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Occ\u3002<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u4f53\u7d20\u7f51\u7edc\u4e2d\u76843D\u76ee\u6807\u68c0\u6d4b\u662f\u7b2c\u4e00\u4e2a\u4e3a\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u76843D\u76ee\u6807\u63a2\u6d4b\u5f15\u5165\u5bc6\u96c6\u5377\u79ef\u7684\u6280\u672f\uff0c\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\u3002PointPillars\u3001PillarNet\u548cPillarNext\u5728\u8fd9\u4e9b\u7279\u5f81\u56fe\u4e0a\u4f7f\u7528\u4e86BEV\u76842D\u5bc6\u96c6\u5377\u79ef\u3002SECOND\u662f\u4e00\u9879\u5f00\u521b\u6027\u7684\u5de5\u4f5c\uff0c\u5b83\u4f7f\u7528\u7a00\u758fCNN\u63d0\u53d63D\u7a00\u758f\u4f53\u7d20\u7279\u5f81\uff0c\u7136\u540e\u5c06\u5176\u8f6c\u6362\u4e3a\u5bc6\u96c6\u7684BEV\u7279\u5f81\u56fe\u8fdb\u884c\u9884\u6d4b\u3002CenterPoint\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8ecenter\u7684\u68c0\u6d4b\u5934\u3002FSDv1\u5c06\u539f\u59cb\u70b9\u4e91\u5212\u5206\u4e3a\u524d\u666f\u548c\u80cc\u666f\uff0c\u7136\u540e\u5bf9\u524d\u666f\u70b9\u8fdb\u884c\u805a\u7c7b\u4ee5\u8868\u793a\u5355\u4e2a\u76ee\u6807\u3002\u5b83\u4f7f\u7528PointNet\u98ce\u683c\u7684\u7f51\u7edc\u4ece\u6bcf\u4e2a\u805a\u7c7b\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u4ee5\u8fdb\u884c\u521d\u59cb\u7c97\u7565\u9884\u6d4b\uff0c\u5e76\u7531\u7ec4\u6821\u6b63\u5934\u8fdb\u884c\u7ec6\u5316\u3002FSDv2\u7528\u865a\u62df\u4f53\u7d20\u5316\u6a21\u5757\u53d6\u4ee3\u4e86\u5b9e\u4f8b\u805a\u7c7b\uff0c\u65e8\u5728\u6d88\u9664\u4eba\u5de5\u8bbe\u8ba1\u7684\u5b9e\u4f8b\u7ea7\u8868\u793a\u7684\u5f52\u7eb3\u504f\u5dee\u3002SWFormer\u63d0\u51fa\u4e86\u4e00\u79cd\u5b8c\u5168\u57fa\u4e8etransformer\u76843D\u76ee\u6807\u68c0\u6d4b\u67b6\u6784\u3002\u6700\u8fd1\uff0cVoxelNeXt\u901a\u8fc7\u7eaf\u7cb9\u57fa\u4e8e\u4f53\u7d20\u7684\u8bbe\u8ba1\u7b80\u5316\u4e86\u5b8c\u5168\u7a00\u758f\u7684\u67b6\u6784\uff0c\u6839\u636e\u6700\u63a5\u8fd1\u5176\u4e2d\u5fc3\u7684\u7279\u5f81\u5b9a\u4f4d\u76ee\u6807\u3002<\/p>\n\n\n\n<p>\u591a\u6a21\u6001\u878d\u5408\u5bf9\u4e8e\u6587\u672c\u548c\u56fe\u50cf\u7279\u5f81\u5bf9\u9f50\uff0cCLIP\u662f\u65e0\u76d1\u7763\u8de8\u6a21\u6001\u8bad\u7ec3\u7684\u5f00\u521b\u6027\u5de5\u4f5c\u3002\u56e0\u6b64\uff0cMaskCLIP\u6539\u8fdb\u4e86\u7528\u4e8e\u50cf\u7d20\u7ea7\u5bc6\u96c6\u9884\u6d4b\u4efb\u52a1\u7684CLIP\uff0c\u7279\u522b\u662f\u8bed\u4e49\u5206\u5272\u3002\u7528\u4e8e\u5f00\u653e\u8bcd\u6c47\u68c0\u6d4b\u7684\u591a\u6a21\u6001\u7279\u5f81\u878d\u5408\u65b9\u6cd5\u5305\u62ecYoloWorld\uff0c\u8be5\u65b9\u6cd5\u63d0\u51fa\u4e86\u4e00\u79cd\u89c6\u89c9\u8bed\u8a00PAN\u6765\u878d\u5408\u8bcd\u6c47\u5d4c\u5165\u548c\u591a\u5c3a\u5ea6\u56fe\u50cf\u7279\u5f81\u3002GroundingDINO\u5f15\u5165\u4e86\u4e00\u4e2a\u7279\u5f81\u589e\u5f3a\u5668\u548c\u4e00\u4e2a\u8bed\u8a00\u5f15\u5bfc\u7684\u67e5\u8be2\u9009\u62e9\u6a21\u5757\uff0c\u91c7\u7528\u4e86\u7c7b\u4f3c\u4e8eTransformer\u7684\u67b6\u6784\