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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"370\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-46-1024x370.png\" alt=\"\" class=\"wp-image-14140\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-46-1024x370.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-46-300x108.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-46-768x277.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-46.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7f16\u7801\u5668\uff1a\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u89c6\u56fe\u4e2d\u5bf9\u8f93\u5165\u8fdb\u884c\u7f16\u7801\u3002BEV\u8868\u793a\u63d0\u4f9b\u4e86\u8f66\u8f86\u5468\u56f4\u73af\u5883\u7684\u4ece\u4e0a\u5f80\u4e0b\u7684\u89c6\u56fe\uff0c\u4f7f\u672c\u8f66\u80fd\u591f\u68c0\u6d4b\u5230\u505c\u8f66\u4f4d\u3001\u969c\u788d\u7269\u548c\u6807\u8bb0\u3002\u540c\u65f6\uff0cBEV\u89c6\u56fe\u5728\u4e0d\u540c\u9a7e\u9a76\u89c6\u89d2\u4e0b\u63d0\u4f9b\u4e86\u4e00\u81f4\u7684\u89c6\u70b9\u8868\u793a\uff0c\u4ece\u800c\u7b80\u5316\u4e86\u8f68\u8ff9\u9884\u6d4b\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"757\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/80902.png\" alt=\"\" class=\"wp-image-14141\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80902.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80902-267x300.png 267w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"584\" height=\"136\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-47.png\" alt=\"\" class=\"wp-image-14142\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-47.png 584w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-47-300x70.png 300w\" sizes=\"(max-width: 584px) 100vw, 584px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0cNt\u8868\u793a\u5e8f\u5217\u4e2d\u4e00\u4e2a\u6807\u8bb0\u53ef\u4ee5\u7f16\u7801\u7684\u6700\u5927\u503c\uff0c\u7528\u4e8e\u5e8f\u5217\u5316\u8f68\u8ff9\u70b9\u7684\u7b26\u53f7\u8868\u793a\u4e3aSer(\u00b7)\u3002Rx\u548cRy\u5206\u522b\u8868\u793ax\u548cy\u65b9\u5411\u4e0a\u9884\u6d4b\u8303\u56f4\u7684\u6700\u5927\u503c\u3002<\/p>\n\n\n\n<p>\u5e8f\u5217\u5316\u540e\uff0c\u7b2ci\u6761\u8f68\u8ff9\u53ef\u4ee5\u8868\u793a\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"95\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-48.png\" alt=\"\" class=\"wp-image-14143\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-48.png 489w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-48-300x58.png 300w\" sizes=\"(max-width: 489px) 100vw, 489px\" \/><\/figure>\n\n\n\n<p><strong>3\uff09\u6a2a\u5411\u548c\u7eb5\u5411\u63a7\u5236<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"656\" height=\"89\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/80903.png\" alt=\"\" class=\"wp-image-14144\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80903.png 656w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80903-300x41.png 300w\" sizes=\"(max-width: 656px) 100vw, 656px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"499\" height=\"53\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-49.png\" alt=\"\" class=\"wp-image-14145\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-49.png 499w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-49-300x32.png 300w\" sizes=\"(max-width: 499px) 100vw, 499px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"91\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/80904.png\" alt=\"\" class=\"wp-image-14146\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80904.