{"id":13102,"date":"2024-07-18T15:43:48","date_gmt":"2024-07-18T07:43:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=13102"},"modified":"2024-07-18T15:43:48","modified_gmt":"2024-07-18T07:43:48","slug":"2024-07-18-%e7%99%be%e5%ba%a6%e5%bc%80%e6%ba%90bevworld%ef%bc%9abev%e6%bd%9c%e5%9c%a8%e7%a9%ba%e9%97%b4%e6%9e%84%e5%bb%ba%e5%a4%9a%e6%a8%a1%e6%80%81%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%ef%bc%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/18\/13102\/","title":{"rendered":"2024-07-18 \u767e\u5ea6\u5f00\u6e90BEVWorld\uff1aBEV\u6f5c\u5728\u7a7a\u95f4\u6784\u5efa\u591a\u6a21\u6001\u4e16\u754c\u6a21\u578b\uff0c\u5168\u9762\u7406\u89e3\u81ea\u52a8\u9a7e\u9a76"},"content":{"rendered":"\n<p><strong>\u4e00\u3001\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u4e16\u754c\u6a21\u578b\u5efa\u6a21\u4e86\u6709\u5173\u73af\u5883\u7684\u77e5\u8bc6\uff0c\u5176\u53ef\u4ee5\u901a\u8fc7\u7ed9\u5b9a\u7684\u6761\u4ef6\u5bf9\u672a\u6765\u8fdb\u884c\u5408\u7406\u7684\u60f3\u8c61\u3002\u672a\u6765\u60f3\u8c61\u8981\u6c42\u4e16\u754c\u6a21\u578b\u5177\u6709\u7269\u7406\u89c4\u5f8b\u7684\u7406\u89e3\u80fd\u529b\u4ee5\u53ca\u96f6\u6837\u672c\u7684\u63a2\u7d22\u80fd\u529b\uff0c\u4f7f\u5f97\u5176\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u6709\u7740\u5e7f\u6cdb\u7684\u5e94\u7528\u524d\u666f\uff0c\u6bd4\u5982\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u957f\u5c3e\u6570\u636e\u751f\u6210<\/strong>\uff1a\u751f\u6210\u9b3c\u63a2\u5934\u3001\u524d\u65b9\u8f66\u8f86\u9057\u6492\u7b49\u7a00\u7f3a\u6570\u636e\uff0c\u5e76\u901a\u8fc7\u6761\u4ef6\u62d3\u5c55\u4e0d\u540c\u5929\u6c14\u3001\u5149\u7167\u7b49\u73af\u5883\u4e0b\u7684\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u95ed\u73af\u4eff\u771f\u6d4b\u8bd5<\/strong>\uff1a\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684planning\u7ed3\u679c\u4f5c\u4e3a\u4e16\u754c\u6a21\u578b\u672a\u6765\u9884\u6d4b\u7684\u6761\u4ef6\uff0c\u4ea7\u51fa\u63a7\u8f66\u540e\u7684\u6570\u636e\u8fdb\u884c\u95ed\u73af\u6d4b\u8bd5\u3002<\/li>\n\n\n\n<li><strong>\u5bf9\u6297\u6837\u672c<\/strong>\uff1a\u5bf9\u6297\u6837\u672c\u662f\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u4e00\u4e2a\u5b89\u5168\u9690\u60a3\uff0c\u5229\u7528\u4e16\u754c\u6a21\u578b\uff0c\u91c7\u7528\u540c\u4e00\u573a\u666f\u53d8\u6362condition\u7684\u65b9\u5f0f\u6216\u8005\u9ed1\u76d2\u653b\u51fb\u65b9\u5f0f\uff0c\u62ff\u5230\u6a21\u578b\u5931\u6548\u7684\u4e14\u903c\u771f\u7684\u6837\u672c\uff0c\u7528\u4e8e\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u5b89\u5168\u6027\u3002<\/li>\n\n\n\n<li><strong>foundation model<\/strong>\uff1a\u4e16\u754c\u6a21\u578b\u901a\u5e38\u91c7\u7528\u81ea\u76d1\u7763\u7684\u8bad\u7ec3\u6a21\u5f0f\uff0c\u8fd9\u79cd\u65b9\u5f0f\u53ef\u4ee5\u5229\u7528\u5927\u91cf\u7684\u65e0\u6807\u6ce8\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ece\u800c\u53ef\u4ee5\u4f5c\u4e3a\u611f\u77e5\u51b3\u7b56\u6a21\u578b\u7684foundation model\u6765\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4eca\u5929\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u4e3a\u5927\u5bb6\u5206\u4eab\u767e\u5ea6\u6700\u65b0\u5f00\u6e90\u7684\u5de5\u4f5c\u300aBEVWorld: