{"id":13505,"date":"2024-07-24T15:29:00","date_gmt":"2024-07-24T07:29:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=13505"},"modified":"2024-07-24T15:30:05","modified_gmt":"2024-07-24T07:30:05","slug":"gaussianbev%ef%bc%9a%e9%a6%96%e6%ac%a1%e5%b0%86gaussian%e5%bc%95%e5%85%a5bev%e6%84%9f%e7%9f%a5%e9%a2%86%e5%9f%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/24\/13505\/","title":{"rendered":"2024-07-24 GaussianBeV\uff1a\u9996\u6b21\u5c06Gaussian\u5f15\u5165BEV\u611f\u77e5\u9886\u57df"},"content":{"rendered":"\n<p>BEV\u611f\u77e5\u53c8\u8981\u8fdb\u5316\u4e86\uff01\u4eca\u5929\u770b\u5230\u4e86\u4e00\u7bc7BEV\u611f\u77e5\u7ed3\u54083D Gaussian\u5b9e\u73b0BEV\u5206\u5272\u7684\u4efb\u52a1\uff0c\u5f88\u8d5e\uff01\uff01\uff01\u6027\u80fd\u6682\u65f6\u7b97\u4e0d\u4e0a\u60ca\u8273\uff0c\u4f46\u8303\u5f0f\u4e0a\u6709\u5f88\u5927\u7684\u53c2\u8003\u6027\uff0c\u5206\u5272\u4efb\u52a1\u4e0a\u662f\u53ef\u884c\u7684\uff0cOCC\u3001\u68c0\u6d4b\u7b49\u4efb\u52a1\u4e5f\u53ef\u4ee5\u8003\u8651\uff01<\/p>\n\n\n\n<p>BEV\u611f\u77e5\u5df2\u7ecf\u5e7f\u6cdb\u7528\u4e8e\u73af\u89c63D\u611f\u77e5\u3002\u5b83\u5141\u8bb8\u5c06\u4e0d\u540c\u76f8\u673a\u7684\u7279\u5f81\u5408\u5e76\u5230\u4e00\u4e2a\u7a7a\u95f4\u4e2d\uff0c\u63d0\u4f9b3D\u573a\u666f\u7684\u7edf\u4e00\u8868\u793a\u3002\u5176\u6838\u5fc3\u662fview transformer\uff0c\u5c06\u56fe\u50cf\u89c6\u56fe\u8f6c\u6362\u4e3aBEV\u3002\u7136\u800c\u57fa\u4e8e\u51e0\u4f55\u6216cross-att\u7684view transformer\u65b9\u6cd5\u5e76\u4e0d\u80fd\u63d0\u4f9b\u8db3\u591f\u8be6\u7ec6\u7684\u573a\u666f\u8868\u793a\uff0c\u56e0\u4e3a\u5b83\u4eec\u4f7f\u7528\u76843D\u7a7a\u95f4\u7684\u5b50\u91c7\u6837\u5bf9\u4e8e\u5efa\u6a21\u73af\u5883\u7684\u7cbe\u7ec6\u7ed3\u6784\u6765\u8bf4\u662f\u4e0d\u8db3\u7684\u3002\u4e8e\u662f\u672c\u6587\u63d0\u51fa\u4e86GaussianBEV\uff0c\u8fd9\u662f\u4e00\u79cd\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u4e3aBEV\u7684\u65b0\u65b9\u6cd5\uff0c\u901a\u8fc7\u4f7f\u7528\u4e00\u7ec4\u57283D\u7a7a\u95f4\u4e2d\u5b9a\u4f4d\u548c\u5b9a\u5411\u76843D\u9ad8\u65af\u6765\u7cbe\u7ec6\u5730\u8868\u793a\u573a\u666f\u3002\u7136\u540e\u901a\u8fc7\u8c03\u6574\u57fa\u4e8e\u9ad8\u65afsplatting\u76843D\u8868\u793a\u6e32\u67d3\uff0c\u4ee5\u751f\u6210BEV\u7279\u5f81\u56fe\u3002GaussianBEV\u662f\u7b2c\u4e00\u79cd\u5728\u7ebf\u4f7f\u7528\u8fd9\u79cd3D\u9ad8\u65af\u5efa\u6a21\u548c3D\u573a\u666f\u6e32\u67d3\u8fc7\u7a0b\u7684\u65b9\u6cd5\uff0c\u5373\u4e0d\u5728\u7279\u5b9a\u573a\u666f\u4e0a\u5bf9\u5176\u8fdb\u884c\u4f18\u5316\uff0c\u800c\u662f\u76f4\u63a5\u96c6\u6210\u5230\u5355\u9636\u6bb5\u6a21\u578b\u4e2d\u4ee5\u7528\u4e8eBEV\u573a\u666f\u7406\u89e3\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u6240\u63d0\u51fa\u7684\u8868\u793a\u65b9\u6cd5\u975e\u5e38\u6709\u6548\uff0c\u5c06\u9ad8\u65afBEV\u4f5c\u4e3anuScenes\u6570\u636e\u96c6\u4e0aBEV\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u7684\u6700\u65b0\u6280\u672f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"327\" height=\"515\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-425.png\" alt=\"\" class=\"wp-image-13506\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-425.png 