u3002\u5bf9\u4e8e\u56fe\u50cf\u548c\u70b9\u4e91\u7279\u5f81\u5bf9\u9f50\uff0cBEVFusion\u9996\u5148\u5c06\u56fe\u50cf\u548c\u70b9\u4e91\u548c\u6570\u636e\u8f6c\u6362\u4e3a\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\uff0c\u7136\u540e\u5c06\u5b83\u4eec\u878d\u5408\u3002\u5bf9\u4e8e\u5ba4\u5185\u573a\u666f\u4e2d\u7684\u6587\u672c\u3001\u56fe\u50cf\u548c\u70b9\u4e91\u5bf9\u9f50\uff0cOV-3DET\u63d0\u51fa\u4e86Debian\u8de8\u6a21\u5f0f\u4e09\u5143\u7ec4\u5bf9\u6bd4\u5ea6\u635f\u5931\u3002POP-3D\u901a\u8fc7\u4f7f\u7528\u9884\u8bad\u7ec3\u7684MaskCLIP\u6a21\u578b\u5e76\u91c7\u7528\u56fe\u50cf\u7279\u5f81\u4f5c\u4e3a\u5a92\u4ecb\u6765\u5efa\u7acb\u4e09\u79cd\u6a21\u6001\u4e4b\u95f4\u7684\u8054\u7cfb\uff0c\u4ece\u800c\u89e3\u51b3\u4e86\u5ba4\u5916\u573a\u666f\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u95ee\u9898\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"368\" height=\"518\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-290.png\" alt=\"\" class=\"wp-image-14922\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-290.png 368w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-290-213x300.png 213w\" sizes=\"(max-width: 368px) 100vw, 368px\" \/><\/figure>\n\n\n\n<p><strong>\u65b9\u6cd5\u8bba<\/strong><\/p>\n\n\n\n<p><strong>NuScenes-T Dataset<\/strong><\/p>\n\n\n\n<p>TOD3Cap\u57fa\u4e8e\u539f\u59cb\u6807\u6ce8\u8be6\u7ec6\u63cf\u8ff0\u4e86NuScenes\u6570\u636e\u96c6\u4e2d\u7684\u6bcf\u4e2a\u76ee\u6807\u3002\u6211\u4eec\u4f7f\u7528\u5b83\u6765\u63d0\u53d6\u63cf\u8ff0\u4e2d\u7684\u540d\u8bcd\u4e3b\u9898\uff0c\u7ecf\u8fc7\u8fc7\u6ee4\u540e\uff0c\u6211\u4eec\u5f97\u5230NuScenes\u4e2d\u76ee\u6807\u7684\u540d\u8bcd\u63cf\u8ff0\uff0c\u4f8b\u5982\u201c\u6c7d\u8f66\u201d\u3001\u201c\u76d2\u5b50\u201d\u3001\u201c\u5783\u573e\u201d\u3002\u6240\u6709\u540d\u8bcd\u7684\u5206\u5e03\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"370\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-291.png\" alt=\"\" class=\"wp-image-14923\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-291.png 370w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-291-300x247.png 300w\" sizes=\"(max-width: 370px) 100vw, 370px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u79cd\u65b9\u6cd5\uff0c\u6211\u4eec\u83b7\u5f97\u4e86\u6bd4\u539f\u59cbNuScenes\u6570\u636e\u96c6\u4e2d\u66f4\u591a\u7684\u7c7b\u522b\u6ce8\u91ca\u3002\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u4e00\u4e9b\u5e38\u89c1\u6311\u6218\u6027\u6848\u4f8b\uff0c\u5982\u201c\u77f3\u5934\u201d\u548c\u201c\u76d2\u5b50\u201d\uff0c\u4e5f\u5305\u62ec\u5728\u6211\u4eec\u7684\u65b0\u7c7b\u522b\u4e2d\u3002<\/p>\n\n\n\n<p><strong>Framework