{"id":13742,"date":"2024-08-01T15:07:13","date_gmt":"2024-08-01T07:07:13","guid":{"rendered":"http:\/\/192.168.10.115\/?p=13742"},"modified":"2024-08-01T15:07:13","modified_gmt":"2024-08-01T07:07:13","slug":"2024-08-01-eccv-2024-fsd-bev%ef%bc%9a%e5%8c%97%e8%88%aa%e6%9e%81%e6%b0%aa%e8%81%94%e5%90%88%e6%8f%90%e5%87%ba%e6%84%9f%e7%9f%a5%e6%96%b0sota","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/01\/13742\/","title":{"rendered":"2024-08-01 ECCV 2024 | FSD-BEV\uff1a\u5317\u822a&amp;\u6781\u6c2a\u8054\u5408\u63d0\u51fa\u611f\u77e5\u65b0SOTA"},"content":{"rendered":"\n<p>\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u76ee\u6807\u68c0\u6d4b\u662f\u81ea\u52a8\u9a7e\u9a76\u5f53\u4e2d\u81f3\u5173\u91cd\u8981\u7684\u4efb\u52a1\u4e4b\u4e00\u3002\u7531\u4e8e\u7eaf\u89c6\u89c9\u7684BEV\u611f\u77e5\u7b97\u6cd5\u90e8\u7f72\u53cb\u597d\u4e14\u6210\u672c\u4f4e\u5ec9\uff0c\u8fd1\u5e74\u6765\u53d7\u5230\u4e86\u6765\u81ea\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\uff0c\u57fa\u4e8e\u7eaf\u89c6\u89c9\u7684BEV\u611f\u77e5\u7b97\u6cd5\u76ee\u524d\u5df2\u7ecf\u53d6\u5f97\u4e86\u957f\u8db3\u7684\u8fdb\u5c55\u3002\u867d\u7136\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u81ea\u8eab\u786c\u4ef6\u8bbe\u5907\u6210\u672c\u9ad8\uff0c\u540c\u65f6\u91c7\u96c6\u5230\u7684\u70b9\u4e91\u6570\u636e\u7f3a\u4e4f\u7269\u4f53\u7684\u989c\u8272\u4ee5\u53ca\u4e30\u5bcc\u7684\u7eb9\u7406\u4fe1\u606f\uff0c\u4f46\u662f\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u91c7\u96c6\u5230\u7684\u70b9\u4e91\u6570\u636e\u53ef\u4ee5\u63d0\u4f9b\u76ee\u6807\u51c6\u786e\u7684\u51e0\u4f55\u7ed3\u6784\u548c\u5f62\u72b6\u4fe1\u606f\uff0c\u76f8\u673a\u4f20\u611f\u5668\u91c7\u96c6\u5230\u7684\u56fe\u50cf\u6570\u636e\u7531\u4e8e\u7f3a\u5c11\u7269\u4f53\u51c6\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u4f9d\u65e7\u548c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u611f\u77e5\u7b97\u6cd5\u5728\u6027\u80fd\u4e0a\u6709\u4e00\u5b9a\u7684\u5dee\u8ddd\u3002<\/p>\n\n\n\n<p>\u53d7\u5230\u77e5\u8bc6\u84b8\u998f\u7b49\u76f8\u5173\u5de5\u4f5c\u7684\u542f\u53d1\uff0c\u5728\u667a\u9a7e\u611f\u77e5\u4efb\u52a1\u5f53\u4e2d\uff0c\u76f8\u5173\u7684\u7814\u7a76\u5b66\u8005\u4eec\u76ee\u524d\u5df2\u7ecf\u63d0\u51fa\u4e86\u591a\u79cd\u8de8\u6a21\u6001\u7684\u84b8\u998f\u65b9\u6cd5\uff0c\u5b9e\u73b0\u5bf9\u611f\u77e5\u4efb\u52a1\u6709\u76ca\u4fe1\u606f\u4ece\u6559\u5e08\u6a21\u578b\u8f6c\u79fb\u5230\u5b66\u751f\u6a21\u578b\uff0c\u5728\u4e0d\u589e\u52a0\u989d\u5916\u8ba1\u7b97\u91cf\u7684\u60c5\u51b5\u4e0b\u8fdb\u4e00\u6b65\u63d0\u5347\u5b66\u751f\u6a21\u578b\u7684\u611f\u77e5\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\u8f83\u4e3a\u4e3b\u6d41\u7684\u84b8\u998f\u65b9\u5f0f\u5373\u91c7\u7528\u6027\u80fd\u8f83\u597d\u7684\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u7b97\u6cd5\u4f5c\u4e3a\u6559\u5e08\u6a21\u578b\uff0c\u611f\u77e5\u6027\u80fd\u8f83\u5dee\u7684\u89c6\u89c9\u7b97\u6cd5\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\u3002\u5176\u7f51\u7edc\u