A Multimodal World Model for Autonomous Driving via Unified BEV Latent Space\u300b\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u521b\u65b0\u65b9\u6cd5\uff0c\u901a\u8fc7\u7edf\u4e00\u7684\u9e1f\u77b0\u56fe\uff08Bird&#8217;s Eye View, BEV\uff09\u6f5c\u5728\u7a7a\u95f4\u6574\u5408\u591a\u6a21\u6001\u4f20\u611f\u5668\u8f93\u5165\uff0c\u8fdb\u800c\u6784\u5efa\u4e16\u754c\u6a21\u578b\u3002BEV\u7684\u7a7a\u95f4\u8868\u8fbe\u53ef\u4ee5\u4fbf\u6377\u5730\u5bf9\u9f50\u591a\u6a21\u6001\u6570\u636e\uff0c\u63d0\u5347\u591a\u6a21\u6001\u6570\u636e\u7684\u751f\u6210\u4e00\u81f4\u6027\u3002\u540c\u65f6\uff0cBEV\u8868\u5f81\u53ef\u4ee5\u81ea\u7136\u5730\u4e0e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u76f8\u7ed3\u5408\uff0c\u4f5c\u4e3a\u5176\u8f85\u52a9\u4efb\u52a1\u6216\u9884\u8bad\u7ec3\u6a21\u578b\u4f7f\u7528\u3002\u672c\u6587\u5c06\u4e3a\u5927\u5bb6\u8be6\u7ec6\u89e3\u8bfb\u8fd9\u7bc7\u8bba\u6587\u7684\u6838\u5fc3\u601d\u60f3\u3001\u65b9\u6cd5\u5b9e\u73b0\u53ca\u5176\u5b9e\u9a8c\u7ed3\u679c\u3002\u4ee3\u7801\u5373\u5c06\u5f00\u6e90https:\/\/github.com\/zympsyche\/BevWorld\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001\u65b9\u6cd5\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>BEVWorld\u4e3b\u8981\u7531\u4e24\u90e8\u5206\u7ec4\u6210\uff1a\u591a\u6a21\u6001tokenizer\uff08Multi-modal Tokenizer\uff09\u548c\u6f5c\u5728BEV\u5e8f\u5217\u6269\u6563\u6a21\u578b\uff08Latent BEV Sequence Diffusion Model\uff09\u3002<\/p>\n\n\n\n<p><strong>2.1 \u591a\u6a21\u6001tokenizer<\/strong><\/p>\n\n\n\n<p>\u591a\u6a21\u6001tokenizer\u7684\u6838\u5fc3\u529f\u80fd\u662f\u5c06\u539f\u59cb\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\u538b\u7f29\u6210\u4e00\u4e2a\u7edf\u4e00\u7684BEV\u6f5c\u5728\u7a7a\u95f4\u3002\u5177\u4f53\u5b9e\u73b0\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"267\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-205-1024x267.png\" alt=\"\" class=\"wp-image-13103\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-205-1024x267.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-205-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-205-768x201.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-205.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>BEV\u7f16\u7801\u5668\u7f51\u7edc<\/strong>\uff1a\u91c7\u7528Swin-Transformer\u4f5c\u4e3a\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\uff0c\u63d0\u53d6\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\uff1b\u5c06\u70b9\u4e91\u5206\u5272\u6210BEV\u7a7a\u95f4\u4e0a\u7684\u652f\u67f1\uff08Pillars\uff09\uff0c\u5e76\u4f7f\u7528Swin-Transformer\u4f5c\u4e3aLiDAR\u9aa8\u5e72\u7f51\u7edc\uff0c\u63d0\u53d6LiDAR BEV\u7279\u5f81\u3002\u4e4b\u540e\uff0c\u5229\u7528\u57fa\u4e8e\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u7684\u673a\u5236\u878d\u5408LiDAR