{"id":12998,"date":"2024-07-17T15:50:22","date_gmt":"2024-07-17T07:50:22","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12998"},"modified":"2024-07-17T15:50:22","modified_gmt":"2024-07-17T07:50:22","slug":"2024-07-17-perldiff%ef%bc%9a%e4%bd%bf%e7%94%a8%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e8%bf%9b%e8%a1%8c%e5%8f%af%e6%8e%a7%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%9c%ba%e6%99%af%e6%95%b0%e6%8d%ae","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/17\/12998\/","title":{"rendered":"2024-07-17 PerlDiff\uff1a\u4f7f\u7528\u6269\u6563\u6a21\u578b\u8fdb\u884c\u53ef\u63a7\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u6570\u636e\u751f\u6210"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"417\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-165-1024x417.png\" alt=\"\" class=\"wp-image-12999\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-165-1024x417.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-165-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-165-768x313.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-165.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"521\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-166-1024x521.png\" alt=\"\" class=\"wp-image-13000\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-166-1024x521.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-166-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-166-768x390.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-166.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2407.06109<\/p>\n\n\n\n<p>\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/perldiff.github.io\/<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u65b0\u6846\u67b6 PerlDiff\uff0c\u7528\u4e8e\u6839\u636e\u7528\u6237\u5b9a\u4e49\u76843D\u6ce8\u91ca\u751f\u6210\u8857\u666f\u56fe\u50cf\u3002PerlDiff \u5229\u7528\u900f\u89c6\u5e03\u5c40\u63a9\u7801\u4f5c\u4e3a\u51e0\u4f55\u5148\u9a8c\uff0c\u7cbe\u786e\u5f15\u5bfc\u7269\u4f53\u5c42\u9762\u7684\u56fe\u50cf\u751f\u6210\u8fc7\u7a0b\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u57fa\u4e8e Perl \u7684\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\uff0c\u8be5\u673a\u5236\u5229\u75283D\u6ce8\u91ca\u4e2d\u7684\u900f\u89c6\u5e03\u5c40\u63a9\u7801\u56fe\u6765\u589e\u5f3a Perl-CM \u4e2d\u7684\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u6574\u5408\u9053\u8def\u548c BEV \u6ce8\u91ca\u7684\u7279\u5b9a\u7269\u4f53\u4fe1\u606f\uff0c\u5b9e\u73b0\u4e86\u5bf9\u8857\u666f\u56fe\u50cf\u751f\u6210\u8fc7\u7a0b\u7684\u7cbe\u786e\u63a7\u5236\u3002<\/li>\n\n\n\n<li>PerlDiff\u5728NuScenes \u548c KITTI \u6570\u636e\u96c6\u4e0a\u8fbe\u5230\u4e86SOTA\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u5c06\u751f\u6210\u8857\u666f\u56fe\u50cf\u7528\u4e8e\u76ee\u6807\u68c0\u6d4b\u548c\u5206\u5272\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u53ef\u63a7\u751f\u6210\u88ab\u8ba4\u4e3a\u662f\u89e3\u51b3 3D \u6570\u636e\u6807\u6ce8\u6311\u6218\u7684\u4e00\u79cd\u7684\u91cd\u8981\u65b9\u6cd5\uff0c\u800c\u8fd9\u79cd\u53ef\u63a7\u751f\u6210\u7684\u7cbe\u786e\u6027\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u6570\u636e\u4e2d\u53d8\u5f97\u5c24\u4e3a\u91cd\u8981\u3002\u73b0\u6709\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u5229\u7528 GLIGEN \u6216 ControlNet \u7b49\u6846\u67b6\uff0c\u5c06\u5404\u79cd\u751f\u6210\u4fe1\u606f\u6574\u5408\u5230\u63a7\u5236\u8f93\u5165\u4e2d\u3002\u867d\u7136\u5728\u53ef\u63a7\u751f\u6210\u65b9\u9762\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u6210\u679c\uff0c\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u672c\u8d28\u4e0a\u5c06\u751f\u6210\u6027\u80fd\u9650\u5236\u5728\u9884\u5b9a\u4e49\u7f51\u7edc\u67b6\u6784\u7684\u5b66\u4e60\u80fd\u529b\u8303\u56f4\u5185\u3002PerlDiff \u5145\u5206\u5229\u7528\u900f\u89c6 