327w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-425-190x300.png 190w\" sizes=\"(max-width: 327px) 100vw, 327px\" \/><\/figure>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0cGaussianBEV\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>GaussianBEV\u5229\u75283D\u9ad8\u65af\u8868\u793a\u4ece\u56fe\u50cf\u751f\u6210BEV\u7279\u5f81\u56fe\uff0c\u4ece\u800c\u5b9e\u73b0\u7cbe\u7ec6\u76843D\u573a\u666f\u5efa\u6a21\u3002\u7136\u540e\u4f7f\u7528\u6805\u683c\u5316\u6a21\u5757\u5728BEV\u4e2dsplatting\u6b64\u8868\u793a\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662f\u7b2c\u4e00\u6b21\u63d0\u51fa\u975e\u573a\u666f\u7279\u5b9a\u7684\u9ad8\u65afsplatting\u8868\u793a\u5e76\u5c06\u5176\u96c6\u6210\u5230\u611f\u77e5\u6a21\u578b\u4e2d\u3002<\/li>\n\n\n\n<li>\u9a8c\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u4f7f\u5176\u6210\u4e3aBEV\u8bed\u4e49\u5206\u5272\u7684\u6700\u65b0\u6280\u672f\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u57fa\u4e8e\u6df1\u5ea6<\/strong>\u3002\u57fa\u4e8e\u50cf\u7d20\u6df1\u5ea6\u4f30\u8ba1\u548c\u56fe\u50cf\u7279\u5f81\u7684\u663e\u5f0f\u9884\u6d4b\uff0c\u5efa\u7acb\u4e86\u4e00\u7cfb\u5217\u6a21\u578b\u3002\u7ed3\u5408\u76f8\u673a\u6807\u5b9a\u53c2\u6570\uff0c\u8fd9\u4f7f\u5f972D\u7279\u5f81\u80fd\u591f\u53cd\u6295\u5f71\u52303D\u7279\u5f81\u70b9\u4e91\u4e2d\uff0c\u6700\u7ec8\u5728BEV\u7f51\u683c\u4e2d\u805a\u5408\u3002\u4e3a\u4e86\u9002\u5e94\u6df1\u5ea6\u4f30\u8ba1\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u7279\u5f81\u5b9e\u9645\u4e0a\u6cbf\u7740\u7a7f\u8fc7\u5176\u50cf\u7d20\u7684\u5149\u7ebf\u4f20\u64ad\uff0c\u5e76\u7531\u79bb\u6563\u7684\u6df1\u5ea6\u6982\u7387\u4f30\u8ba1\u8fdb\u884c\u5fae\u8c03\u3002\u4e3a\u4e86\u6539\u8fdb\u6df1\u5ea6\u9884\u6d4b\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u5728\u6a21\u578b\u8bad\u7ec3\u671f\u95f4\u4f7f\u7528LiDAR\u6570\u636e\u7684\u663e\u5f0f\u6df1\u5ea6\u76d1\u7763\u65b9\u6848\u3002\u7136\u800c\uff0c\u57fa\u4e8e\u6df1\u5ea6\u7684\u65b9\u6cd5\u5bf9\u5149\u7ebf\u91c7\u6837\u7b56\u7565\u5f88\u654f\u611f\uff0c\u901a\u5e38\u662f\u6cbf\u7740\u5149\u7ebf\u548c\u7269\u4f53\u8868\u9762\u53cd\u5411\u6295\u5f71\u7279\u5f81\uff08\u89c1\u56fe1a\uff09\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u4e8e\u6295\u5f71<\/strong>\u3002\u901a\u8fc7\u4e25\u683c\u7684\u6bd4\u8f83\u7814\u7a76\uff0c[7]\u5efa\u8bae\u653e\u5f03\u6df1\u5ea6\u4f30\u8ba1\uff0c\u8f6c\u800c\u91c7\u7528\u66f4\u7b80\u5355\u7684\u6295\u5f71\u65b9\u6848\uff1a\u4f7f\u7528\u4e00\u7ec4\u9884\u5b9a\u4e49\u76843D\u70b9\u6765\u63cf\u8ff0\u573a\u666f\uff0c\u5e76\u901a\u8fc7\u4f7f\u7528\u6821\u51c6\u6570\u636e\u5c06\u70b9\u6295\u5f71\u5230\u76f8\u673a\u7279\u5f81\u56fe\u4e0a\u6765\u63a2\u6d4b\u76f8\u673a\u7279\u5f81\u3002\u6b64\u6295\u5f71\u5ffd\u7565\u4e86\u5b9e\u9645\u5bf9\u8c61\u548c\u80cc\u666f\u653e\u7f6e\uff0c\u4f46\u8fd4\u56de\u4e86\u573a\u666f\u7684\u66f4\u5bc6\u96c6\u8868\u793a\uff0c\u6ca1\u6709\u8d85\u51fa\u5bf9\u8c61\u8868\u9762\u6df1\u5ea6\u7684\u7a7a\u9699\u3002\u901a\u8fc7\u9009