{"id":14766,"date":"2024-08-22T16:40:55","date_gmt":"2024-08-22T08:40:55","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14766"},"modified":"2024-08-22T16:40:55","modified_gmt":"2024-08-22T08:40:55","slug":"2024-08-22-maskbev%ef%bc%9a%e9%9d%a2%e5%90%91bev%e6%a3%80%e6%b5%8b%e5%92%8c%e5%9c%b0%e5%9b%be%e5%88%86%e5%89%b2%e7%9a%84%e7%bb%9f%e4%b8%80%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/22\/14766\/","title":{"rendered":"2024-08-22 MaskBEV\uff1a\u9762\u5411BEV\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u7684\u7edf\u4e00\u6846\u67b6"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1016\" height=\"571\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-234.png\" alt=\"\" class=\"wp-image-14767\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-234.png 1016w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-234-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-234-768x432.png 768w\" sizes=\"(max-width: 1016px) 100vw, 1016px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2408.09122<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86MaskBEV\uff1a\u9762\u5411BEV\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u7684\u7edf\u4e00\u6846\u67b6\u3002\u51c6\u786e\u4e14\u9c81\u68d2\u7684\u591a\u6a21\u6001\u591a\u4efb\u52a1\u611f\u77e5\u5bf9\u4e8e\u73b0\u4ee3\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002\u7136\u800c\uff0c\u76ee\u524d\u591a\u6a21\u6001\u611f\u77e5\u7814\u7a76\u9075\u5faa\u4e3a\u7279\u5b9a\u611f\u77e5\u4efb\u52a1\u8bbe\u8ba1\u7684\u72ec\u7acb\u8303\u5f0f\uff0c\u5bfc\u81f4\u4efb\u52a1\u4e4b\u95f4\u7f3a\u4e4f\u4e92\u8865\u5b66\u4e60\uff0c\u5e76\u4e14\u7531\u4e8e\u8054\u5408\u8bad\u7ec3\u9020\u6210\u591a\u4efb\u52a1\u5b66\u4e60\uff08MTL\uff09\u7684\u6027\u80fd\u964d\u4f4e\u3002\u672c\u6587\u63d0\u51fa\u4e86MaskBEV\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u63a9\u7801\u6ce8\u610f\u529b\u7684MTL\u8303\u5f0f\uff0c\u5176\u7edf\u4e00\u4e863D\u76ee\u6807\u68c0\u6d4b\u548c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u5206\u5272\u3002MaskBEV\u5f15\u5165\u4e86\u4efb\u52a1\u65e0\u5173\u7684Transformer\u89e3\u7801\u5668\u6765\u5904\u7406\u8fd9\u4e9b\u4e0d\u540c\u7684\u4efb\u52a1\uff0c\u4f7fMTL\u80fd\u591f\u5728\u7edf\u4e00\u7684\u89e3\u7801\u5668\u4e2d\u5b8c\u6210\uff0c\u800c\u4e0d\u9700\u8981\u989d\u5916\u8bbe\u8ba1\u7279\u5b9a\u7684\u4efb\u52a1\u5934\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528BEV\u5206\u5272\u548cBEV\u7a7a\u95f4\u4e2d3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4e4b\u95f4\u7684\u4e92\u8865\u4fe1\u606f\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u7a7a\u95f4\u8c03\u5236\u548c\u573a\u666f\u7ea7\u4e0a\u4e0b\u6587\u805a\u5408\u7b56\u7565\u3002\u8fd9\u4e9b\u7b56\u7565\u8003\u8651\u4e86BEV\u5206\u5272\u548c3D\u68c0\u6d4b\u4e4b\u95f4\u7684\u5185\u5728\u4f9d\u8d56\u5173\u7cfb\uff0c\u8fd9\u81ea\u7136\u63d0\u5347\u4e86MTL\u6027\u80fd\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u4e0e\u5148\u524d\u6700\u5148\u8fdb\u7684MTL\u65b9\u6cd5\u76f8\u6bd4\uff0cMaskBEV\u57283D\u76ee\u6807\u68c0\u6d4b\u65b9\u9762\u5b9e\u73b0\u4e861.3NDS\u7684\u6539\u8fdb\uff0c\u5728BEV\u5206\u5272\u65b9\u9762\u5b9e\u73b0\u4e862.7mIoU\u7684\u63d0\u5347\uff0c\u540c\u65f6\u8fd8\u5c55\u73b0\u51fa\u7565\u5fae\u9886\u5148\u7684\u63a8\u7406\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u672c\u6587\u63d0\u51fa\u4e86MaskBEV\uff0c\u8fd9\u662f\u9996\u4e2a\u7528\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u548cBEV\u5730\u56fe\u5206\u5272\u4efb\u52a1\u7684\u7edf\u4e00\u611f\u77e5\u6846\u67b6\u3002\u672c\u6587\u6240\u63d0\u51fa\u7684\u57fa\u4e8e\u63a9\u7801\u6ce8\u610f\u529b\u7684\u591a\u4efb\u52a1\u89e3\u7801\u5668\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u6027\u80fd\u7684\u8054\u5408\u8bad\u7ec3\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7a7a\u95f4\u8c03\u5236\u7b56\u7565\u6765\u8f85\u52a9\u83b7\u53d6\u591a\u4efb\u52a1\u53ef\u9760\u7684\u63a9\u7801\uff0c\u5e76\u4e14\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u573a\u666f\u7ea7\u7279\u5f81\u805a\u5408\u6a21\u5757\u6765\u83b7\u53d6\u591a\u7c92\u5ea6\u751a\u81f3\u573a\u666