3D \u51e0\u4f55\u4fe1\u606f\u8fdb\u884c\u6709\u6548\u8857\u666f\u56fe\u50cf\u751f\u6210\uff0c\u91c7\u7528 3D \u51e0\u4f55\u5148\u9a8c\u6765\u6307\u5bfc\u8857\u666f\u56fe\u50cf\u7684\u751f\u6210\uff0c\u5e76\u5728\u7f51\u7edc\u5b66\u4e60\u8fc7\u7a0b\u4e2d\u8fdb\u884c\u7cbe\u786e\u7684\u7269\u4f53\u5c42\u9762\u63a7\u5236\uff0c\u4ece\u800c\u83b7\u5f97\u66f4\u51c6\u786e\u3001\u66f4\u53ef\u63a7\u7684\u8f93\u51fa\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"723\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-167-1024x723.png\" alt=\"\" class=\"wp-image-13001\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-167-1024x723.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-167-300x212.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-167-768x543.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-167.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u65b9\u6cd5\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<p><strong>\u8bad\u7ec3\u6570\u636e\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>NuScenes<\/strong>\u00a0\u6570\u636e\u96c6\u5305\u62ec 1,000 \u4e2a\u57ce\u5e02\u4ea4\u901a\u573a\u666f\uff0c\u5206\u4e3a 700 \u4e2a\u8bad\u7ec3\u573a\u666f\u548c 150 \u4e2a\u9a8c\u8bc1\u573a\u666f\u3002\u6bcf\u4e2a\u573a\u666f\u6709\u516d\u5e45\u9ad8\u5206\u8fa8\u7387\u56fe\u50cf\uff08900\u00d71600\uff09\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684 360 \u5ea6\u5168\u666f\u89c6\u56fe\u3002NuScenes \u8fd8\u5305\u62ec\u9a7e\u9a76\u73af\u5883\u7684\u7efc\u5408\u8def\u56fe\uff0c\u5176\u4e2d\u5305\u62ec\u8f66\u9053\u6807\u8bb0\u548c\u969c\u788d\u7269\u7b49\u7ec6\u8282\u3002<\/li>\n\n\n\n<li><strong>KITTI<\/strong>\u00a0\u6570\u636e\u96c6\u5305\u542b 3,712 \u5e45\u8bad\u7ec3\u56fe\u50cf\u548c 3,769 \u5e45\u9a8c\u8bc1\u56fe\u50cf\u3002KITTI \u6570\u636e\u96c6\u53ea\u6709\u4e00\u5f20\u900f\u89c6\u56fe\u50cf\uff0c\u6ca1\u6709\u8def\u56fe\u4fe1\u606f\u3002\u9274\u4e8e KITTI \u6570\u636e\u96c6\u7684\u56fe\u50cf\u5206\u8fa8\u7387\u4e0d\u540c\uff08\u7ea6 375\u00d71242\uff09\uff0c\u5c06\u5176\u586b\u5145\u4e3a 384\u00d71280 \u4ee5\u8fdb\u884c\u751f\u6210\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u63a7\u5236\u6761\u4ef6\u7f16\u7801<\/strong><\/p>\n\n\n\n<p>\u6839\u636e\u4ea4\u901a\u573a\u666f\u7684 BEV \u6ce8\u91ca\uff0c\u76ee\u6807\u662f\u751f\u6210\u591a\u89c6\u89d2\u8857\u666f\u56fe\u50cf\u3002\u4e0d\u4ec5\u8981\u63d0\u53d6<strong>\u573a\u666f\u4fe1\u606f<\/strong>\uff0c\u800c\u4e14\u8fd8\u8981\u63d0\u53d6<strong>\u7269\u4f53\u4fe1\u606f<\/strong>\u4f5c\u4e3a\u63a7\u5236\u6761\u4ef6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"970\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71702.png\" alt=\"\" class=\"wp-image-13002\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71702.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71702-213x300.png 213w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e Perl\u63a7\u5236\u6a21\u5757\uff08Perl-CM\uff09\u5b9e\u73b0\u7269\u4f53\u53ef\u63a7\u6027<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"480\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-168-1024x480.png\" alt=\"\" class=\"wp-image-13003\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-168-1024x480.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-168-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-168-768x360.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-168.