\u62e9\u7a00\u758f\u7f51\u683c\u8868\u793a\u6765\u51cf\u5c11\u751f\u6210BEV\u7f51\u683c\u7684\u8ba1\u7b97\u548c\u5185\u5b58\u5f00\u9500\u3002\u57fa\u4e8e\u6295\u5f71\u7684\u89c6\u56fe\u53d8\u6362\u65b9\u6cd5\u5f88\u7b80\u5355\uff0c\u4f46\u4f1a\u4ea7\u751f\u7c97\u7565\u7684BEV\u8868\u793a\uff0c\u56e0\u4e3a\u6cbf\u7740\u5149\u7ebf\u7684\u6240\u6709\u4f53\u7d20\u90fd\u63a5\u6536\u5230\u76f8\u540c\u7684\u7279\u5f81\uff08\u89c1\u56fe1b\uff09\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u4e8e\u6ce8\u610f\u529b<\/strong>\u3002\u5229\u7528Transformer\u6a21\u578b\u7684\u6700\u65b0\u8fdb\u5c55\uff0c\u6df1\u5ea6\u4f30\u8ba1\u88ab\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u7279\u5f81\u8c03\u5236\u65b9\u6848\u6240\u53d6\u4ee3\u3002\u63d0\u51fa\u4e86\u51e0\u79cd\u4f18\u5316\u65b9\u6848\u6765\u89e3\u51b3\u56fe\u50cf\u548cBEV\u7f51\u683c\u6807\u8bb0\u4e4b\u95f4\u6210\u5bf9\u5339\u914d\u7684\u8ba1\u7b97\u590d\u6742\u6027\uff1a\u7a7a\u95f4\u548c\u65f6\u95f4\u6ce8\u610f\u529b\u7684\u56e0\u5b50\u5206\u89e3\u3001\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u3001\u6807\u5b9a\u548c\u65f6\u95f4\u6233\u5148\u9a8c\u7684\u5f15\u5165\u3002\u5bf9\u4e8e\u5206\u5272\u4efb\u52a1\uff0c\u7531\u4e8e\u9700\u8981\u5b9a\u4e49\u5bc6\u96c6\u7684\u67e5\u8be2\u6620\u5c04\uff0c\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u89c6\u56fe\u8f6c\u6362\u5728\u8ba1\u7b97\u548c\u5185\u5b58\u65b9\u9762\u90fd\u662f\u5bc6\u96c6\u7684\u3002\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48\u4e00\u4e9b\u65b9\u6cd5\u9884\u6d4b\u4f4e\u5206\u8fa8\u7387BEV\uff08\u89c1\u56fe1c\uff09\uff0c\u7136\u540e\u901a\u8fc7\u9006\u5377\u79ef\u5bf9\u5176\u8fdb\u884c\u4e0a\u91c7\u6837\u3002<\/p>\n\n\n\n<p><strong>\u9ad8\u65afsplatting<\/strong>\u3002\u9ad8\u65afsplatting\uff08GS\uff09\u662f\u4e00\u79cd3D\u573a\u666f\u6e32\u67d3\u6280\u672f\uff0c\u5b83\u4f7f\u75283D\u9ad8\u65af\u6765\u63cf\u8ff0\u573a\u666f\u3002\u6bcf\u4e2a\u9ad8\u65af\u51fd\u6570\u90fd\u7531\u5176\u4f4d\u7f6e\u3001\u6bd4\u4f8b\u3001\u65cb\u8f6c\u3001\u4e0d\u900f\u660e\u5ea6\u548c\u7403\u8c10\u989c\u8272\u6a21\u578b\u53c2\u6570\u5316\u3002\u6574\u4e2a\u6e32\u67d3\u7ba1\u9053\u662f\u5dee\u5206\u7684\uff0c\u5141\u8bb8\u57fa\u4e8e\u4e00\u7ec4\u56fe\u50cf\u5c06\u9ad8\u65af\u53c2\u6570\u4f18\u5316\u5230\u7279\u5b9a\u573a\u666f\u3002GS\u65e2\u5feb\u901f\u53c8\u5e76\u884c\uff0c\u5141\u8bb8\u5728GPU\u4e0a\u8fdb\u884c\u5b9e\u65f6\u64cd\u4f5c\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u4fee\u526a\u66f4\u7a84\u3001\u66f4\u900f\u660e\u7684\u9ad8\u65af\u5206\u5e03\uff0c\u53ef\u4ee5\u5728\u7ec6\u8282\u548c\u6e32\u67d3\u901f\u5ea6\u4e4b\u95f4\u8fdb\u884c\u6743\u8861\u3002\u4e0e\u7a00\u758f\u4f53\u7d20\u7f51\u683c\u76f8\u6bd4\uff0c\u9ad8\u65af\u7f51\u683c\u63d0\u4f9b\u4e86\u66f4\u6709\u6548\u7684\u573a\u666f\u8868\u793a\uff0c\u56e0\u4e3a\u5355\u4e2a\u9ad8\u65af\u7f51\u683c\u53ef\u4ee5\u63cf\u8ff0\u5927\u4f53\u79ef\uff0c\u800c\u8f83\u5c0f\u7684\u9ad8\u65af\u7f51\u683c\u53ef\u4ee5\u4ee5\u4efb\u610f\u5206\u8fa8\u7387\u7cbe\u786e\u7f16\u7801\u66f4\u7cbe\u7ec6\u7684\u7ec6\u8282\u3002\u7ec6\u8282\u548