f\u7ea7BEV\u4e0a\u4e0b\u6587\u7279\u5f81\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u7684MaskBEV\u5728nuScenes\u6570\u636e\u96c6\u7684\u591a\u4efb\u52a1\u5b66\u4e60\uff083D\u76ee\u6807\u68c0\u6d4b\u548cBEV\u5730\u56fe\u5206\u5272\uff09\u65b9\u9762\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u672c\u6587\u8fd8\u63d0\u4f9b\u4e86\u591a\u4e2a\u591a\u6a21\u6001\u7279\u5f81\u7f16\u7801\u5668\u7f51\u7edc\u548c\u4f20\u611f\u5668\u9c81\u68d2\u6027\u5206\u6790\uff0c\u7528\u4e8e\u5168\u9762\u8bc4\u4f30MaskBEV\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"492\" height=\"503\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-235.png\" alt=\"\" class=\"wp-image-14768\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-235.png 492w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-235-293x300.png 293w\" sizes=\"(max-width: 492px) 100vw, 492px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1019\" height=\"482\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-236.png\" alt=\"\" class=\"wp-image-14769\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-236.png 1019w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-236-300x142.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-236-768x363.png 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sizes=\"(max-width: 485px) 100vw, 485px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1018\" height=\"685\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-240.png\" alt=\"\" class=\"wp-image-14773\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-240.png 1018w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-240-300x202.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-240-768x517.png 768w\" sizes=\"(max-width: 1018px) 100vw, 1018px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"503\" height=\"289\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-241.png\" alt=\"\" class=\"wp-image-14774\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-241.png 503w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-241-300x172.png 300w\" sizes=\"(max-width: 503px) 100vw, 503px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"487\" height=\"200\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-242.png\" alt=\"\" class=\"wp-image-14775\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-242.png 487w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-242-300x123.png 300w\" sizes=\"(max-width: 487px) 100vw, 487px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1019\" height=\"731\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-243.png\" alt=\"\" class=\"wp-image-14776\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-243.png 1019w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-243-300x215.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-243-768x551.png 768w\" sizes=\"(max-width: 1019px) 100vw, 1019px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"184\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-244.png\" alt=\"\" class=\"wp-image-14777\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-244.png 489w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-244-300x113.png 300w\" sizes=\"(max-width: 489px) 100vw, 489px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"471\" height=\"236\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-245.png\" alt=\"\" class=\"wp-image-14778\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-245.png 471w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-245-300x150.png 300w\" sizes=\"(max-width: 471px) 100vw, 471px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1011\" height=\"544\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-246.png\" alt=\"\" class=\"wp-image-14779\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-246.png 1011w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-246-300x161.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-246-768x413.png 768w\" sizes=\"(max-width: 1011px) 100vw, 1011px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"488\" height=\"274\" 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