Overview<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u7684\u603b\u4f53\u6846\u67b6\u5982\u56fe3\u6240\u793a\uff0c\u4e3b\u8981\u7531\u4e09\u4e2a\u90e8\u5206\u7ec4\u6210\u3002\u7b2c\u4e00\u4e2a\u662f\u7279\u5f81\u63d0\u53d6\u4e3b\u5e72\uff0c\u5b83\u5305\u62ec\u6587\u672c\u548c\u70b9\u4e91\u7279\u5f81\u63d0\u53d6\u5668\u3002\u7b2c\u4e8c\u4e2a\u7ec4\u4ef6\u662f\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u548c\u6587\u672c\u7279\u5f81\u878d\u5408\u6a21\u5757\uff0c\u5b83\u63d0\u53d6\u6587\u672c\u611f\u77e5\u7684BEV\u7279\u5f81\u5e76\u83b7\u5f97\u66f4\u65b0\u7684\u6587\u672c\u7279\u5f81\u3002\u6700\u540e\uff0c\u6700\u540e\u4e00\u4e2a\u7ec4\u4ef6\u662f\u591a\u6a21\u6001\u5934\uff0c\u5b83\u7531\u5bf9\u6bd4\u5934\u548c\u5b9a\u4f4d\u5934\u7ec4\u6210\u3002\u603b\u4e4b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u8f93\u51fa\u4e0e\u6587\u672c\u8f93\u5165\u76f8\u5173\u7684\u76ee\u68073D\u4fe1\u606f\uff0c\u5305\u62ec\u76ee\u6807\u7684\u7a7a\u95f4\u4f4d\u7f6e\u3001\u5927\u5c0f\u3001\u6807\u9898\u548c\u5176\u4ed6\u7ec6\u8282\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"765\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-292.png\" alt=\"\" class=\"wp-image-14924\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-292.png 765w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-292-300x134.png 300w\" sizes=\"(max-width: 765px) 100vw, 765px\" \/><\/figure>\n\n\n\n<p><strong>Feature Extraction<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82801.png\" alt=\"\" class=\"wp-image-14925\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82801.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82801-300x134.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>BEV-Region Text Fusion Module<\/strong><\/p>\n\n\n\n<p>\u5728\u878d\u5408\u591a\u6a21\u6001\u7279\u5f81\u65f6\uff0c\u878d\u5408\u6a21\u5757\u975e\u5e38\u91cd\u8981\u3002\u5728\u6211\u4eec\u7684Open3DWorld\u4e2d\uff0c\u5c06\u5176\u547d\u540d\u4e3aBEV\u533a\u57df\u6587\u672c\u878d\u5408\u6a21\u5757\uff0c\u56e0\u4e3a\u5b83\u5efa\u7acb\u4e86\u6bcf\u4e2aBEV\u7f51\u683c\u548c\u6bcf\u4e2a\u6587\u672c\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u5e76\u66f4\u65b0\u4e24\u8005\u4ee5\u5bf9\u9f50\u5b83\u4eec\u7684\u7279\u5f81\u7a7a\u95f4\u3002\u6211\u4eec\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u6765\u63a2\u7d22\u6700\u9002\u5408\u6211\u4eec\u4efb\u52a1\u7684\u878d\u5408\u6a21\u5757\uff0c\u5e76\u6700\u7ec8\u8bbe\u8ba1\u4e86\u56fe4\u6240\u793a\u7684\u878d\u5408\u6a21\u5757\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"371\" height=\"591\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-293.png\" alt=\"\" class=\"wp-image-14926\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-293.png 371w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-293-188x300.png 188w\" sizes=\"(max-width: 371px) 100vw, 371px\" \/><\/figure>\n\n\n\n<p>\u9996\u5148\u5c06\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u5c55\u5e73\uff0c\u4ee5\u83b7\u5f97\u5c55\u5e73\u7684\u7279\u5f81\u548c\u6587\u672c\u7279\u5f81\u3002\u4e3a\u4e86\u521d\u6b65\u878d\u5408\u591a\u6a21\u6001\u7279\u5f81\uff0c\u6211\u4eec\u4f7f\u7528Max Sigmoid Attention