c\u5149\u6805\u5316\u5206\u8fa8\u7387\u662f\u6e32\u67d3\u7ba1\u9053\u7684\u53c2\u6570\uff0c\u800c\u4e0d\u662f\u573a\u666f\u63cf\u8ff0\u3002\u5df2\u7ecf\u63d0\u51fa\u4e86\u51e0\u4e2a\u6269\u5c55\uff0c\u5141\u8bb8\u7ba1\u7406\u52a8\u6001\u5bf9\u8c61\u6216\u4ece\u8868\u793a\u4e2d\u7684\u57fa\u7840\u6a21\u578b\u4e2d\u63d0\u53d6\u8bed\u4e49\u7279\u5f81\u3002\u5728\u6240\u6709\u60c5\u51b5\u4e0b\uff0c\u9ad8\u65af\u8868\u793a\u90fd\u662f\u7279\u5b9a\u4e8e\u573a\u666f\u7684\u3002<\/p>\n\n\n\n<p>\u5728\u6211\u4eec\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u5efa\u8bae\u4f7f\u7528\u9ad8\u65af\u8868\u793a\u6765\u514b\u670d\u4ee5\u524d\u89c6\u56fe\u53d8\u6362\u65b9\u6cd5\u7684\u7f3a\u70b9\u3002\u4e0e\u4e4b\u524d\u79bb\u7ebf\u5b66\u4e60\u9ad8\u65af\u8868\u793a\u7684\u9ad8\u65af\u7535\u9ad8\u65afsplatting\u4e0d\u540c\uff0c\u6211\u4eec\u5efa\u8bae\u5b66\u4e60\u4e00\u4e2a\u80fd\u591f\u63d0\u4f9b\u573a\u666f\u5728\u7ebf\u9ad8\u65af\u8868\u793a\u7684\u795e\u7ecf\u7f51\u7edc\u3002<\/p>\n\n\n\n<p><strong>\u8be6\u89e3GaussianBEV<\/strong><\/p>\n\n\n\n<p>\u6574\u4f53\u7ed3\u6784\u5982\u56fe2\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"188\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-426.png\" alt=\"\" class=\"wp-image-13507\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-426.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-426-300x84.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>3D Gaussian generator<\/strong><\/p>\n\n\n\n<p>\u7ed9\u5b9a\u8f93\u5165\u7279\u5f81\u56feF\uff0c3D\u9ad8\u65af\u751f\u6210\u5668\u4f7f\u7528\u591a\u4e2a\u9884\u6d4b\u5934\u9884\u6d4b\u573a\u666f\u76843D\u9ad8\u65af\u8868\u793a\u3002\u56fe3\u8bf4\u660e\u4e86\u5b83\u5982\u4f55\u5728\u7279\u5f81\u56fe\u4e0a\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u9ad8\u65af\u4e2d\u5fc3\u3002\u573a\u666f\u4e2d\u9ad8\u65af\u5206\u5e03\u76843D\u4f4d\u7f6e\u7531\u5e94\u7528\u4e8eF\u7684\u6df1\u5ea6\u5934\u548c3D\u504f\u79fb\u5934\u4f30\u8ba1\u3002\u7b2c\u4e00\u79cd\u65b9\u6cd5\u9884\u6d4b3D\u4e2d\u5fc3\u6cbf\u5149\u7ebf\u7684\u521d\u59cb\u4f4d\u7f6e\u3002\u7b2c\u4e8c\u79cd\u65b9\u6cd5\u901a\u8fc7\u5411\u5176\u6dfb\u52a0\u4e00\u4e2a\u5c0f\u76843D\u4f4d\u79fb\u6765\u7ec6\u5316\u8fd9\u4e2a3D\u4f4d\u7f6e\uff0c\u901a\u8fc7\u4e0d\u6cbf\u5149\u7ebf\u51bb\u7ed3\u9ad8\u65af\u5206\u5e03\uff0c\u4e3a\u9ad8\u65af\u5206\u5e03\u7684\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u66f4\u5927\u7684\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n<p>\u66f4\u786e\u5207\u5730\u8bf4\uff0c\u5bf9\u4e8e\u5750\u6807\u4e3a\uff08$u_{n,i}$\uff0c$v_{n,i}$\uff09\u7684\u76f8\u673an\u7684\u7279\u5f81\u56fe\u4e2d\u7684\u50cf\u7d20i\uff0c\u6df1\u5ea6\u5934\u9884\u6d4b\u89c6\u5dee$d_{n,i}$\u2208[0,1]\u3002\u4e3a\u4e86\u8865\u507f\u4ece\u4e00\u4e2a\u76f8\u673a\u5230\u53e6\u4e00\u4e2a\u76f8\u673a\u7684\u7126\u8ddd\u591a\u6837\u6027\u5bf9\u6df1\u5ea6\u9884\u6d4b\u7684\u5f71\u54cd\uff0c\u5982[23]\u4e2d\u63d0\u51fa\u7684\uff0c\u5728\u53c2\u8003\u7126\u8dddf\u4e2d\uff0c\u89c6\u5dee\u88ab\u9884\u6d4b\u5230\u4e00\u4e2a\u7f29\u653e\u56e0\u5b50\u3002\u77e5\u9053\u4