7ed3\u6784\u53ef\u4ee5\u5927\u4f53\u8868\u8ff0\u4e3a\u4e0b\u56fe\u7684\u5b50\u56fe(a)\u3002\u8fd9\u7c7b\u84b8\u998f\u7b97\u6cd5\u6a21\u578b\u7684\u5927\u4f53\u601d\u8def\u662f\u5229\u7528\u9884\u5148\u8bad\u7ec3\u597d\u7684\u6559\u5e08\u6a21\u578b\u5c06\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6216\u591a\u6a21\u6001\u8f93\u5165\u8f6c\u6362\u4e3a\u51bb\u7ed3\u7684\u6559\u5e08BEV\u7a7a\u95f4\u7279\u5f81\uff0c\u4f5c\u4e3a\u5b66\u751f\u751f\u6210\u7684BEV\u7a7a\u95f4\u7279\u5f81\u7684\u5148\u9a8c\u6307\u5bfc\u3002\u4f46\u8fd9\u7c7b\u84b8\u998f\u7b97\u6cd5\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6570\u636e\u6a21\u6001\u548c\u76f8\u673a\u56fe\u50cf\u6570\u636e\u6a21\u6001\u7684\u4e0d\u4e00\u81f4\u4ee5\u53ca\u6559\u5e08\u548c\u5b66\u751f\u7b97\u6cd5\u7f51\u7edc\u6a21\u578b\u7684\u7ed3\u6784\u4e0d\u4e00\u81f4\u5bfc\u81f4\u4ece\u6559\u5e08\u6a21\u578b\u8f6c\u6362\u5230\u5b66\u751f\u6a21\u578b\u7684\u77e5\u8bc6\u8fc7\u7a0b\u5177\u6709\u5f88\u5927\u7684\u6311\u6218\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"967\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247.png\" alt=\"\" class=\"wp-image-13743\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247.png 967w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-768x254.png 768w\" sizes=\"(max-width: 967px) 100vw, 967px\" \/><\/figure>\n\n\n\n<p>\u8de8\u6a21\u6001\u84b8\u998f\u7b97\u6cd5\u548c\u6211\u4eec\u63d0\u51fa\u7684\u81ea\u84b8\u998f\u7b97\u6cd5\u7684\u7f51\u7edc\u6a21\u578b\u5bf9\u6bd4\u56fe<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u4e0a\u8ff0\u63d0\u5230\u7684\u76f8\u5173\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u524d\u666f\u81ea\u84b8\u998f\u7684\u7b97\u6cd5\u6846\u67b6\u79f0\u4e3aFSD-BEV\uff0c\u5982\u4e0a\u56fe\u7684\u5b50\u56fe(b)\u6240\u793a\u3002\u84b8\u998f\u6846\u67b6\u4e2d\u7684\u6559\u5e08\u5206\u652f\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u751f\u6210\u7684\u786c\u6807\u7b7e\u6765\u83b7\u5f97\u9ad8\u8d28\u91cf\u7684\u6559\u5e08BEV\u7a7a\u95f4\u7279\u5f81\u5e76\u4e3a\u5b66\u751f\u5206\u652f\u63d0\u4f9b\u6307\u5bfc\u3002\u540c\u65f6\uff0c\u5b66\u751f\u6a21\u578b\u5229\u7528\u9884\u6d4b\u51fa\u6765\u7684\u8f6f\u6807\u7b7e\u6765\u586b\u8865\u786c\u6807\u7b7e\u7684\u7a7a\u7f3a\u6765\u8865\u507f\u6559\u5e08\u6a21\u578b\u3002\u901a\u8fc7\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u63d0\u51fa\u7684FSD-BEV\u7b97\u6cd5\u6a21\u578b\u53d6\u5f97\u4e86SOTA\u7684\u68c0\u6d4b\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2407.10135<\/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>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684\u524d\u666f\u81ea\u84b8\u998f\u7b97\u6cd5\u6a21\u578bFSD-BEV\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684FSD-BEV\u7b97\u6cd5\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1006\" height=\"589\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-1.png\" alt=\"\" class=\"wp-image-13744\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-1.png 