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Perl-CM \u8d1f\u8d23\u5c06\u63a7\u5236\u6761\u4ef6\u4fe1\u606f\uff08\u5305\u62ec Perl \u573a\u666f\u548c\u7269\u4f53\u4fe1\u606f\uff09\u901a\u8fc7\u57fa\u4e8e Perl \u7684\u573a\u666f\u548c\u7269\u4f53\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u6574\u5408\u5230\u6f5c\u5728\u7279\u5f81\u56fe\u4e2d\u3002\u9996\u5148\u8be5\u673a\u5236\u4f1a\u4e3a\u6ce8\u610f\u529b\u56fe\u5206\u914d\u521d\u59cb\u503c, \u7136\u540e\u5728\u9053\u8def\u548c\u8fb9\u754c\u6846 Perl \u63a9\u7801\u56fe\u7684\u5f15\u5bfc\u4e0b\uff0c\u5728\u6574\u4e2a\u7f51\u7edc\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5bf9\u8fd9\u4e9b\u503c\u8fdb\u884c\u4f18\u5316\uff0c\u4ee5\u786e\u4fdd\u6ce8\u610f\u56fe\u7684\u54cd\u5e94\u4e0e\u7269\u4f53\u6240\u5728\u533a\u57df\u51c6\u786e\u5bf9\u5e94\uff1b<\/p>\n\n\n\n<p>\u4e3a\u4e86\u786e\u4fdd\u591a\u89c6\u56fe\u4e00\u81f4\u6027\uff0c\u89c6\u56fe\u4ea4\u53c9\u6ce8\u610f\u529b\u5229\u7528\u4e86\u7d27\u90bb\u7684\u5de6\u89c6\u56fe\u548c\u53f3\u89c6\u56fe\u7684\u4fe1\u606f\uff0c\u4ee5\u5b9e\u73b0\u4e0d\u540c\u89c6\u89d2\u7684\u4e00\u81f4\u6027\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"245\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-169-1024x245.png\" alt=\"\" class=\"wp-image-13004\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-169-1024x245.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-169-300x72.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-169-768x183.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-169.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6587\u672c\u4ea4\u53c9\u6ce8\u610f\u529b\u5229\u7528\u6587\u672c\u573a\u666f\u63cf\u8ff0\u6765\u5904\u7406\u8857\u9053\u573a\u666f\u7684\u5929\u6c14\u548c\u7167\u660e\u6761\u4ef6\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-170-1024x507.png\" alt=\"\" class=\"wp-image-13005\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-170-1024x507.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-170-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-170-768x380.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-170.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"697\" height=\"572\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71703.png\" alt=\"\" class=\"wp-image-13006\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71703.png 697w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71703-300x246.png 300w\" sizes=\"(max-width: 697px) 100vw, 697px\" \/><\/figure>\n\n\n\n<p><strong>\u8ba8\u8bba\uff1a<\/strong><\/p>\n\n\n\n<p>\u4e0e BEVControl\u3001MagicDrive\u3001DrivingDiffusion \u548c Panacea \u7b49\u91c7\u7528\u666e\u901a\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u6765\u6574\u5408\u63a7\u5236\u6761\u4ef6\u4fe1\u606f\u7684\u65b9\u6cd5\u4e0d\u540c\u3002PerlDiff \u901a\u8fc7 Perl \u63a9\u7801\u56fe\u5f15\u5165\u4e86\u51e0\u4f55\u5148\u9a8c\uff0c\u5728\u8bad\u7ec3\u9636\u6bb5\u5229\u7528\u7269\u4f53\u5bf9\u5e94\u7684\u63a7\u5236\u4fe1\u606f\u6765\u6307\u5bfc\u5176\u751f\u6210\uff0c\u4ece\u800c<strong>\u6709\u6548\u89e3\u51b3\u6ce8\u610f\u529b\u56fe\u548c\u6761\u4ef6\u4fe1\u606f\u4e4b\u95f4\u5e38\u89c1\u7684\u9519\u4f4d\u95ee\u9898<\/strong>\uff08\u5bfc\u81f4\u56fe\u50cf\u53ef\u63a7\u6027\u53d7\u635f\uff09\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u751f\u6210\u56fe\u50cf\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"483\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-171-1024x483.png\" alt=\"\" class=\"wp-image-13007\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-171-1024x483.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-171-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-171-768x362.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-171.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n<p><strong>NuScenes\u6570\u636e\u96c6<\/strong>\uff1aPerlDiff \u5728\u591a\u4e2a\u6307\u6807\u4e0a\u5747\u4f18\u4e8e BEVControl \u548c MagicDrive \u7b49\u73b0\u6709\u65b9\u6cd5\uff0c\u7279\u522b\u662f\u5728 3D \u76ee\u6807\u68c0\u6d4b\u6307\u6807\u56fe\u5e73\u5747\u7cbe\u5ea6\uff08mAP\uff09\u548c NuScenes \u68c0\u6d4b\u6307\u6807\uff08NDS\uff09\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"488\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-172-1024x488.png\" alt=\"\" class=\"wp-image-13008\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-172-1024x488.