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mAP\u62164.5\u500d\u7684\u52a0\u901f\uff0c\u5982\u56fe1\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"397\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-444.png\" alt=\"\" class=\"wp-image-13544\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-444.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-444-300x172.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p>\u56fe1\uff1anuScenes\u6570\u636e\u96c6\u4e0a\u4e0d\u540c\u65b9\u6cd5\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u5728\u5355\u4e2aNVIDIA RTX 3090 GPU\u4e0a\u5bf9\u63a8\u7406\u901f\u5ea6\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\u3002MapDistill\u53ef\u4ee5\u5728\u901f\u5ea6(FPS)\u548c\u7cbe\u5ea6(mAP)\u4e4b\u95f4\u5b9e\u73b0\u66f4\u597d\u7684\u5e73\u8861\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u4e3b\u8981\u4f53\u73b0\u5728\u4e09\u4e2a\u65b9\u9762:<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u7684\u6709\u6548\u77e5\u8bc6\u84b8\u998f\u6a21\u578b\u67b6\u6784\uff0c\u5305\u62ec\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u6559\u5e08\u6a21\u578b\uff0c\u5e26\u6709\u53ccBEV\u8f6c\u6362\u6a21\u5757\u7684\u8f7b\u91cf\u7ea7\u76f8\u673a\u5b66\u751f\u6a21\u578b\uff0c\u8be5\u6a21\u5757\u4fc3\u8fdb\u4e86\u4e0d\u540c\u6a21\u5f0f\u5185\u90e8\u3001\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\uff0c\u540c\u65f6\u5177\u5907\u4f4e\u6210\u672c\u3001\u6613\u90e8\u7f72\u7684\u7279\u5f81\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u540c\u65f6\u652f\u6301\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u7684\u7efc\u5408\u84b8\u998f\u65b9\u6848\u3002\u901a\u8fc7\u51cf\u8f7b\u6a21\u6001\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\u6311\u6218\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u5e2e\u52a9\u5b66\u751f\u6a21\u578b\u66f4\u597d\u5730\u5b66\u4e60\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u7279\u5f81\u8868\u793a\u3002<\/li>\n\n\n\n<li>MapDistill\u7684\u6027\u80fd\u4f18\u4e8e\u6700\u5148\u8fdb\u7684(SOTA)\u65b9\u6cd5\uff0c\u53ef\u4ee5\u4f5c\u4e3a\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7814\u7a76\u7684\u5f3a\u5927\u57fa\u7ebf\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>MapDistill<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u8be6\u7ec6\u63cf\u8ff0\u6211\u4eec\u63d0\u51fa\u7684MapDistill\u3002\u6211\u4eec\u9996\u5148\u5728\u56fe2\u4e2d\u7ed9\u51fa\u4e86\u6574\u4e2a\u6846\u67b6\u7684\u6982\u8ff0\u56fe\u793a\uff0c\u5e76\u57282.1\u8282\u4e2d\u9610\u660e\u4e86\u6559\u5e08\u6a21\u578b\u548c\u5b66\u751f\u6a21\u578b\u7684\u6a21\u578b\u8bbe\u8ba1\u3002\u7136\u540e\uff0c\u6211\u4eec\u5728\u7b2c2.2\u8282\u8be6\u7ec6\u9610\u8ff0MapDistill\u7684\u7ec6\u8282\uff0c\u5982\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"359\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-445.png\" alt=\"\" class=\"wp-image-13545\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-445.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-445-300x155.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p>\u56fe2\uff1aMapDistill\u7531\u4e00\u4e2a\u57fa\u4e8e\u591a\u6a21\u6001\u878d\u5408\u7684\u6559\u5e08\u6a21\u578b(\u4e0a)\u548c\u4e00\u4e2a\u57fa\u4e8e\u8f7b\u91cf\u7ea7\u76f8\u673a\u4f20\u611f\u5668\u7684\u5b66\u751f\u6a21\u578b(\u4e0b)\u7ec4\u6210\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u4f7f\u6559\u5e08\u6a21\u578b\u80fd\u591f\u5c06\u77e5\u8bc6\u4f20\u9012\u7ed9\u5b66\u751f\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e09\u79cd\u84b8\u998f\u635f\u5931\u4ee5\u6307\u5bfc\u5b66\u751f\u6a21\u578b\u4ea7\u751f\u76f8\u4f3c\u7684\u7279\u5f81\u548c\u9884\u6d4b\uff0c\u5373\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u3002\u7279\u522b\u8bf4\u660e\uff0c\u63a8\u7406\u53ea\u4f7f\u7528\u5b66\u751f\u6a21\u578b\u8fdb\u884c\u3002<\/p>\n\n\n\n<p><strong>2.1 \u6a21\u578b\u6574\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"621\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72501.png\" alt=\"\" class=\"wp-image-13546\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72501.