Module\u901a\u8fc7\u4f7f\u7528\u6587\u672c\u7279\u5f81\u6765\u66f4\u65b0BEV\u533a\u57df\u7279\u5f81\uff0c\u5176\u683c\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"265\" height=\"36\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-294.png\" alt=\"\" class=\"wp-image-14927\"\/><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c06\u66f4\u5168\u9762\u5730\u878d\u5408BEV\u548c\u6587\u672c\u7279\u5f81\u3002\u9996\u5148\u5206\u522b\u5bf9BEV\u7279\u5f81\u548c\u6587\u672c\u7279\u5f81\u8fdb\u884cself-att\u3002\u8003\u8651\u5230\u5927\u7684BEV\u7f51\u683c\u5e26\u6765\u7684\u8ba1\u7b97\u8d1f\u62c5\uff0c\u4f7f\u7528\u53ef\u53d8\u5f62\u7684\u81ea\u5173\u6ce8\u6765\u51cf\u5c11\u8ba1\u7b97\u8d1f\u62c5\u3002\u63a5\u4e0b\u6765\u9996\u5148\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u5c06\u6587\u672c\u7279\u5f81\u805a\u5408\u5230\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u4e2d\uff0c\u7136\u540e\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u5c06BEV\u7279\u5f81\u805a\u5408\u5230\u6587\u672c\u7279\u5f81\u4e2d\u3002\u6700\u540e\uff0c\u6211\u4eec\u4f7f\u7528FFN\u6765\u8c03\u6574\u7279\u5f81\u7ef4\u5ea6\u3002\u4e0eTransformer\u4e2d\u7684\u7f16\u7801\u5668\u5757\u4e00\u6837\uff0c\u6b64\u878d\u5408\u8fc7\u7a0b\u6267\u884cN\u6b21\u3002\u6211\u4eec\u901a\u8fc7\u5b9e\u9a8c\u5b9e\u73b0\u4e86N\u7b49\u4e8e3\uff0c\u4ee5\u5b9e\u73b0\u6548\u679c\u548c\u8ba1\u7b97\u8d1f\u62c5\u4e4b\u95f4\u7684\u5e73\u8861\u3002<\/p>\n\n\n\n<p><strong>Contrastive Head and Localization Head<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"61\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/82802.png\" alt=\"\" class=\"wp-image-14928\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82802.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/82802-300x27.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"288\" height=\"24\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-295.png\" alt=\"\" class=\"wp-image-14929\"\/><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u5b9a\u4f4d\u5934\uff0c\u6211\u4eec\u4e0e\u4f20\u7edf\u76843D\u68c0\u6d4b\u4efb\u52a1\u4fdd\u6301\u4e00\u81f4\uff0c\u5e76\u5bf9\u6240\u6709\u4fe1\u606f\u8fdb\u884c\u56de\u5f52\uff0c\u5305\u62ec\u76ee\u6807\u7684\u7a7a\u95f4\u4f4d\u7f6e\u3001\u5927\u5c0f\u3001\u822a\u5411\u548c\u5176\u4ed6\u4fe1\u606f\u3002\u6211\u4eec\u7684\u4f18\u52bf\u5728\u4e8e\uff0c\u57fa\u4e8e\u4e0e\u6587\u672c\u7279\u5f81\u96c6\u6210\u7684\u8fb9\u754c\u5143\u6cd5\u7279\u5f81\u6765\u9884\u6d4b\u4fe1\u606f\uff0c\u56e0\u6b64\u66f4\u5bb9\u6613\u9884\u6d4b\u67d0\u4e2a\u7c7b\u522b\u7684\u5c5e\u6027\u3002<\/p>\n\n\n\n<p><strong>Training and Evaluation<\/strong><\/p>\n\n\n\n<p>\u5728\u83b7\u5f97BEV\u7f51\u683c\u548c\u6587\u672c\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u56fe\u540e\uff0c\u6211\u4eec\u5206\u4e24\u6b65\u83b7\u5f97GT\u70ed\u56fe\u3002\u9996\u5148\uff0c\u6211\u4eec\u5c063D