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/80904-300x41.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u6570\u636e\u96c6\u662f\u901a\u8fc7\u8f66\u8f7d\u8bbe\u5907\u6536\u96c6\u7684\u3002\u4e3a\u4e86\u4fc3\u8fdb\u5168\u9762\u7684\u89c6\u89c9\u611f\u77e5\u548c\u8f68\u8ff9\u8ddf\u8e2a\uff0c\u91c7\u7528\u73af\u89c6\u6444\u50cf\u5934\u6765\u6355\u6349RGB\u56fe\u50cf\u3002\u540c\u65f6\uff0c\u96c6\u6210\u4e86\u822a\u4f4d\u63a8\u7b97\u6280\u672f\uff0c\u5229\u7528\u4f20\u611f\u5668\u6570\u636e\u878d\u5408\u7b97\u6cd5\u5b9e\u73b0\u8f66\u8f86\u5b9a\u4f4d\u7684\u9c81\u68d2\u6027\u548c\u51c6\u786e\u6027\u3002\u5b9e\u9a8c\u5e73\u53f0\u7684\u5e03\u5c40\u548c\u6240\u4f7f\u7528\u7684\u4f20\u611f\u5668\u5982\u56fe4\u6240\u793a\u3002\u6570\u636e\u662f\u5728\u4e0d\u540c\u7684\u505c\u8f66\u573a\u666f\u4e2d\u6536\u96c6\u7684\uff0c\u5305\u62ec\u5730\u4e0b\u548c\u5730\u9762\u505c\u8f66\u573a\uff0c\u5982\u56fe5\u6240\u793a\u3002\u4ece\u5404\u79cd\u73af\u5883\u4e2d\u6536\u96c6\u6570\u636e\u6709\u52a9\u4e8e\u63d0\u5347\u795e\u7ecf\u7f51\u7edc\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"431\" height=\"686\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-50.png\" alt=\"\" class=\"wp-image-14147\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-50.png 431w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-50-188x300.png 188w\" sizes=\"(max-width: 431px) 100vw, 431px\" \/><\/figure>\n\n\n\n<p>\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u4f7f\u7528\u73af\u89c6\u6444\u50cf\u5934\u56fe\u50cf\uff08\u6444\u50cf\u5934\u6570\u91cf\u4e3a4\uff09\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u901a\u8fc7\u505c\u8f66\u4f4d\u672b\u7aef\u7684\u4e00\u4e9b\u70b9\u6765\u786e\u5b9a\u76ee\u6807\u505c\u8f66\u4f4d\u3002\u8f68\u8ff9\u5e8f\u5217\u70b9\u7528\u4e8e\u76d1\u7763\u7aef\u5230\u7aef\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\uff0c\u901a\u8fc7RViz\u754c\u9762\u8f6f\u4ef6\u4e2d\u7684\u201c2D-Nav-Goal\u201d\u9009\u62e9\u76ee\u6807\u505c\u8f66\u4f4d\u3002\u6a21\u578b\u63a5\u6536\u6765\u81ea\u73af\u89c6\u6444\u50cf\u5934\u7684\u5f53\u524d\u56fe\u50cf\u548c\u76ee\u6807\u505c\u8f66\u4f4d\uff0c\u4ee5\u81ea\u56de\u5f52\u65b9\u5f0f\u9884\u6d4b\u540e\u7eedn\u4e2a\u8f68\u8ff9\u70b9\u7684\u4f4d\u7f6e\u3002\u63a7\u5236\u5668\u6839\u636e\u8def\u5f84\u89c4\u5212\u7ed3\u679c\u3001\u81ea\u8eab\u59ff\u6001\u548c\u53cd\u9988\u4fe1\u53f7\u6765\u63a7\u5236\u8f66\u8f86\uff0c\u5c06\u8f66\u8f86\u505c\u653e\u5728\u6307\u5b9a\u505c\u8f66\u4f4d\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u76ee\u6807\u70b9\u548c\u9884\u6d4b\u8f68\u8ff9\u70b9\u7684\u5750\u6807\u662f\u5728\u8f66\u8f86\u5750\u6807\u7cfb\u4e2d\u8868\u793a\u7684\uff0c\u8fd9\u786e\u4fdd\u4e86\u8f68\u8ff9\u5e8f\u5217\u548c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u5728\u4e00\u81f4\u7684\u5750\u6807\u57fa\u51c6\u4e0a\u8fdb\u884c\u8868\u8fbe\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4e5f\u4f7f\u5f97\u6574\u4e2a\u7cfb\u7edf\u72ec\u7acb\u4e8e\u5168\u5c40\u5750\u6807\u7cfb\u3002<\/p>\n\n\n\n<p>\u5173\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u7ec6\u8282\uff0c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u7684\u5927\u5c0f\u4e3a200&#215;200\uff0c\u5bf9\u5e94\u4e8e\u5b9e\u9645\u7a7a\u95f4\u8303\u56f4x \u2208 [-10m, 10m]\uff0cy \u2208 [-10m, 10m]\uff0c\u5206\u8fa8\u7387\u4e3a0.1\u7c73\u3002\u5728Transformer\u89e3\u7801\u5668\u4e2d\uff0c\u8f68\u8ff9\u5e8f\u5217\u5316\u7684\u6700\u5927\u503cNt\u4e3a1200\u3002\u8f68\u8ff9\u89e3\u7801\u5668\u751f\u6210\u957f\u5ea6\u4e3a30\u7684\u9884\u6d4b\u5e8f\u5217\uff0c\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u4e86\u7cbe\u5ea6\u548c\u901f\u5ea6\u7684\u6700\u4f73\u5e73\u8861\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528PyTorch\u6846\u67b6\u5b9e\u73b0\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u3002\u795e\u7ecf\u7f51\u7edc\u5728\u4e00\u4e2aNVIDIA GeForce RTX 4090 GPU\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0cbs\u5927\u5c0f\u4e3a16\uff0c\u603b\u8bad\u7ec3\u65f6\u95f4\u7ea6\u4e3a8\u5c0f\u65f6\uff0c\u5305\u542b40,000\u5e27\u3002\u6d4b\u8bd5\u6570\u636e\u5305\u542b\u7ea65,000\u5e27\u3002<\/p>\n\n\n\n<p><strong>1\uff09\u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b\u8f68\u8ff9\u8bc4\u4f30\uff1a\u4e3a\u4e86\u5728\u5b9e\u9645\u573a\u666f\u5b9e\u9a8c\u4e4b\u524d\u5206\u6790\u6a21\u578b\u7684\u6027\u80fd\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e9b\u8bc4\u4f30\u6307\u6807\u6765\u8bc4\u4f30\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u3002<\/strong><\/p>\n\n\n\n<p>L2\u8ddd\u79bb\uff08L2 Dis.\uff09\uff1aL2\u8ddd\u79bb\u6307\u7684\u662f\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u4e4b\u95f4\u7684\u5e73\u5747\u6b27\u51e0\u91cc\u5f97\u8ddd\u79bb\u3002\u8fd9\u4e00\u6307\u6807\u8bc4\u4f30\u4e86\u6a21\u578b\u63a8\u7406\u7684\u7cbe\u786e\u5ea6\u548c\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p>Hausdorff\u8ddd\u79bb\uff08Haus. Dis.\uff09\uff1aHausdorff\u8ddd\u79bb\u6307\u7684\u662f\u4e24\u4e2a\u70b9\u96c6\u4e4b\u95f4\u6700\u5c0f\u8ddd\u79bb\u7684\u6700\u5927\u503c\u3002\u8fd9\u4e00\u6307\u6807\u4ece\u70b9\u96c6\u7684\u89d2\u5ea6\u8bc4\u4f30\u4e86\u9884\u6d4b\u8f68\u8ff9\u4e0e\u771f\u5b9e\u8f68\u8ff9\u7684\u5339\u914d\u7a0b\u5ea6\u3002<\/p>\n\n\n\n<p>\u5085\u91cc\u53f6\u63cf\u8ff0\u7b26\u5dee\u5f02\uff08Four. Diff.\uff09\uff1a\u5085\u91cc\u53f6\u63cf\u8ff0\u7b26\u5dee\u5f02\u53ef\u4ee5\u7528\u6765\u8861\u91cf\u8f68\u8ff9\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u8f83\u4f4e\u7684\u503c\u8868\u793a\u8f68\u8ff9\u4e4b\u95f4\u7684\u5dee\u5f02\u8f83\u5c0f\u3002\u8fd9\u4e00\u6307\u6807\u4f7f\u7528\u4e00\u5b9a\u6570\u91cf\u7684\u5085\u91cc\u53f6\u63cf\u8ff0\u7b26\u5c06\u5b9e\u9645\u8f68\u8ff9\u548c\u9884\u6d4b\u8f68\u8ff9\u90fd\u8868\u793a\u4e3a\u5411\u91cf\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u5b9e\u8f66\u8bc4\u4f30\uff1a\u5728\u5b9e\u8f66\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u4ee5\u4e0b\u6307\u6807\u6765\u8bc4\u4f30\u7aef\u5230\u7aef\u7684\u505c\u8f66\u6027\u80fd\u3002<\/strong><\/p>\n\n\n\n<p>\u505c\u8f66\u6210\u529