1006w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-1-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-1-768x450.png 768w\" sizes=\"(max-width: 1006px) 100vw, 1006px\" \/><\/figure>\n\n\n\n<p>FSD-BEV\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u56fe\u5c55\u793a\u7684\u7f51\u7edc\u7ed3\u6784\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u4e0e\u4ee5\u524d\u57fa\u4e8eBEV\u7a7a\u95f4\u7684\u8de8\u6a21\u6001\u84b8\u998f\u65b9\u6cd5\u91c7\u7528\u989d\u5916\u7684\u9884\u8bad\u7ec3\u6559\u5e08\u6a21\u578b\u4e0d\u540c\uff0c\u6211\u4eec\u63d0\u51fa\u7684FSD-BEV\u7b97\u6cd5\u6a21\u578b\u5728\u5355\u72ec\u7684\u4e00\u4e2a\u6a21\u578b\u5f53\u4e2d\u5b8c\u6210\u4e86\u7279\u5f81\u7684\u5bf9\u9f50\u8fc7\u7a0b\u3002\u540c\u65f6\u8003\u8651\u5230\u84b8\u998f\u6846\u67b6\u4e2d\u7684\u6559\u5e08\u5206\u652f\u7684\u6027\u80fd\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u53d6\u51b3\u4e8e\u70b9\u4e91\u751f\u6210\u7684\u786c\u6807\u7b7e\u7684\u8d28\u91cf\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e24\u79cd\u70b9\u4e91\u5f3a\u5316 (Point Cloud Intensification\uff0cPCI) \u7b56\u7565\u6765\u89e3\u51b3\u70b9\u4e91\u6570\u636e\u7684\u7a00\u758f\u6027\u95ee\u9898\uff0c\u5373\u5408\u5e76\u5e27\u4fe1\u606f\u548c\u4e3a\u6ca1\u6709\u5173\u8054\u70b9\u7684\u5bf9\u8c61\u5206\u914d\u4f2a\u70b9\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u70b9\u4e91\u4ea7\u751f\u7684\u786c\u6807\u7b7e\u7684\u7a00\u758f\u6027\u5f97\u5230\u4e86\u5f88\u597d\u7684\u7f13\u89e3\uff0c\u4e3a\u7279\u5f81\u5408\u6210\u63d0\u4f9b\u4e86\u66f4\u597d\u7684\u6307\u5bfc\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4e5f\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u591a\u5c3a\u5ea6\u524d\u666f\u589e\u5f3a (Multi-Scale Foreground Enhancement\uff0cMSFE) \u6a21\u5757\uff0c\u901a\u8fc7\u9884\u6d4b\u51fa\u7684\u692d\u5706\u9ad8\u65af\u70ed\u529b\u56fe\u63d0\u53d6\u548c\u878d\u5408\u591a\u5c3a\u5ea6\u524d\u666f\u7279\u5f81\uff0c\u4ece\u800c\u63d0\u9ad8\u6574\u4e2a\u6846\u67b6\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u5c06\u8be6\u7ec6\u4ecb\u7ecd\u6bcf\u4e2a\u5173\u952e\u6280\u672f\u521b\u65b0\u70b9\u7684\u5b9e\u73b0\u7ec6\u8282<\/p>\n\n\n\n<p><strong>Foreground Self-Distillation<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8e\u6559\u5e08\u6a21\u578b\u662f\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u6a21\u6001\u7684\u611f\u77e5\u7b97\u6cd5\uff0c\u5b66\u751f\u6a21\u578b\u662f\u57fa\u4e8e\u89c6\u89c9\u56fe\u50cf\u6a21\u6001\u7684\u611f\u77e5\u7b97\u6cd5\uff0c\u8fd9\u5c31\u4f1a\u4f7f\u5f97\u6559\u5e08\u6a21\u578b\u548c\u5b66\u751f\u6a21\u578b\u5404\u81ea\u4ea7\u751f\u7684BEV\u7279\u5f81\u4e4b\u95f4\u7684\u5206\u5e03\u5dee\u8ddd\u7ed9\u8de8\u6a21\u6001\u84b8\u998f\u4efb\u52a1\u5e26\u6765\u6311\u6218\u3002\u6b64\u5916\uff0c\u84b8\u998f\u7b97\u6cd5\u7684\u91cd\u70b9\u5728\u4e8e\u5bf9\u6559\u5e08\u548c\u5b66\u751f\u6a21\u578b\u7279\u5f81\u5206\u5e03\u5dee\u5f02\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u6709\u6548\u5730\u8fc1\u79fb\u7279