e0e\u76f8\u673an\u76f8\u5173\u7684\u771f\u5b9e\u7126\u8dddfn\uff0c\u7136\u540e\u5bf9\u5ea6\u91cf\u6df1\u5ea6$z_{n,i}$\u8fdb\u884c\u5982\u4e0b\u89e3\u7801\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"227\" height=\"43\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-427.png\" alt=\"\" class=\"wp-image-13508\"\/><\/figure>\n\n\n\n<p>\u7136\u540e\u4f7f\u7528\u7b2cn\u4e2a\u76f8\u673a\u7684\u5185\u53c2Kn\u63a8\u5bfc\u51fa\u76f8\u673a\u53c2\u8003\u7cfb\u4e2d\u7684\u76f8\u5e943D\u70b9\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"252\" height=\"65\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-428.png\" alt=\"\" class=\"wp-image-13509\"\/><\/figure>\n\n\n\n<p>\u4ea7\u751f\u76843D\u70b9\u88ab\u7ea6\u675f\u4e3a\u6cbf\u7740\u7a7f\u8fc7\u6240\u8003\u8651\u50cf\u7d20\u7684\u5149\u7ebf\u3002\u7531\u4e8e\u8fd9\u79cd\u7ea6\u675f\uff0c\u5b83\u4eec\u7684\u5b9a\u4f4d\u4e0d\u4e00\u5b9a\u662f\u6700\u4f18\u7684\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5efa\u8bae\u4f7f\u75283D\u504f\u79fb\u9884\u6d4b\u5934\u3002\u5b83\u7684\u76ee\u7684\u662f\u63d0\u4f9b\u4e00\u4e2a\u5c0f\u7684\u4f4d\u79fb$\u25b3_{n,i}$\uff0c\u5e94\u7528\u4e8e\u9ad8\u65af\u76843D\u4e2d\u5fc3\uff0c\u4ee5\u7ec6\u5316\u5176\u5728\u6240\u6709\u4e09\u4e2a\u65b9\u5411\u4e0a\u7684\u4f4d\u7f6e\u3002\u901a\u8fc7\u4ee5\u4e0b\u6b65\u9aa4\u53ef\u4ee5\u7b80\u5355\u5730\u83b7\u5f97\u7cbe\u786e\u76843D\u70b9\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"229\" height=\"29\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-429.png\" alt=\"\" class=\"wp-image-13510\"\/><\/figure>\n\n\n\n<p>\u5728\u8fd9\u4e2a\u9636\u6bb5\uff0c\u4e3a\u6bcf\u4e2a\u76f8\u673a\u8ba1\u7b97\u76843D\u9ad8\u65af\u4e2d\u5fc3\u5728\u76f8\u5e94\u7684\u76f8\u673a\u53c2\u8003\u7cfb\u4e2d\u8868\u793a\u3002\u4e3a\u4e86\u5728\u4e16\u754c\u53c2\u8003\u7cfb\u4e2d\u8868\u8fbe\u8fd9\u4e9b\u70b9\uff0c\u5e94\u7528\u4e86\u5916\u53c2\u77e9\u9635[Rn|tn]\uff0c\u5b9e\u73b0\u76f8\u673a\u5230\u4e16\u754c\u7684\u8f6c\u6362\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"225\" height=\"31\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-430.png\" alt=\"\" class=\"wp-image-13511\"\/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u65cb\u8f6c<\/strong>\u3002\u573a\u666f\u4e2d\u9ad8\u65af\u5206\u5e03\u76843D\u65cb\u8f6c\u662f\u901a\u8fc7\u5e94\u7528\u4e8eF\u7684\u65cb\u8f6c\u5934\u6765\u4f30\u8ba1\u7684\u3002\u5bf9\u4e8e\u76f8\u673an\u7684\u7279\u5f81\u56fe\u4e2d\u7684\u7ed9\u5b9a\u50cf\u7d20\uff0c\u5b83\u4ee5\u5355\u4f4d\u56db\u5143\u6570q\u7684\u5f62\u5f0f\u8f93\u51fa\u504f\u5fc3\u65cb\u8f6c\u3002\u50cf\u7d20\u7684\u504f\u5fc3\u65cb\u8f6c\u5bf9\u5e94\u4e8e\u76f8\u5bf9\u4e8e\u7a7f\u8fc7\u5b83\u76843D\u5149\u7ebf\u7684\u65cb\u8f6c\u3002\u8fd9\u79cd\u5efa\u6a21\u4f7f\u65cb\u8f6c\u5934\u66f4\u5bb9\u6613\u5b66\u4e60\uff0c\u56e0\u4e3a\u5b83\u4e0d\u77e5\u9053\u4e0e\u5b83\u6b63\u5728\u5904\u7406\u7684\u50cf\u7d20\u5bf9\u5e94\u7684\u5149\u7ebf\u3002\u4f8b\u5982\uff0c\u653e\u7f6e\u5728\u573a\u666f\u4e2d\u4e24\u4e2a\u4e0d\u540c\u4f4d\u7f6e\u5e76\u5728\u76f8\u673a\u53c2\u8003\u7cfb\u4e2d\u5177