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72501-300x276.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p><strong>2.2 MapDistill\u7684\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"893\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72502.png\" alt=\"\" class=\"wp-image-13547\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72502.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72502-229x300.png 229w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"302\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72503.png\" alt=\"\" class=\"wp-image-13548\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72503.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72503-300x135.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u4e0eSOTA\u65b9\u6cd5\u7684\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u4e24\u7c7b\u6700\u5148\u8fdb\u7684\u57fa\u7ebf\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5373\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\uff0c\u4ee5\u53ca\u6700\u521d\u88ab\u8bbe\u8ba1\u7528\u4e8e\u5b9e\u73b0\u57fa\u4e8eBEV\u76843D\u76ee\u6807\u68c0\u6d4b\u7684\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u3002\u5bf9\u4e8e\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u65b9\u6cd5\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86\u4e09\u79cd\u57fa\u4e8ebev\u7684\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\uff0c\u5e76\u9488\u5bf9\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u8fdb\u884c\u4e86\u4fee\u6539\uff0c\u5206\u522b\u662fBEV-LGKD\u3001BEVDistill\u548cUnDistill\u3002\u4e3a\u4e86\u516c\u5e73\u8d77\u89c1\uff0c\u6211\u4eec\u4f7f\u7528\u4e0e\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u540c\u7684\u6559\u5e08\u548c\u5b66\u751f\u6a21\u578b\u3002\u5b9e\u9a8c\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"295\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-446.png\" alt=\"\" class=\"wp-image-13549\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-446.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-446-300x128.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c\uff1a<\/strong><\/p>\n\n\n\n<p>\u4e09\u9879\u77e5\u8bc6\u84b8\u998f\u635f\u5931\u51fd\u6570\u7684\u5f71\u54cd\uff1a\u5982\u88682\u6240\u793a\uff0c\u5728\u6a21\u578b\u53d8\u91cf(a)\u3001(b)\u3001(c)\u4e2d\uff0c\u6211\u4eec\u5355\u72ec\u4f7f\u7528\u4e0d\u540c\u7684\u84b8\u998f\u635f\u5931\u5bf9\u5b66\u751f\u5206\u652f\u8fdb\u884c\u8bad\u7ec3\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u57fa\u7ebf\u65b9\u6cd5\u76f8\u6bd4\uff0c\u4e09\u9879\u635f\u5931\u51fd\u6570\u5747\u5bf9\u6a21\u578b\u8868\u73b0\u51fa\u63d0\u5347\u3002\u6b64\u5916\uff0c\u6a21\u578b\u53d8\u91cf(d)\u3001(e)\u3001(f)\u8bc1\u660e\u4e86\u4e0d\u540c\u84b8\u998f\u635f\u5931\u9879\u7684\u7ed3\u679c\u662f\u76f8\u4e92\u8865\u5145\u7684\u3002\u6700\u7ec8\uff0c\u5c06\u6240\u6709\u7684\u84b8\u998f\u635f\u5931\u878d\u5408\u5728\u4e00\u8d77\uff0c\u6211\u4eec\u5f97\u5230\u4e86\u5b8c\u6574\u7684MapDistill\u7ed3\u679c\uff0c\u5b9e\u73b0\u4e8653.6mAP\u7684\u5148\u8fdb\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"257\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-447.png\" alt=\"\" class=\"wp-image-13550\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-447.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-447-300x111.