\u5f81\uff0c\u4f46BEV\u7a7a\u95f4\u4e2d\u80cc\u666f\u533a\u57df\u7279\u5f81\u7684\u6a21\u4eff\u5bf9\u5b66\u751f\u6a21\u578b\u7cbe\u5ea6\u7684\u63d0\u5347\u5f88\u5fae\u5c0f\uff0c\u56e0\u6b64\u5f88\u81ea\u7136\u7684\u60f3\u5230\u5bf9\u524d\u666f\u76ee\u6807\u6620\u5c04\u5230BEV\u7a7a\u95f4\u4e0a\u7684\u7279\u5f81\u8fdb\u884c\u84b8\u998f\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u5728\u6211\u4eec\u8bbe\u8ba1\u7684\u81ea\u84b8\u998f\u7b97\u6cd5\u6846\u67b6\u4e2d\uff0c\u6211\u4eec\u5e76\u6ca1\u6709\u50cf\u4e4b\u524d\u5e38\u89c1\u7684\u84b8\u998f\u7b97\u6cd5\u4e00\u6837\u4f7f\u7528\u9884\u8bad\u7ec3\u597d\u7684\u6559\u5e08\u6a21\u578b\u3002\u76f8\u53cd\uff0c\u5728\u6211\u4eec\u8bbe\u8ba1\u7684\u81ea\u84b8\u998f\u65b9\u6cd5\u5f53\u4e2d\uff0c\u6559\u5e08\u548c\u5b66\u751f\u6a21\u578b\u5171\u540c\u53c2\u4e0e\u4e86\u8054\u5408\u5b66\u4e60\u8fc7\u7a0b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u867d\u7136\u6559\u5e08\u548c\u5b66\u751f\u6a21\u578b\u7684BEV\u7a7a\u95f4\u7279\u5f81\u5171\u4eab\u76f8\u540c\u7684\u4e0a\u4e0b\u6587\u7279\u5f81\u4fe1\u606f\uff0c\u4f46\u66f4\u51c6\u786e\u7684\u6df1\u5ea6\u548c\u8bed\u4e49\u4fe1\u606f\u6709\u52a9\u4e8e\u6784\u5efa\u9ad8\u6027\u80fd\u7684\u6559\u5e08BEV\u7a7a\u95f4\u7279\u5f81\uff0c\u4e3a\u5b66\u751f\u7684BEV\u7a7a\u95f4\u7279\u5f81\u63d0\u4f9b\u6301\u7eed\u7684\u6307\u5bfc\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u5f15\u5165\u524d\u666f\u5206\u5272\u6765\u751f\u6210\u4ec5\u5305\u542b\u524d\u666f\u4fe1\u606f\u7684BEV\u7a7a\u95f4\u7279\u5f81\uff0c\u8fd9\u653e\u5f03\u4e86\u5bf9\u80cc\u666f\u533a\u57df\u7684\u65e0\u7528\u6a21\u4eff\u5e76\u907f\u514d\u4e86\u566a\u58f0\u5e72\u6270\u3002\u524d\u666f\u5206\u5272\u8fd8\u5927\u5927\u63d0\u9ad8\u4e86\u6559\u5e08\u5206\u652f\u7684\u51c6\u786e\u6027\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u84b8\u998f\u6548\u7387\u3002\u8be5\u90e8\u5206\u7684\u6574\u4f53\u601d\u8def\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"975\" height=\"497\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-2.png\" alt=\"\" class=\"wp-image-13745\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-2.png 975w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-2-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-2-768x391.png 768w\" sizes=\"(max-width: 975px) 100vw, 975px\" \/><\/figure>\n\n\n\n<p>\u81ea\u9002\u5e94\u84b8\u998f\u8fc7\u7a0b\u4e2dBEV\u7279\u5f81\u7684\u751f\u6210\u8fc7\u7a0b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"946\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/8011.png\" alt=\"\" class=\"wp-image-13746\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8011.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8011-216x300.png 216w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"635\" height=\"94\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/8012.png\" alt=\"\" class=\"wp-image-13747\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8012.png 635w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8012-300x44.png 300w\" sizes=\"(max-width: 635px) 100vw, 635px\" \/><\/figure>\n\n\n\n<p><strong>Point Cloud Intensification<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"122\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/8013.png\" alt=\"\" class=\"wp-image-13748\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8013.