c\u8868\u793a\u4e3aFSeL\u3002\u6574\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"328\" height=\"37\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-37.png\" alt=\"\" class=\"wp-image-12400\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-37.png 328w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-37-300x34.png 300w\" sizes=\"(max-width: 328px) 100vw, 328px\" \/><\/figure>\n\n\n\n<p>2\uff09\u56fe\u50cf\u589e\u5f3a\u6a21\u5757\uff1a\u76f8\u673a\u7279\u5f81\u7f3a\u4e4f\u5bf9\u4e09\u7ef4\u7a7a\u95f4\u4fe1\u606f\u7684\u611f\u77e5\u80fd\u529b\uff0c\u8fd9\u5bf9\u4e09\u7ef4\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u4e86\u4ece\u8fd9\u4e2a\u89d2\u5ea6\u589e\u5f3a\u5b83\u4eec\uff0c\u6211\u4eec\u63d0\u51fa\u4e86IEM\uff0c\u5982\u56fe4\u6240\u793a\u3002\u6211\u4eec\u9996\u5148\u5c06\u70b9\u4e91\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\u4e0a\u4ee5\u83b7\u5f97\u7a00\u758f\u6df1\u5ea6\u56feDsparse\u3002\u53d7[39]\u7684\u542f\u53d1\uff0c\u6211\u4eec\u4f7f\u7528\u6df1\u5ea6\u8865\u5168[40]\uff0c\u7136\u540e\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u4ee5\u83b7\u5f97\u5bc6\u96c6\u7684\u6df1\u5ea6\u7279\u5f81\u56feDdense\u3002\u6700\u540e\uff0c\u6211\u4eec\u5c06\u5bc6\u96c6\u6df1\u5ea6\u7279\u5f81\u56fe\u4e0e\u76f8\u673a\u7279\u5f81FC\u8fde\u63a5\u8d77\u6765\uff0c\u5e76\u4f7f\u7528\u5377\u79ef\u5c42\u5c06\u5b83\u4eec\u878d\u5408\uff0c\u5f97\u5230\u7a7a\u95f4\u611f\u77e5\u76f8\u673a\u7279\u5f81FSpC\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"315\" height=\"35\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-38.png\" alt=\"\" class=\"wp-image-12401\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-38.png 315w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-38-300x33.png 300w\" sizes=\"(max-width: 315px) 100vw, 315px\" \/><\/figure>\n\n\n\n<p>\u7531\u4e8e\u7a7a\u95f4\u611f\u77e5\u76f8\u673a\u7279\u5f81\u7684\u51e0\u4f55\u80fd\u529b\uff0c\u5c06\u5176\u63d0\u5347\u52303D\u7a7a\u95f4\u53ef\u786e\u4fdd\u66f4\u51c6\u786e\u7684\u8fc7\u7a0b\uff0c\u4e3a\u540e\u7eed\u7684\u7edf\u4e00\u878d\u5408\u5960\u5b9a\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<p><strong>Unified Fusion<\/strong><\/p>\n\n\n\n<p>\u5728\u83b7\u5f97\u8bed\u4e49\u611f\u77e5\u7684\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20\u7279\u5f81\u548c\u7a7a\u95f4\u611f\u77e5\u7684\u76f8\u673a\u7279\u5f81\u540e\uff0c\u6211\u4eec\u5728\u9884\u878d\u5408\u8fc7\u7a0b\u4e2d\u8fdb\u884c\u4e86\u7279\u5b9a\u7684\u53cc\u5411\u4e92\u8865\uff0c\u5e76\u5728U-Fusion\u9636\u6bb5\u8fdb\u4e00\u6b65\u878d\u5408\u5b83\u4eec\uff0c\u4ee5\u786e\u4fdd\u8bed\u4e49\u548c\u7a7a\u95f4\u5c42\u9762\u7684\u5f3a\u8868\u793a\u7684\u5b8c\u6574\u6027\u3002<\/p>\n\n\n\n<p>\u5148\u524d\u7684\u5de5\u4f5c\u901a\u8fc7\u89c6\u56fe\u53d8\u6362\u5c06BEV\u7a7a\u95f4\u4e2d\u7684\u4e24\u79cd\u6a21\u6001\u7edf\u4e00\u8d77\u6765\u3002\u867d\u7136\u8fd9\u63d0\u9ad8\u4e86\u6548\u7387\uff0c\u4f46\u5b83\u6709\u4e00\u4e2a\u56fa\u6709\u7684\u5c40\u9650\u6027\uff0c\u963b\u6b62\u4e86\u7ec6\u7c92\u5ea6\u878d\u5408\uff0c\u800c\u7ec6\u7c92\u5ea6\u878d\u5408\u5bf9\u66f4\u597d\u7684\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002\u56e0\u6b64\uff0c\u5728\u5c06\u76f8\u673a\u7279\u5f81\u63d0\u5347\u5230\u4f53\u7d20\u8868\u793a\u540e\uff0c\u6211\u4eec\u4fdd\u7559\u5176\u72b6\u6001\uff0c\u4ece\u800c\u83b7\u5f97F^SpC\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u5177\u6709\u76f8\u540c\u7a7a\u95f4\u7ef4\u5ea6\u7684\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u7684\u589e\u5f3a\u529f\u80fd\uff0c\u4e00\u4e2a\u7b80\u5355\u7684\u60f3\u6cd5\u662f\u76f4\u63a5\u5c06\u5b83\u4eec\u8fde\u63a5\u8d77\u6765\u3002\u53d7[41]\u7684\u542f\u53d1\uff0c\u4e3a\u4e86\u4ece\u4e24\u79cd\u6a21\u6001\u4e2d\u52a8\u6001\u9009\u62e9\u7279\u5f81\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u4e00\u79cd\u81ea\u9002\u5e94\u52a0\u6743\u65b9\u6cd5\u6765\u6267\u884c\u7edf\u4e00\u878d\u5408\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"357\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-39.png\" alt=\"\" class=\"wp-image-12402\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-39.png 357w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-39-300x46.png 300w\" sizes=\"(max-width: 357px) 100vw, 357px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"774\" height=\"398\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-40.png\" alt=\"\" class=\"wp-image-12403\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-40.png 774w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-40-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-40-768x395.png 768w\" sizes=\"(max-width: 774px) 100vw, 774px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"476\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-41.png\" alt=\"\" class=\"wp-image-12404\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-41.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-41-300x186.png 300w\" sizes=\"(max-width: 768px) 100vw, 768px\" 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-42.png 380w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-42-300x238.png 300w\" sizes=\"(max-width: 380px) 100vw, 380px\" 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-43.png\" alt=\"\" class=\"wp-image-12406\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-43.png 372w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-43-279x300.png 279w\" sizes=\"(max-width: 372px) 100vw, 372px\" 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