GT\u6846\u6295\u5f71\u5230BEV\u7279\u5f81\u56fe\u4e0a\uff0c\u4ece\u800c\u4ea7\u751f\u65cb\u8f6c\u6846\u3002\u4f8b\u5982\uff0c\u6211\u4eec\u5c06\u4e00\u4e2a3D\u76d2\u5b50\u6295\u5f71\u5230BEV featmap\u4e2d\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"335\" height=\"72\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-296.png\" alt=\"\" class=\"wp-image-14930\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-296.png 335w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-296-300x64.png 300w\" sizes=\"(max-width: 335px) 100vw, 335px\" \/><\/figure>\n\n\n\n<p>\u5176\u6b21\u4f7f\u7528\u7c7b\u4f3c\u4e8eYoloWorld\u7684\u6837\u672c\u5206\u914d\u65b9\u6cd5\u6765\u83b7\u5f97H\u3002\u6700\u540e\u4f7f\u7528\u4ea4\u53c9\u71b5\u635f\u5931\u6765\u76d1\u7763\u8bad\u7ec3\uff0c\u5176\u683c\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"323\" height=\"21\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-297.png\" alt=\"\" class=\"wp-image-14931\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-297.png 323w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-297-300x20.png 300w\" sizes=\"(max-width: 323px) 100vw, 323px\" \/><\/figure>\n\n\n\n<p>\u5728\u8bc4\u4f30\u8fc7\u7a0b\u4e2d\uff0c\u5728\u751f\u6210BEV\u7f51\u683c\u548c\u6587\u672c\u8f93\u5165\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u56fe\uff08\u8868\u793a\u4e3aS\uff09\u540e\uff0c\u6211\u4eec\u5e94\u7528\u9884\u5b9a\u4e49\u7684\u5206\u6570\u9608\u503c\u3002\u5982\u679cBEV\u7f51\u683c\u548c\u76f8\u5e94\u6587\u672c\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u5f97\u5206\u8d85\u8fc7\u6b64\u9608\u503c\uff0c\u5219\u7f51\u683c\u88ab\u89c6\u4e3a\u6587\u672c\u63cf\u8ff0\u7684\u76ee\u6807\u7684\u4e2d\u5fc3\u3002\u7136\u540e\u901a\u8fc7\u63d0\u53d6\u76f8\u5e94\u7f51\u683c\u76843D\u4fe1\u606f\u6765\u8bc6\u522b\u548c\u5b9a\u4f4d\u76ee\u6807\u3002\u6700\u540e\uff0c\u6211\u4eec\u5e94\u7528\u975e\u6700\u5927\u6291\u5236\uff08NMS\uff09\u6765\u8fc7\u6ee4\u548c\u7ec6\u5316\u68c0\u6d4b\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u548c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7\u5916\u90e8\u63cf\u8ff0\u4fe1\u606f\u6269\u5c55\u8bcd\u6c47\u8868\uff0c\u6211\u4eec\u5728NuScenes-T\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3Open3DWorld\uff0c\u4f7f\u5176\u80fd\u591f\u5b8c\u6210\u4e0e\u4e4b\u524d\u76843D\u68c0\u6d4b\u6a21\u578b\u7c7b\u4f3c\u7684\u68c0\u6d4b\u4efb\u52a1\u3002\u7531\u4e8e\u6211\u4eec\u7684\u8bcd\u6c47\u8868\u5305\u62ec\u68c0\u6d4b\u4efb\u52a1\u7684\u5c01\u95ed\u96c6\u5408\u4e2d\u7684\u7c7b\u522b\uff0c\u56e0\u6b64\u6211\u4eec\u53ef\u4ee5\u8ba1\u7b97\u51fa\u7c7b\u4f3c\u4e8e\u6807\u51c63D\u68c0\u6d4b\u4efb\u52a1\u4e2d\u7684\u5b9a\u91cf\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u68c0\u6d4b\u7cbe\u5ea6\u53ef\u4e0e\u4e13\u4e1a\u76843D\u68c0\u6d4b\u6a21\u578b\u76f8\u5ab2\u7f8e\uff0c\u65e0\u9700\u91c7\u7528\u989d\u5916\u7684\u8bad\u7ec3\u6280\u672f\u6765\u63d0\u9ad8\u6027\u80