f\u7387\uff08PSR\uff09\uff1a\u505c\u8f66\u6210\u529f\u7387\u63cf\u8ff0\u4e86\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6210\u529f\u505c\u5165\u76ee\u6807\u505c\u8f66\u4f4d\u7684\u6982\u7387\u3002<\/p>\n\n\n\n<p>\u65e0\u8f66\u4f4d\u7387\uff08NSR\uff09\uff1a\u65e0\u6cd5\u505c\u5165\u6307\u5b9a\u505c\u8f66\u4f4d\u7684\u5931\u8d25\u7387\u3002<\/p>\n\n\n\n<p>\u505c\u8f66\u8fdd\u89c4\u7387\uff08PVR\uff09\uff1a\u505c\u8f66\u8fdd\u89c4\u7387\u6307\u7684\u662f\u8f66\u8f86\u5728\u505c\u8f66\u65f6\u7a0d\u5fae\u8d85\u51fa\u6307\u5b9a\u505c\u8f66\u4f4d\u8303\u56f4\uff0c\u4f46\u672a\u963b\u788d\u6216\u5f71\u54cd\u76f8\u90bb\u505c\u8f66\u4f4d\u7684\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u5e73\u5747\u4f4d\u7f6e\u8bef\u5dee\uff08APE\uff09\uff1a\u5e73\u5747\u4f4d\u7f6e\u8bef\u5dee\u662f\u6307\u5f53\u8f66\u8f86\u6210\u529f\u505c\u8f66\u65f6\uff0c\u76ee\u6807\u505c\u8f66\u4f4d\u7f6e\u4e0e\u8f66\u8f86\u5b9e\u9645\u505c\u6b62\u4f4d\u7f6e\u4e4b\u95f4\u7684\u5e73\u5747\u8ddd\u79bb\u3002<\/p>\n\n\n\n<p>\u5e73\u5747\u65b9\u5411\u8bef\u5dee\uff08AOE\uff09\uff1a\u5e73\u5747\u65b9\u5411\u8bef\u5dee\u662f\u6307\u5f53\u8f66\u8f86\u6210\u529f\u505c\u8f66\u65f6\uff0c\u76ee\u6807\u505c\u8f66\u65b9\u5411\u4e0e\u8f66\u8f86\u5b9e\u9645\u505c\u6b62\u65b9\u5411\u4e4b\u95f4\u7684\u5e73\u5747\u5dee\u5f02\u3002<\/p>\n\n\n\n<p>\u5e73\u5747\u505c\u8f66\u5206\u6570\uff08APS\uff09\uff1a\u5e73\u5747\u505c\u8f66\u5206\u6570\u662f\u901a\u8fc7\u7efc\u5408\u8003\u8651\u505c\u8f66\u8fc7\u7a0b\u4e2d\u7684\u4f4d\u7f6e\u8bef\u5dee\u3001\u65b9\u5411\u8bef\u5dee\u548c\u6210\u529f\u7387\u6765\u8ba1\u7b97\u7684\u3002\u5206\u6570\u8303\u56f4\u57280\u5230100\u4e4b\u95f4\u3002<\/p>\n\n\n\n<p>\u5e73\u5747\u505c\u8f66\u65f6\u95f4\uff08APT\uff09\uff1a\u591a\u6b21\u505c\u8f66\u64cd\u4f5c\u6240\u9700\u7684\u5e73\u5747\u505c\u8f66\u65f6\u95f4\u3002\u505c\u8f66\u65f6\u95f4\u4ece\u542f\u52a8\u505c\u8f66\u6a21\u5f0f\u5f00\u59cb\u8ba1\u7b97\uff0c\u76f4\u5230\u8f66\u8f86\u6210\u529f\u505c\u5165\u6307\u5b9a\u7a7a\u95f4\uff0c\u6216\u56e0\u5f02\u5e38\u6216\u5931\u8d25\u800c\u7ec8\u6b62\u505c\u8f66\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>2\uff09Quantitative Results<\/strong><\/p>\n\n\n\n<p>\u4f7f\u7528\u63d0\u51fa\u7684\u7aef\u5230\u7aef\u505c\u8f66\u7cfb\u7edf\uff0c\u5728\u56db\u4e2a\u4e0d\u540c\u7684\u505c\u8f66\u573a\u8fdb\u884c\u4e86\u95ed\u73af\u8f66\u8f86\u6d4b\u8bd5\uff0c\u4ee5\u9a8c\u8bc1\u6211\u4eec\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u7ed3\u679c\u5982\u8868I\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"767\" height=\"339\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-51.png\" alt=\"\" class=\"wp-image-14148\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-51.png 767w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-51-300x133.png 