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8013-300x55.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1023\" height=\"600\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-3.png\" alt=\"\" class=\"wp-image-13749\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-3.png 1023w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-3-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-3-768x450.png 768w\" sizes=\"(max-width: 1023px) 100vw, 1023px\" \/><\/figure>\n\n\n\n<p>\u70b9\u4e91\u5f3a\u5316\u7b56\u7565\u7684\u603b\u4f53\u5b9e\u73b0\u601d\u8def<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"653\" height=\"487\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/8014.png\" alt=\"\" class=\"wp-image-13750\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8014.png 653w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8014-300x224.png 300w\" sizes=\"(max-width: 653px) 100vw, 653px\" \/><\/figure>\n\n\n\n<p><strong>Multi-Scale Foreground Enhancement<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/8015.png\" alt=\"\" class=\"wp-image-13751\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8015.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/8015-300x146.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/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\u7684FSD-BEV\u7b97\u6cd5\u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u76f8\u5173\u5b9e\u9a8c\uff0c\u5728\u9a8c\u8bc1\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u4e0b\u8868\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"994\" height=\"570\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-4.png\" alt=\"\" class=\"wp-image-13752\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-4.png 994w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-4-300x172.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-4-768x440.png 768w\" sizes=\"(max-width: 994px) 100vw, 994px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u7b97\u6cd5\u6a21\u578b\u5728nuScenes\u6570\u636e\u96c6\u7684\u9a8c\u8bc1\u96c6\u4e0a\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b<\/p>\n\n\n\n<p>\u901a\u8fc7\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u540c\u6837\u4e3b\u5e72\u7f51\u7edc\u4ee5\u53ca\u878d\u5408\u5e27\u6570\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u7b97\u6cd5\u6a21\u578b\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u611f\u77e5\u7ed3\u679c\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4e5f\u5728nuScenes\u6570\u636e\u96c6\u7684\u6d4b\u8bd5\u96c6\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u7ed3\u679c\u6c47\u603b\u5728\u4e0b\u8868\u5f53\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-5-1024x305.png\" alt=\"\" class=\"wp-image-13753\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-5-1024x305.