BEV\u7279\u5f81\u548c\u56fe\u50cf\u7279\u5f81\u3002<\/li>\n\n\n\n<li><strong>BEV\u89e3\u7801\u5668\u7f51\u7edc<\/strong>\uff1a\u7531\u4e8e\u76f4\u63a5\u4eceBEV\u7279\u5f81\u6062\u590d\u56fe\u50cf\u548cLiDAR\u5b58\u5728\u9ad8\u5ea6\u4fe1\u606f\u7f3a\u5931\u95ee\u9898\uff0cBEV\u89e3\u7801\u5668\u9996\u5148\u5c06BEV\u6807\u8bb0\u8f6c\u6362\u4e3a3D\u4f53\u7d20\u7279\u5f81\uff0c\u7136\u540e\u4f7f\u7528\u57fa\u4e8e\u4f53\u7d20\u7684NeRF\u6e32\u67d3\u6280\u672f\u6062\u590d\u591a\u89c6\u56fe\u56fe\u50cf\u548cLiDAR\u70b9\u4e91\u3002<\/li>\n\n\n\n<li><strong>\u591a\u6a21\u6001\u6e32\u67d3\u7f51\u7edc<\/strong>\uff1a\u5206\u4e3a\u56fe\u50cf\u91cd\u5efa\u7f51\u7edc\u548cLiDAR\u91cd\u5efa\u7f51\u7edc\u3002\u56fe\u50cf\u91cd\u5efa\u901a\u8fc7\u6cbf\u5c04\u7ebf\u8def\u5f84\u91c7\u6837\u70b9\u5e76\u805a\u5408\u7279\u5f81\u63cf\u8ff0\u7b26\uff0c\u6700\u540e\u901a\u8fc7CNN\u89e3\u7801\u5668\u751f\u6210RGB\u56fe\u50cf\u3002LiDAR\u91cd\u5efa\u5219\u901a\u8fc7\u8ba1\u7b97\u91c7\u6837\u70b9\u7684\u671f\u671b\u6df1\u5ea6\u6765\u6a21\u62dfLiDAR\u89c2\u6d4b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2.2 \u6f5c\u5728BEV\u5e8f\u5217\u6269\u6563\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u6f5c\u5728BEV\u5e8f\u5217\u6269\u6563\u6a21\u578b\u65e8\u5728\u9884\u6d4b\u672a\u6765\u5e27\u7684\u56fe\u50cf\u548c\u70b9\u4e91\uff0c\u907f\u514d\u81ea\u56de\u5f52\u65b9\u6cd5\u7684\u7d2f\u79ef\u8bef\u5dee\u95ee\u9898\u3002\u5177\u4f53\u5b9e\u73b0\u6b65\u9aa4\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-206-1024x275.png\" alt=\"\" class=\"wp-image-13104\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-206-1024x275.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-206-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-206-768x206.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-206.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u578b\u7ed3\u6784<\/strong>\uff1a\u91c7\u7528\u57fa\u4e8e\u7a7a\u95f4-\u65f6\u95f4\u53d8\u6362\u5668\u7684\u6269\u6563\u65b9\u6cd5\uff0c\u5c06\u987a\u5e8f\u7684\u566a\u58f0BEV\u6807\u8bb0\u8f6c\u6362\u4e3a\u57fa\u4e8e\u52a8\u4f5c\u6761\u4ef6\u7684\u5e72\u51c0\u672a\u6765BEV\u9884\u6d4b\u3002<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u8fc7\u7a0b<\/strong>\uff1a\u4ee5\u5386\u53f2BEV\u6807\u8bb0\u548c\u5f53\u524dBEV\u6807\u8bb0\u4e3a\u6761\u4ef6\uff0c\u5b66\u4e60\u6dfb\u52a0\u5230\u672a\u6765BEV\u6807\u8bb0\u4e2d\u7684\u566a\u58f0\u3002<\/li>\n\n\n\n<li><strong>\u6d4b\u8bd5\u8fc7\u7a0b<\/strong>\uff1a\u4f7f\u7528DDIM\u8c03\u5ea6\u5668\u4ece\u7eaf\u566a\u58f0\u4e2d\u6062\u590d\u672a\u6765BEV\u6807\u8bb0\uff0c\u5e76\u901a\u8fc7\u591a\u6a21\u6001tokenizer\u7684\u89e3\u7801\u5668\u6e32\u67d3\u51fa\u672a\u6765\u7684\u591a\u4f20\u611f\u5668\u6570\u636e\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e09\u3001\u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>3.1 \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u5728nuScenes\u548cCarla\u4e24\u4e2a\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>nuScenes<\/strong>\uff1a\u5305\u542b\u591a\u89c6\u56fe\u56fe\u50cf\u548cLiDAR\u626b\u63cf\u7684\u591a\u6a21\u6001\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u5305\u542b700\u4e2a\u8bad\u7ec3\u89c6\u9891\u548c150\u4e2a\u9a8c\u8bc1\u89c6\u9891\u3002<\/li>\n\n\n\n<li><strong>Carla<\/strong>\uff1a\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u6a21\u62df\u5668\uff0c\u5305\u542b\u591a\u79cd\u5929\u6c14\u548c\u57ce\u9547\u73af\u5883\uff0c\u5b9e\u9a8c\u4e2d\u6536\u96c6\u4e86300\u4e07\u5e27\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3.2 \u591a\u6a21\u6001tokenizer\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7\u6d88\u878d\u7814\u7a76\u8bc4\u4f30\u4e0d\u540c\u8bbe\u8ba1\u51b3\u7b56\u5bf9\u591a\u6a21\u6001tokenizer\u7684\u5f71\u54cd\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"909\" height=\"191\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-207.png\" alt=\"\" class=\"wp-image-13105\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-207.png 909w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-207-300x63.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-207-768x161.png 768w\" sizes=\"(max-width: 909px) 100vw, 909px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u4e0d\u540c\u6a21\u6001\u7684\u5f71\u54cd<\/strong>\uff1a\u7ed3\u5408LiDAR\u548c\u591a\u89c6\u56fe\u76f8\u673a\u6a21\u6001\u83b7\u5f97\u6700\u4f73\u91cd\u5efa\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u6e32\u67d3\u65b9\u6cd5\u7684\u5f71\u54cd<\/strong>\uff1a\u57fa\u4e8e\u5c04\u7ebf\u7684\u91c7\u6837\u65b9\u6cd5\u5728\u591a\u89c6\u56fe\u91cd\u5efa\u4e2d\u8868\u73b0\u66f4\u597d\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3.3 tokenizer\u4e0b\u6e38\u4efb\u52a1\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<p>\u57283D\u68c0\u6d4b\u548c\u8fd0\u52a8\u9884\u6d4b\u4efb\u52a1\u4e0a\u9a8c\u8bc1BEVWorld\u7684\u6709\u6548\u6027\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"244\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-208-1024x244.png\" alt=\"\" class=\"wp-image-13106\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-208-1024x244.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-208-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-208-768x183.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-208.png 1066w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>3D\u68c0\u6d4b<\/strong>\uff1a\u5728nuScenes 3D\u68c0\u6d4b\u57fa\u51c6\u4e0a\uff0c\u4f7f\u7528tokenizer\u7f16\u7801\u5668\u4f5c\u4e3a\u9884\u8bad\u7ec3\u6a21\u578b\u663e\u8457\u63d0\u5347\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u52a8\u9884\u6d4b<\/strong>\uff1a\u5728\u68c0\u6d4b\u5934\u57fa\u7840\u4e0a\u6dfb\u52a0\u8fd0\u52a8\u9884\u6d4b\u5934\uff0c\u5b9e\u73b0\u51c6\u786e\u8f68\u8ff9\u9884\u6d4b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3.4 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class=\"wp-image-13108\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-210-1024x396.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-210-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-210-768x297.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-210.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4ecb\u7ecd\u4e86\u6f5c\u5728BEV\u5e8f\u5217\u6269\u6563\u6a21\u578b\u7684\u8bad\u7ec3\u7ec6\u8282\uff0c\u5e76\u4e0e\u73b0\u6709\u65b9\u6cd5\u6bd4\u8f83\uff1a<\/p>\n\n\n\n<ul 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