{"id":12718,"date":"2024-07-10T17:06:03","date_gmt":"2024-07-10T09:06:03","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12718"},"modified":"2024-07-10T17:06:03","modified_gmt":"2024-07-10T09:06:03","slug":"2024-07-10-panossc%ef%bc%9a%e9%a6%96%e4%b8%aa%e7%ba%af%e8%a7%86%e8%a7%89%e5%8d%95%e7%9b%ae%e5%85%a8%e6%99%af3d%e5%9c%ba%e6%99%af%e9%87%8d%e5%bb%ba%e7%ae%97%e6%b3%95%ef%bc%8c%e6%80%a7%e8%83%bd%e9%80%bc","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/10\/12718\/","title":{"rendered":"2024-07-10 PanoSSC\uff1a\u9996\u4e2a\u7eaf\u89c6\u89c9\u5355\u76ee\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u7b97\u6cd5\uff0c\u6027\u80fd\u903c\u8fd1SOTA\uff01"},"content":{"rendered":"\n<p>\u5bf9\u4e8e\u4e00\u4e2a\u5b89\u5168\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u800c\u8a00\uff0c\u51c6\u786e\u7684\u7406\u89e3\u5f53\u524d\u76843D\u573a\u666f\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u901a\u8fc7\u5229\u7528\u4f20\u611f\u5668\u91c7\u96c6\u5230\u7684\u6570\u636e\u4fe1\u606f\u4ee5\u53ca\u611f\u77e5\u7b97\u6cd5\u5bf9\u5f53\u524d\u573a\u666f\u5305\u542b\u7684\u5404\u7c7b\u5143\u7d20\u8fdb\u884c\u51c6\u786e\u7684\u611f\u77e5\u548c\u7406\u89e3\u5bf9\u4e8e\u4e0b\u6e38\u7684\u89c4\u63a7\u4efb\u52a1\u8d77\u5230\u4e86\u975e\u5e38\u91cd\u8981\u7684\u4f5c\u7528\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u7531\u4e8eOccupancy Network\u611f\u77e5\u7b97\u6cd5\u53ef\u4ee5\u66f4\u52a0\u6709\u6548\u7684\u611f\u77e5\u4efb\u610f\u5927\u5c0f\u7684\u7269\u4f53\u3001\u90e8\u5206\u88ab\u906e\u6321\u7684\u7269\u4f53\u4ee5\u53ca\u5f53\u524d\u6570\u636e\u96c6\u4e2d\u6ca1\u6709\u9884\u5148\u5b9a\u4e49\u597d\u7684\u76ee\u6807\u7c7b\u522b\uff0c\u800c\u53d7\u5230\u4e86\u6765\u81ea\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\uff0c\u76ee\u524d\u5df2\u7ecf\u6709\u5f88\u591a\u51fa\u8272\u7684Occupancy Network\u611f\u77e5\u7b97\u6cd5\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\u800c\u8a00\uff0c\u5728\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u4e2d\uff0c\u57fa\u4e8e\u89c6\u89c9\u7684\u76f8\u5173\u611f\u77e5\u7b97\u6cd5\u5df2\u7ecf\u53d6\u5f97\u4e86\u548c\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u7b97\u6cd5\u76f8\u63a5\u8fd1\u7684\u8868\u73b0\u6027\u80fd\uff0c\u4f46\u662f\u76f8\u5173\u7684\u5b9e\u4f8b\u63d0\u53d6\u4efb\u52a1\u76f8\u5bf9\u7814\u7a76\u7684\u8f83\u5c11\u3002\u8003\u8651\u5230\u7406\u89e3\u5468\u56f4\u73af\u5883\u4e2d\u7684\u5177\u4f53\u5b9e\u4f8b\u76ee\u6807\u53ef\u4ee5\u6d88\u9664\u76ee\u6807\u4e0d\u4e00\u81f4\u7684\u8bed\u4e49\u9884\u6d4b\u7ed3\u679c\u4ee5\u53ca\u76f8\u90bb\u76ee\u6807\u7684\u6df7\u5408\u9884\u6d4b\u95ee\u9898\uff0c\u800c\u8fd9\u4e9b\u9884\u6d4b\u4e0a\u7684\u6df7\u6dc6\u95ee\u9898\u5f88\u6709\u53ef\u80fd\u4f1a\u635f\u5bb3\u4e0b\u6e38\u89c4\u5212\u6a21\u5757\u7684\u5b89\u5168\u6027\u3002\u57fa\u4e8e\u4e0a\u8ff0\u8003\u8651\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5355\u76ee\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u65b9\u6cd5\uff0c\u79f0\u4e4b\u4e3aPanoSSC\u3002\u901a\u8fc7\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u8bc1\u660e\uff0c\u76f8\u6bd4\u4e8e\u5176\u5b83\u7684\u5355\u76ee\u7b97\u6cd5\u6a21\u578b\uff0c\u6211\u4eec\u63d0\u51fa\u7684PanoSSC\u7b97\u6cd5\u6a21\u578b\u5728SemanticKITTI\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u66f4\u5177\u7ade\u4e89\u529b\u7684\u8868\u73b0\u6027\u80fd\u3002\u540c\u65f6\uff0cPanoSSC\u8fd8\u662f\u9996\u4e2a\u4ec5\u4f9d\u9760\u89c6\u89c9\u4fe1\u606f\u6765\u89e3\u51b3\u6237\u5916\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u7684\u7b97\u6cd5\u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"524\" height=\"339\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-103.png\" alt=\"\" class=\"wp-image-12719\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-103.png 