300w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/figure>\n\n\n\n<p>\u5728\u5b9e\u9a8c\u4e2d\uff0c\u5728\u56db\u4e2a\u4e0d\u540c\u7684\u505c\u8f66\u573a\u8fdb\u884c\u4e86\u6d4b\u8bd5\u3002\u505c\u8f66\u573aI\u662f\u5730\u4e0b\u505c\u8f66\u573a\uff0c\u800c\u505c\u8f66\u573aII\u3001III\u548cIV\u662f\u5730\u9762\u505c\u8f66\u573a\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u505c\u8f66\u573a\uff0c\u6211\u4eec\u90fd\u8fdb\u884c\u4e86\u4e09\u79cd\u4e0d\u540c\u7684\u5b9e\u9a8c\u573a\u666f\u3002\u573a\u666fA\u662f\u4e24\u4fa7\u65e0\u969c\u788d\u7269\u7684\u505c\u8f66\u3002\u573a\u666fB\u662f\u8f66\u8f86\u5de6\u4fa7\u6216\u53f3\u4fa7\u6709\u969c\u788d\u7269\u7684\u505c\u8f66\u3002\u573a\u666fC\u662f\u9644\u8fd1\u6709\u969c\u788d\u7269\u6216\u5899\u58c1\u7684\u505c\u8f66\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u5b9e\u9a8c\u573a\u666f\uff0c\u90fd\u968f\u673a\u9009\u62e9\u4e86\u4e09\u4e2a\u4e0d\u540c\u7684\u505c\u8f66\u4f4d\u3002\u5728\u6bcf\u4e2a\u505c\u8f66\u4f4d\u7684\u5de6\u53f3\u4e24\u4fa7\u5404\u8fdb\u884c\u4e86\u5927\u7ea6\u4e09\u6b21\u505c\u8f66\u6d4b\u8bd5\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u4e0d\u540c\u573a\u666f\u4e0b\u5747\u5b9e\u73b0\u4e86\u8f83\u9ad8\u7684\u505c\u8f66\u6210\u529f\u7387\uff0c\u5c55\u73b0\u51fa\u4e86\u5f3a\u5927\u7684\u505c\u8f66\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"454\" height=\"121\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-52.png\" alt=\"\" class=\"wp-image-14149\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-52.png 454w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-52-300x80.png 300w\" sizes=\"(max-width: 454px) 100vw, 454px\" \/><\/figure>\n\n\n\n<p>\u5c3d\u7ba1\u6700\u8fd1\u51fa\u73b0\u4e86\u66f4\u591a\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\uff0c\u4f46\u5927\u591a\u6570\u90fd\u96c6\u4e2d\u5728\u89e3\u51b3\u57ce\u5e02\u9a7e\u9a76\u573a\u666f\u4e2d\u9047\u5230\u7684\u6311\u6218\u3002\u867d\u7136\u50cfParkPredict\u8fd9\u6837\u7684\u65b9\u6cd5\u88ab\u7528\u4e8e\u505c\u8f66\u573a\u666f\uff0c\u4f46\u5b83\u4eec\u7684\u4efb\u52a1\u4e0e\u6211\u4eec\u7684\u6709\u663e\u8457\u4e0d\u540c\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u76ee\u524d\u8fd8\u6ca1\u6709\u73b0\u6709\u7684\u6709\u6548\u7aef\u5230\u7aef\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u4e0e\u6211\u4eec\u7684\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u5728\u8868II\u4e2d\u6bd4\u8f83\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\uff08\u57fa\u4e8eTransformer\u7684\u89e3\u7801\u5668\uff09\u548cTransfuser\uff08\u57fa\u4e8eGRU\u7684\u89e3\u7801\u5668\uff09\u7684\u7ed3\u679c\u3002\u7531\u4e8eTransformer\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u57fa\u4e8eTransformer\u7684\u89e3\u7801\u5668\u5177\u6709\u66f4\u9ad8\u7684\u9884\u6d4b\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"920\" height=\"357\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-53.png\" alt=\"\" class=\"wp-image-14150\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-53.png 920w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-53-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-53-768x298.png 768w\" sizes=\"(max-width: 920px) 100vw, 920px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"511\" height=\"171\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-54.png\" alt=\"\" class=\"wp-image-14151\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-54.png 511w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-54-300x100.png 300w\" sizes=\"(max-width: 511px) 100vw, 511px\" 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