fd\u3002\u8fd9\u662f\u6709\u610f\u7684\uff0c\u56e0\u4e3a\u6211\u4eec\u7684\u4e3b\u8981\u76ee\u6807\u662f\u5f00\u53d1\u4e00\u4e2a\u80fd\u591f\u65e0\u7f1d\u96c6\u6210\u65b0\u6587\u672c\u4fe1\u606f\u7684\u901a\u7528\u5f00\u653e\u8bcd\u6c47\u6a21\u578b\u3002Nussenes-T\u6570\u636e\u96c6\u7684\u6d4b\u8bd5\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=\"801\" height=\"158\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-298.png\" alt=\"\" class=\"wp-image-14932\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-298.png 801w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-298-300x59.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-298-768x151.png 768w\" sizes=\"(max-width: 801px) 100vw, 801px\" \/><\/figure>\n\n\n\n<p><strong>Zero-Shot Performance<\/strong>\uff1a\u4e3a\u4e86\u8bc4\u4f30\u96f6\u6837\u672c\u6027\u80fd\uff0c\u5728Lyft Level 5\u6570\u636e\u96c6\u4e0a\u8fd0\u884c\u4e86Open3DWorld\u3002\u7ed3\u679c2\u8868\u660e\uff0c\u878d\u5408\u6a21\u578b\u5229\u7528BEV\u7279\u5f81\u548c\u6587\u672c\u7279\u5f81\uff0c\u53ef\u4ee5\u5728\u7406\u8bba\u4e0a\u5bf9\u9f50\u4ee5\u5b9e\u73b0\u5206\u7c7b\u3002\u4f17\u6240\u5468\u77e5\uff0c\u5728\u70b9\u4e91\u76ee\u6807\u68c0\u6d4b\u9886\u57df\uff0c\u5f53\u6211\u4eec\u4f7f\u7528\u5728\u4e00\u4e2a\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7684\u6a21\u578b\u5728\u53e6\u4e00\u4e2a\u6570\u636e\u96c6\u4e2d\u8fdb\u884c\u6d4b\u8bd5\u65f6\uff0c\u6a21\u578b\u4f1a\u5d29\u6e83\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4e0d\u9700\u8981\u8bad\u7ec3\uff0c\u53ef\u4ee5\u5728Lyft Level 5\u6570\u636e\u96c6\u4e0a\u83b7\u5f97\u521d\u6b65\u7ed3\u679c\uff0c\u8fd9\u8868\u660e\u5728\u6587\u672c\u7279\u5f81\u548cBEV\u7279\u5f81\u5bf9\u9f50\u540e\uff0c\u6cdb\u5316\u80fd\u529b\u8fdc\u4f18\u4e8e\u4f20\u7edf\u7684\u68c0\u6d4b\u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"385\" height=\"245\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-299.png\" alt=\"\" class=\"wp-image-14933\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-299.png 385w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-299-300x191.png 300w\" sizes=\"(max-width: 385px) 100vw, 385px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"761\" height=\"402\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-300.png\" alt=\"\" class=\"wp-image-14934\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-300.png 761w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-300-300x158.png 300w\" sizes=\"(max-width: 761px) 100vw, 761px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"766\" height=\"487\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-301.png\" alt=\"\" class=\"wp-image-14935\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-301.png 766w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-301-300x191.png 300w\" sizes=\"(max-width: 766px) 100vw, 766px\" 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