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-172-300x143.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-172-768x366.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-172.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>KITTI\u6570\u636e\u96c6<\/strong>\uff1aPerlDiff \u5728\u5c0f\u6837\u672c\u6570\u636e\u96c6\u4e0a\u4ecd\u7136\u6709\u5f88\u597d\u7684\u6cdb\u5316\u6027\uff0c\u76f8\u6bd4\u4e8e\u91c7\u7528\u666e\u901a\u4ea4\u53c9\u6ce8\u610f\u529b\u7684BEVControl*\uff0cPerlDiff \u5728\u5355\u76ee\u76ee\u6807\u68c0\u6d4b\u5668MonoFlex\u4e0a\u7684\u6307\u6807\u662f\u5176\u5341\u51e0\u500d\u3002\u540c\u65f6\uff0c\u5b9e\u9a8c\u8bf4\u660e\u5229\u7528\u5728 NuScenes \u4e0a\u8bad\u7ec3\u8fc7\u540e\u5728 KITTI \u4e0a\u5fae\u8c03\u80fd\u8fbe\u5230\u66f4\u597d\u7684\u6548\u679c\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"280\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-173-1024x280.png\" alt=\"\" class=\"wp-image-13009\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-173-1024x280.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-173-300x82.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-173-768x210.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-173.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6570\u636e\u589e\u5f3a<\/strong>\uff1aPerlDiff\u5229\u7528\u5408\u6210\u6570\u636e\u96c6\u6765\u63d0\u9ad8\u5404\u79cd\u68c0\u6d4b\u6a21\u578b\u5728 NuScenes \u6d4b\u8bd5\u96c6\u4e0a\u7684\u6027\u80fd\u3002\u5176\u4e2d\uff0c\u4f7f\u7528 NuScenes \u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6\uff08\u7b2c\u4e8c\u884c\uff09\u7684\u6307\u6807\u4f5c\u4e3a\u4e0a\u9650\uff0c\u6765\u9a8c\u8bc1\u5171\u540c\u4f7f\u7528 NuScenes \u771f\u5b9e\u8bad\u7ec3\u96c6\u548c PerlDiff \u751f\u6210\u9a8c\u8bc1\u96c6\u540e\uff0c\u4e0e\u5176\u5dee\u8ddd\u5927\u5c0f\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"415\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-174-1024x415.png\" alt=\"\" class=\"wp-image-13010\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-174-1024x415.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-174-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-174-768x311.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-174.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e Perl \u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u7684\u6548\u679c<\/strong>\uff1a\u901a\u8fc7\u5c06\u5176\u6362\u6210\u666e\u901a\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\uff0c3D\u76ee\u6807\u68c0\u6d4b\uff08BEVFormer\uff09\u548cBEV\u5206\u5272\uff08CVT\uff09\u6307\u6807\u5927\u5e45\u5ea6\u53d8\u5dee\uff0c\u6765\u8bf4\u660e\u5176\u6709\u6548\u6027\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"319\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-175-1024x319.png\" alt=\"\" class=\"wp-image-13011\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-175-1024x319.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-175-300x93.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-175-768x239.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-175.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Perl\uff08\u8def\u9762\/\u7269\u4f53\u8fb9\u754c\u6846\uff09\u63a9\u7801\u56fe\u63a7\u5236\u7cfb\u6570<\/strong>\uff1a\u4e0d\u540c\u63a9\u7801\u56fe\u6743\u91cd\u7cfb\u6570\u4ee3\u8868\u51e0\u4f55\u5148\u9a8c\u77e5\u8bc6\u878d\u5165\u7f51\u7edc\u5b66\u4e60\u7684\u7a0b\u5ea6\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"290\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-176-1024x290.png\" alt=\"\" class=\"wp-image-13012\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-176-1024x290.