\u6709\u4e0d\u540c\u7edd\u5bf9\uff08\u81ea\u4e2d\u5fc3\uff09\u65cb\u8f6c\u7684\u4e24\u4e2a\u5bf9\u8c61\u5728\u56fe\u50cf\u4e2d\u53ef\u80fd\u5177\u6709\u76f8\u540c\u7684\u5916\u89c2\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u65cb\u8f6c\u5934\u9884\u6d4b\u7684\u504f\u5fc3\u65cb\u8f6c\u5c06\u662f\u76f8\u540c\u7684\u3002\u7136\u540e\uff0c\u4f7f\u7528\u76f8\u673a\u7684\u56fa\u6709\u53c2\u6570\u6765\u68c0\u7d22\u81ea\u4e2d\u5fc3\u65cb\u8f6c\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u8ba1\u7b97\u8868\u793a\u7a7f\u8fc7\u76f8\u673an\u7684\u50cf\u7d20i\u7684\u5149\u7ebf\u4e0e\u8f74$[0,0,1]^T$\u4e4b\u95f4\u7684\u65cb\u8f6c\u7684\u56db\u5143\u6570\u3002\u7136\u540e\u901a\u8fc7\u4ee5\u4e0b\u6b65\u9aa4\u6062\u590d\u8868\u793a\u76f8\u673a\u53c2\u8003\u7cfb\u4e2d\u7684\u81ea\u4e2d\u5fc3\u65cb\u8f6c\u7684\u56db\u5143\u6570\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"220\" height=\"32\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-431.png\" alt=\"\" class=\"wp-image-13512\"\/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u5bf9\u4e8e\u9ad8\u65af\u4e2d\u5fc3\uff0c\u4f7f\u7528$q^w_{n,i}$\u8ba1\u7b97\u8868\u793a\u9ad8\u65af\u5728\u4e16\u754c\u53c2\u8003\u7cfb\u4e2d\u7684\u65cb\u8f6c\u7684\u56db\u5143\u6570\uff0c\u8be5\u56db\u5143\u6570\u5bf9\u76f8\u673an\u7684\u76f8\u673a\u5230\u4e16\u754c\u7684\u65cb\u8f6c\u8fdb\u884c\u5efa\u6a21\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"208\" height=\"32\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-432.png\" alt=\"\" class=\"wp-image-13513\"\/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u5c3a\u5bf8\u3001\u4e0d\u900f\u660e\u5ea6\u548c\u7279\u5f81<\/strong>\u3002\u6700\u540e\u4e09\u4e2a\u9ad8\u65af\u53c2\u6570\u4e0d\u4f9d\u8d56\u4e8e\u5149\u5b66\u7279\u6027\u548c\u76f8\u673a\u5b9a\u4f4d\uff0c\u800c\u662f\u7f16\u7801\u8bed\u4e49\u7279\u6027\u3002\u56e0\u6b64\uff0c\u7b80\u5355\u5730\u4f7f\u7528\u4e09\u4e2a\u5934\u6765\u9884\u6d4bBEV\u5149\u6805\u5316\u5668\u6a21\u5757\u6e32\u67d3\u9ad8\u65af\u96c6G\u6240\u9700\u7684\u96c6S\u3001O\u548cE\u3002<\/p>\n\n\n\n<p><strong>BEV rasterizer<\/strong><\/p>\n\n\n\n<p>BEV\u5149\u6805\u5316\u5668\u6a21\u5757\u7528\u4e8e\u4ece3D\u9ad8\u65af\u751f\u6210\u5668\u9884\u6d4b\u7684\u9ad8\u65af\u96c6G\u4e2d\u83b7\u5f97BEV\u7279\u5f81\u56feB\u3002\u4e3a\u6b64\uff0c\u9ad8\u65af\u9ad8\u65afsplatting\u4e2d\u63d0\u51fa\u7684\u5dee\u5206\u5149\u6805\u5316\u8fc7\u7a0b\u5df2\u88ab\u8c03\u6574\u4e3a\u6267\u884c\u8fd9\u79cd\u6e32\u67d3\u3002\u7b2c\u4e00\u79cd\u8c03\u6574\u5df2\u7ecf\u5728\u5176\u4ed6\u79bb\u7ebf\u8bed\u4e49\u91cd\u5efa\u5de5\u4f5c\u4e2d\u63d0\u51fa\uff0c\u5305\u62ec\u6e32\u67d3C\u7ef4\u7279\u5f81\u800c\u4e0d\u662f\u989c\u8272\u3002\u5728\u6211\u4eec\u7684\u4f8b\u5b50\u4e2d\uff0c\u8fd9\u4f1a\u4ea7\u751f\u4e00\u4e2a\u5305\u542b\u611f\u77e5\u4efb\u52a1\u6240\u5fc5\u9700\u7684\u8bed\u4e49\u7279\u5f81\u7684\u6e32\u67d3\u3002\u7b2c\u4e8c\u4e2a\u8c03\u6574\u6d89\u53ca\u6240\u4f7f\u7528\u7684\u6295\u5f71\u7c7b\u578b\u3002\u6211\u4eec\u5bf9\u6e32\u67d3\u7b97\u6cd5\u8fdb\u884c\u4e86\u53c2\u6570\u5316\uff0c\u4ee5\u751f\u6210\u6b63\u4ea4\u6e32\u67d3\u800c\u4e0d\u662f\u900f\u89c6\u6e32\u67d3\uff0c\u66f4\u9002\u5408\u573a\u666f\u7684BEV\u8868\u793a\u3002<\/p>\n\n\n\n<p><strong>GaussianBEV