524w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-103-300x194.png 300w\" sizes=\"(max-width: 524px) 100vw, 524px\" \/><\/figure>\n\n\n\n<p>PanoSSC\u7b97\u6cd5\u6a21\u578b\u5b9e\u73b0\u4e86\u5ba4\u5916\u573a\u666f\u7684\u5355\u76ee\u573a\u666f\u7684\u91cd\u5efa\u4efb\u52a1<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2406.07037<\/p>\n\n\n\n<p><strong>\u7f51\u7edc\u6a21\u578b\u7684\u6574\u4f53\u67b6\u6784&amp;\u7ec6\u8282\u68b3\u7406<\/strong><\/p>\n\n\n\n<p>\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u662f\u5c06\u5f53\u524d\u76843D\u7acb\u4f53\u7a7a\u95f4\u5212\u5206\u6210\u7f51\u683c\u4f53\u7d20\u7684\u5f62\u5f0f\uff0c\u5e76\u4e14\u901a\u8fc7\u7b97\u6cd5\u6a21\u578b\u6765\u9884\u6d4b\u6bcf\u4e2a\u4f53\u7d20\u7684\u5177\u4f53\u8bed\u4e49\u6807\u7b7e\u7c7b\u522b\u3002\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u4efb\u52a1\u5c06\u4f1a\u8fdb\u4e00\u6b65\u9884\u6d4b\u5c5e\u4e8e\u524d\u666f\u7c7b\u522b\u7684\u6bcf\u4e2a\u4f53\u7d20\u7684\u5b9e\u4f8b\u5e8f\u53f7\u3002\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684PanoSSC\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u7b97\u6cd5\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684PanoSSC\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"560\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-104-1024x560.png\" alt=\"\" class=\"wp-image-12720\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-104-1024x560.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-104-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-104-768x420.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-104.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684PanoSSC\u5355\u76ee\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"630\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71101.png\" alt=\"\" class=\"wp-image-12721\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71101.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71101-300x275.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p><strong>3D Mask Decoder\uff083D\u63a9\u7801\u89e3\u7801\u5668\uff09<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u63d0\u5347\u7b97\u6cd5\u6a21\u578b\u524d\u666f\u5b9e\u4f8b\u7684\u91cd\u5efa\u548c\u5206\u5272\u8d28\u91cf\uff0c\u6211\u4eec\u5c06\u4f53\u7d20\u7279\u5f81\u8f93\u5165\u5230\u5b9e\u4f8b\u8865\u5168\u5934\u6a21\u5757\u4e2d\u5b9e\u73b0\u5b9e\u4f8b\u611f\u77e5\u8bed\u4e49\u5360\u7528\u7684\u9884\u6d4b\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8eTransformer\u76843D\u63a9\u7801\u89e3\u7801\u5668\u4f5c\u4e3a\u5b9e\u4f8b\u8865\u5168\u5934\u6a21\u5757\uff0c\u4ece\u7ed9\u5b9a\u7684\u67e5\u8be2\u4e2d\u9884\u6d4b\u7c7b\u522b\u5c5e\u6027\u4ee5\u53ca3D\u63a9\u7801\u4fe1\u606f\uff0c\u5176\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"920\" height=\"403\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-105.png\" alt=\"\" class=\"wp-image-12722\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-105.png 920w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-105-300x131.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-105-768x336.png 768w\" sizes=\"(max-width: 920px) 100vw, 920px\" \/><\/figure>\n\n\n\n<p>3D Mask Decoder\u6a21\u5757\u7684\u5177\u4f53\u5b9e\u73b0\u6d41\u7a0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"511\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71102.png\" alt=\"\" class=\"wp-image-12723\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71102.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71102-300x221.