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u7684\u6d88\u878d\u7814\u7a76\uff1a\u5982\u88685(a)\u6240\u793a\uff0c\u4e3a\u4e86\u63a2\u7a76MapDistill\u4e0e\u4e0d\u540c\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u7684\u517c\u5bb9\u6027\uff0c\u6211\u4eec\u7efc\u5408\u5bf9\u6bd4\u4e86\u4e24\u79cd\u6d41\u884c\u7684\u65b9\u6cd5\uff0c\u7ed3\u679c\u5982\u88685a\u6240\u793a\u3002\u5176\u4e2d\uff0cTeacher model-1\u548cTeacher model-2\u5206\u522b\u662f\u4f7f\u7528SwinTransformer-T\u7684MapTR\u53d8\u4f53\u6a21\u578b\u548c\u6700\u5148\u8fdb\u7684MapTRv2\u6a21\u578b\u3002\u6ce8\u610f\uff0c\u4e24\u4e2a\u5b66\u751f\u6a21\u578b\u90fd\u4f7f\u7528Resnet 18\u4f5c\u4e3a\u4e3b\u5e72\u6765\u63d0\u53d6\u591a\u89c6\u56fe\u7279\u5f81\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6548\u679c\u66f4\u597d\u7684\u6559\u5e08\u6a21\u578b\u5c06\u6559\u51fa\u66f4\u597d\u7684\u5b66\u751f\u6a21\u578b\u3002\u7531\u4e8e\u5df2\u5b8c\u6210\u9884\u8bad\u7ec3\u7684\u6559\u5e08\u6a21\u578b\u5df2\u7ecf\u83b7\u5f97\u4e86\u6784\u5efa\u9ad8\u7cbe\u5730\u56fe\u7684\u5b9d\u8d35\u77e5\u8bc6\uff0c\u5b66\u751f\u6a21\u578b\u53ef\u4ee5\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\u6280\u672f(\u4f8b\u5982\u6240\u63d0\u51fa\u7684MapDistill)\u6709\u6548\u5730\u5229\u7528\u8fd9\u4e9b\u77e5\u8bc6\uff0c\u4ece\u800c\u589e\u5f3a\u5176\u6267\u884c\u76f8\u540c\u4efb\u52a1\u7684\u80fd\u529b\u3002\u6b64\u5916\uff0c\u7ed3\u679c\u8868\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u5bf9\u4e0d\u540c\u7684\u6559\u5e08\u6a21\u578b\u90fd\u662f\u6709\u6548\u7684\u3002<\/p>\n\n\n\n<p>\u5404\u79cd\u5b66\u751f\u6a21\u578b\u7684\u6d88\u878d\u7814\u7a76\uff1a\u5982\u88685(b)\u6240\u793a\uff0c\u4e3a\u4e86\u63a2\u7a76MapDistill\u5728\u4e0d\u540c\u5b66\u751f\u6a21\u578b\u4e0b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u7efc\u5408\u8003\u5bdf\u4e86\u4e24\u79cd\u6d41\u884c\u7684\u9aa8\u5e72\u7f51\u7edc\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\u7684\u9aa8\u5e72\u3002\u5176\u4e2dStudent model- i\u548cStudent model- ii\u662f\u6307\u5b66\u751f\u6a21\u578b\u5206\u522b\u91c7\u7528Resnet50\u548cSwinTransformer-T\u4f5c\u4e3a\u4e3b\u5e72\u63d0\u53d6\u591a\u89c6\u56fe\u7279\u5f81\u3002\u8fd9\u91cc\u6211\u4eec\u4f7f\u7528MapTR\u4f5c\u4e3aTeacher\uff0c\u5373\u88681\u4e2d\u7684R50&amp;Sec\u878d\u5408\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\u6a21\u578b\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u59cb\u7ec8\u80fd\u53d6\u5f97\u8f83\u597d\u7684\u7ed3\u679c\uff0c\u8bc1\u660e\u4e86\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-448.png\" alt=\"\" class=\"wp-image-13551\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-448.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-448-300x86.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p><strong>\u53ef\u89c6\u5316\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe4\u6240\u793a\uff0c\u6211\u4eec\u6bd4\u8f83\u4e86\u6765\u81ea\u4e0d\u540c\u6a21\u578b\u7684\u9884\u6d4b\uff0c\u5373\u57fa\u4e8e\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u7684\u6559\u5e08\u6a21\u578b\uff0c\u6ca1\u6709MapDistill\u7684\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u5b66\u751f\u6a21\u578b(\u57fa\u7ebf\u65b9\u6cd5)\uff0c\u4ee5\u53ca\u5e26\u6709MapDistill\u7684\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u5b66\u751f\u6a21\u578b\u3002\u5404\u6a21\u578b\u7684mAP\u503c\u5206\u522b\u4e3a62.5\u300145.9\u300153.6\uff0c\u5982\u88681\u6240\u793a\u3002\u6211\u4eec\u89c2\u5bdf\u5230\u57fa\u7ebf\u6a21\u578b\u7684\u9884\u6d4b\u6709\u5f88\u5927\u7684\u4e0d\u51c6\u786e\u6027\u3002\u7136\u800c\uff0c\u91c7\u7528MapDistill\u65b9\u6cd5\u90e8\u5206\u7ea0\u6b63\u4e86\u8fd9\u4e9b\u9519\u8bef\uff0c\u63d0\u9ad8\u4e86\u9884\u6d4b\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img 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