training<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"284\" height=\"32\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-433.png\" alt=\"\" class=\"wp-image-13514\"\/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u6b63\u5219\u5316\u635f\u5931<\/strong>\u3002\u5c3d\u7ba1\u9ad8\u65afBEV\u53ef\u4ee5\u901a\u8fc7\u4e0a\u8ff0\u635f\u5931\u8fdb\u884c\u6709\u6548\u8bad\u7ec3\uff0c\u4f46\u76f4\u63a5\u4f5c\u7528\u4e8e\u9ad8\u65af\u8868\u793a\u7684\u6b63\u5219\u5316\u51fd\u6570\u7684\u6dfb\u52a0\u63d0\u9ad8\u4e86\u5176\u4ee3\u8868\u6027\u3002\u7279\u522b\u662f\uff0c\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u589e\u52a0\u4e86\u4e24\u4e2a\u6b63\u5219\u5316\u635f\u5931\u3002<\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u6df1\u5ea6\u635f\u5931\u65e8\u5728\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u5728\u56fe\u50cf\u4e2d\u7684\u6295\u5f71\u63d0\u4f9b\u7684\u6df1\u5ea6\u4fe1\u606f\u6765\u89c4\u8303\u9ad8\u65af\u4eba\u7684\u4f4d\u7f6e\u3002\u8fd9\u79cd\u635f\u5931\u589e\u52a0\u4e86\u5bf9\u6df1\u5ea6\u6c34\u5934\u9884\u6d4b\u7684\u7ea6\u675f\uff0c\u4ee5\u83b7\u5f97\u521d\u59cb3D\u4f4d\u7f6e\uff0c\u7136\u540e\u901a\u8fc73D\u504f\u79fb\u5bf9\u5176\u8fdb\u884c\u7ec6\u5316\u3002\u6df1\u5ea6\u635f\u5931Ldepth\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"390\" height=\"41\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-434.png\" alt=\"\" class=\"wp-image-13515\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-434.png 390w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-434-300x32.png 300w\" sizes=\"(max-width: 390px) 100vw, 390px\" \/><\/figure>\n\n\n\n<p>\u5176\u6b21\uff0c\u65e9\u671f\u76d1\u7763\u635f\u5931\u65e8\u5728\u4f18\u5316BEV\u9aa8\u5e72\u4e4b\u524d\u7684\u9ad8\u65af\u8868\u793a\u3002\u5176\u60f3\u6cd5\u662f\u9650\u5236BEV\u7279\u5f81\uff0c\u4ee5\u76f4\u63a5\u4e3a\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u63d0\u4f9b\u6240\u6709\u5fc5\u8981\u7684\u4fe1\u606f\u3002\u5728\u5b9e\u8df5\u4e2d\uff0c\u5206\u5272\u5934\u88ab\u6dfb\u52a0\u5e76\u76f4\u63a5\u8fde\u63a5\u5230BEV\u5149\u6805\u5316\u5668\u6a21\u5757\u7684\u8f93\u51fa\u3002\u65e9\u671f\u76d1\u7763\u635f\u5931\u7684\u5b9a\u4e49\u4e0eLsem\u7c7b\u4f3c\u3002\u56e0\u6b64\uff0c\u603b\u635f\u5931\u51fd\u6570\u7531\u4e0b\u5f0f\u5b9a\u4e49\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"281\" height=\"32\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-435.png\" alt=\"\" class=\"wp-image-13516\"\/><\/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=\"672\" height=\"237\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-436.png\" alt=\"\" class=\"wp-image-13517\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-436.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-436-300x106.