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-5-300x89.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-5-768x229.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-5.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u8de8\u6a21\u6001\u84b8\u998f\u7b97\u6cd5\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/p>\n\n\n\n<p>\u901a\u8fc7\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b80\u5355\u7684\u524d\u666f\u81ea\u84b8\u998f\u7b97\u6cd5\u6846\u67b6\u4f18\u4e8e\u91c7\u7528\u590d\u6742\u7b56\u7565\u7684\u5176\u4ed6\u84b8\u998f\u65b9\u6cd5\u3002\u5e76\u4e14\u5728\u4e3b\u5e72\u7f51\u7edc\u9009\u62e9\u4e3aResNet101\u7f51\u7edc\u65f6\uff0cFSD-BEV\u7684\u4f18\u52bf\u66f4\u52a0\u660e\u663e\uff0c\u5927\u5927\u8d85\u8fc7\u4e86\u5176\u4ed6\u65b9\u6cd5\u7684\u84b8\u998f\u589e\u76ca\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u5b9a\u6027\u5206\u6790\u90e8\u5206<\/strong><\/h4>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"877\" height=\"629\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-6.png\" alt=\"\" class=\"wp-image-13754\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-6.png 877w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-6-300x215.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-6-768x551.png 768w\" sizes=\"(max-width: 877px) 100vw, 877px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684FSD-BEV\u548cBEVDepth\u5728BEV\u70ed\u529b\u56fe\u4e0a\u7684\u53ef\u89c6\u5316\u7ed3\u679c<\/p>\n\n\n\n<p>\u901a\u8fc7\u53ef\u89c6\u5316\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u6559\u5e08\u6a21\u578b\u7684\u6307\u5bfc\u4e0b\uff0c\u4e0e\u57fa\u7ebf\u7b97\u6cd5\u6a21\u578bBEVDepth\u76f8\u6bd4\uff0c\u63d0\u51fa\u7684FSD-BEV\u7b97\u6cd5\u6a21\u578b\u7684\u5b66\u751f\u5206\u652f\u9884\u6d4b\u7684\u70ed\u529b\u56fe\u66f4\u63a5\u8fd1\u6559\u5e08\u6a21\u578b\u7684\u9ad8\u8d28\u91cfBEV\u70ed\u529b\u56fe\uff0c\u4ece\u800c\u4ea7\u751f\u66f4\u7cbe\u786e\u7684\u9884\u6d4b\u6846\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u81ea\u84b8\u998f\u7684\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u6846\u67b6FSD-BEV\uff0c\u8be5\u7b97\u6cd5\u6a21\u578b\u53ef\u4ee5\u7f29\u5c0f\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u76843D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u548c\u57fa\u4e8e\u89c6\u89c9\u76843D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u4e4b\u95f4\u7684\u6027\u80fd\u5dee\u8ddd\uff0c\u540c\u65f6\u65e0\u9700\u9884\u8bad\u7ec3\u7684\u6559\u5e08\u6a21\u578b\u4ee5\u53ca\u7e41\u7410\u7684\u84b8\u998f\u7b56\u7565\uff0c\u5728nuScenes\u6570\u636e\u96c6\u7684\u9a8c\u8bc1\u96c6\u548c\u6d4b\u8bd5\u96c6\u4e0a\u5b9e\u73b0\u4e86SOTA\u7684\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u76ee\u6807\u68c0\u6d4b\u662f\u81ea\u52a8\u9a7e\u9a76\u5f53\u4e2d\u81f3\u5173 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