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>Mask-wise merging inference\uff08\u63a9\u7801\u5408\u5e76\u63a8\u7406\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"696\" height=\"446\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71103.png\" alt=\"\" class=\"wp-image-12724\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71103.png 696w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71103-300x192.png 300w\" sizes=\"(max-width: 696px) 100vw, 696px\" \/><\/figure>\n\n\n\n<p>\u4e0b\u9762\u7684\u4f2a\u4ee3\u7801\u5177\u4f53\u8bf4\u660e\u4e86\u6211\u4eec\u63a9\u7801\u5408\u5e76\u63a8\u7406\u7684\u6574\u4f53\u903b\u8f91\u60c5\u51b5<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"532\" height=\"570\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-106.png\" alt=\"\" class=\"wp-image-12725\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-106.png 532w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-106-280x300.png 280w\" sizes=\"(max-width: 532px) 100vw, 532px\" \/><\/figure>\n\n\n\n<p>Mask-wise Merging\u7b97\u6cd5\u7684\u4f2a\u4ee3\u7801\u6574\u4f53\u6d41\u7a0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"325\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71104.png\" alt=\"\" class=\"wp-image-12726\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71104.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71104-300x141.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>\u8bad\u7ec3\u7b56\u7565<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"807\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71105.png\" alt=\"\" class=\"wp-image-12727\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71105.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71105-258x300.png 258w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u5206\u6790\u90e8\u5206<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578bPanoSSC\u5bf9\u4e8e\u8bed\u4e49\u573a\u666f\u8865\u5168\u4efb\u52a1\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5728SemanticKITTI\u6570\u636e\u96c6\u4e0a\u4e0e\u5176\u5b83\u7684\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u5982\u4e0b\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"326\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-107-1024x326.png\" alt=\"\" class=\"wp-image-12728\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-107-1024x326.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-107-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-107-768x245.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-107.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u7b97\u6cd5\u6a21\u578b\u5728SemanticKITTI\u6570\u636e\u96c6\u4e0a\u7684\u8bed\u4e49\u573a\u666f\u8865\u5168\u7ed3\u679c\u6c47\u603b<\/p>\n\n\n\n<p>\u901a\u8fc7\u6c47\u603b\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u5728\u4e3b\u8981\u7684mIoU\u8bc4\u6d4b\u6307\u6807\u4e0a\u5b9e\u73b0\u4e86\u4e0eSOTA\u60f3\u63a5\u8fd1\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u6709\u52a9\u4e8e\u533a\u5206\u76f8\u4f3c\u7684\u76ee\u6807\u7c7b\u522b\uff0c\u5e76\u663e\u8457\u63d0\u9ad8\u5361\u8f66\u4ee5\u53ca\u5176\u4ed6\u8f66\u8f86\u7684\u91cd\u5efa\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7b97\u6cd5\u6a21\u578b\u5bf9\u4e8e\u5168\u666f3D\u573a\u666f\u91cd\u5efa\u4efb\u52a1\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5c06\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u4e0e\u5176\u5b83\u7684\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u4e86\u5b9e\u9a8c\u5bf9\u6bd4\uff0c\u76f8\u5173\u7684\u7ed3\u679c\u5982\u4e0b\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"971\" height=\"177\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-108.png\" alt=\"\" class=\"wp-image-12729\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-108.png 971w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-108-300x55.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-108-768x140.png 768w\" sizes=\"(max-width: 971px) 100vw, 971px\" 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