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-176-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-176-768x218.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-176.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316\u7ed3\u679c\u6bd4\u8f83<\/strong>\uff1a\u7ed9\u51fa\u4e86\u76f8\u6bd4\u4e8e BEVControl*\uff0cPerlDIff \u5728\u63a7\u5236\u7269\u4f53<strong>\u89d2\u5ea6<\/strong>\u3001<strong>\u4f4d\u7f6e<\/strong>\u3001<strong>\u5927\u5c0f<\/strong>\u65b9\u9762\u7684\u6709\u6548\u6027\uff1b<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"547\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-177-1024x547.png\" alt=\"\" class=\"wp-image-13013\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-177-1024x547.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-177-300x160.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-177-768x410.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-177.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"485\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-178-1024x485.png\" alt=\"\" class=\"wp-image-13014\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-178-1024x485.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-178-300x142.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-178-768x363.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-178.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5176\u4ed6\u53ef\u89c6\u5316\u7ed3\u679c<\/strong>\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"569\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-179-1024x569.png\" alt=\"\" class=\"wp-image-13015\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-179-1024x569.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-179-300x167.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-179-768x427.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-179.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"815\" height=\"552\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-180.png\" alt=\"\" class=\"wp-image-13016\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-180.png 815w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-180-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-180-768x520.png 768w\" sizes=\"(max-width: 815px) 100vw, 815px\" \/><\/figure>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u8bba\uff1a<\/strong><\/p>\n\n\n\n<p>PerlDiff \u901a\u8fc7\u6574\u5408\u51e0\u4f55\u7ea6\u675f\u548c\u6269\u6563\u6a21\u578b\uff0c\u5728\u751f\u6210\u9ad8\u4fdd\u771f\u5ea6\u89c6\u89c9\u56fe\u50cf\u7684\u540c\u65f6\uff0c\u63d0\u4f9b\u4e86\u7cbe\u786e\u7684\u63a7\u5236\u4fe1\u606f\uff0c\u589e\u5f3a\u4e86\u56fe\u50cf\u751f\u6210\u7684\u53ef\u63a7\u6027\u3002\u5b9e\u9a8c\u8bc1\u660e\uff0cPerlDiff\u5728 NuScenes \u548c KITTI \u6570\u636e\u96c6\u4e0a\u8868\u73b0\u51fa\u8272\uff0c\u6709\u671b\u5728\u672a\u6765\u6210\u4e3a\u4e00\u4e2a\u5f3a\u5927\u7684\u4ea4\u901a\u6a21\u62df\u5668\u3002\u672a\u6765\u5de5\u4f5c\u5c06\u63a2\u7d22\u89c6\u9891\u751f\u6210\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u6a21\u578b\u7684\u5e94\u7528\u6f5c\u529b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/ [&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-12998","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":4,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12998"}],"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=12998"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12998\/revisions"}],"predecessor-version":[{"id":13017,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12998\/revisions\/13017"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12998"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12998"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12998"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}