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"329\" height=\"465\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-437.png\" alt=\"\" class=\"wp-image-13518\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-437.png 329w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-437-212x300.png 212w\" sizes=\"(max-width: 329px) 100vw, 329px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"824\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-438.png\" alt=\"\" class=\"wp-image-13519\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-438.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-438-243x300.png 243w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"327\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-439.png\" alt=\"\" class=\"wp-image-13520\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-439.png 327w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-439-300x249.png 300w\" sizes=\"(max-width: 327px) 100vw, 327px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"324\" height=\"535\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-440.png\" alt=\"\" class=\"wp-image-13521\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-440.png 324w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-440-182x300.png 182w\" sizes=\"(max-width: 324px) 100vw, 324px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86GaussianBEV\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u7684\u56fe\u50cf\u5230BEV\u53d8\u6362\u65b9\u6cd5\uff0c\u662fBEV\u8bed\u4e49\u5206\u5272\u7684\u6700\u65b0\u8fdb\u5c55\u3002\u57fa\u4e8e\u5728\u7ebf3D\u9ad8\u65af\u751f\u6210\u5668\uff0c\u5b83\u5c06\u56fe\u50cf\u7279\u5f81\u56fe\u7684\u6bcf\u4e2a\u50cf\u7d20\u8f6c\u6362\u4e3a\u8bed\u4e49\u5316\u76843D\u9ad8\u65af\u3002\u7136\u540e\uff0c\u9ad8\u65af\u4eba\u88ab\u6cfc\u6d12\u4ee5\u83b7\u5f97BEV\u7279\u5f81\u56fe\u3002\u6211\u4eec\u5df2\u7ecf\u8bc1\u660e\uff0c\u9ad8\u65af\u8868\u793a\u80fd\u591f\u9002\u5e94\u573a\u666f\u4e2d\u5b58\u5728\u7684\u4e0d\u540c\u51e0\u4f55\u7ed3\u6784\uff0c\u4ece\u800c\u5b9e\u73b0\u7cbe\u7ec6\u76843D\u5efa\u6a21\u3002\u6211\u4eec\u5e0c\u671b\u8fd9\u9879\u521d\u6b65\u5de5\u4f5c\u5c06\u4e3a\u4f7f\u7528\u5728\u7ebf\u9ad8\u65afsplatting\u8868\u793a\u76843D\u611f\u77e5\u7684\u8fdb\u4e00\u6b65\u7814\u7a76\u6253\u5f00\u5927\u95e8\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] GaussianBeV : 3D Gaussian Representation meets Perception Models for BeV Segmentation<\/p>\n","protected":false},"excerpt":{"rendered":"<p>BEV\u611f\u77e5\u53c8\u8981\u8fdb\u5316\u4e86\uff01\u4eca\u5929\u770b\u5230\u4e86\u4e00\u7bc7BEV\u611f\u77e5 [&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-13505","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\/13505"}],"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=13505"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/13505\/revisions"}],"predecessor-version":[{"id":13523,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/13505\/revisions\/13523"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=13505"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=13505"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=13505"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}