{"id":15472,"date":"2024-09-10T17:48:34","date_gmt":"2024-09-10T09:48:34","guid":{"rendered":"http:\/\/192.168.10.115\/?p=15472"},"modified":"2024-09-10T17:48:34","modified_gmt":"2024-09-10T09:48:34","slug":"2024-09-10%e3%80%90%e4%b8%8a%e6%b5%b7%e4%ba%a4%e9%80%9a%e5%a4%a7%e5%ad%a6%e5%92%8c%e5%95%86%e6%b1%a4%e3%80%91robosense%ef%bc%9a%e7%94%a8%e4%ba%8e%e5%a4%9a%e4%bc%a0%e6%84%9f%e5%99%a8%e4%bd%8e%e9%80%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/10\/15472\/","title":{"rendered":"2024-09-10\u3010\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u548c\u5546\u6c64\u3011RoboSense\uff1a\u7528\u4e8e\u591a\u4f20\u611f\u5668\u4f4e\u901f\u81ea\u52a8\u9a7e\u9a76\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\u548c\u57fa\u51c6"},"content":{"rendered":"\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2408.15503<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86RoboSense\uff1a\u7528\u4e8e\u591a\u4f20\u611f\u5668\u4f4e\u901f\u81ea\u52a8\u9a7e\u9a76\u7684\u5927\u89c4\u6a21\u6570\u636e\u96c6\u548c\u57fa\u51c6\u3002\u5728\u4efb\u610f\u89c6\u89d2\u4e0b\u8fdb\u884c\u9c81\u68d2\u7684\u76ee\u6807\u68c0\u6d4b\u548c\u8ddf\u8e2a\u5bf9\u4e8e\u5f00\u53d1\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u662f\u5177\u6709\u6311\u6218\u6027\u4f46\u53c8\u81f3\u5173\u91cd\u8981\u7684\u3002\u968f\u7740\u65e0\u4eba\u9a7e\u9a76\u529f\u80fd\u8f66\u8f86\u9700\u6c42\u7684\u4e0d\u65ad\u589e\u957f\uff0c\u8fd1\u573a\u573a\u666f\u7406\u89e3\u6210\u4e3a\u4f4e\u901f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e00\u9879\u91cd\u8981\u7814\u7a76\u8bfe\u9898\u3002\u7531\u4e8e\u9a7e\u9a76\u6761\u4ef6\u7684\u590d\u6742\u6027\u548c\u8fd1\u8ddd\u79bb\u969c\u788d\u7269\u7684\u591a\u6837\u6027\uff08\u4f8b\u5982\u76f2\u533a\u548c\u9ad8\u5ea6\u906e\u6321\uff09\uff0c\u8fd1\u573a\u73af\u5883\u7684\u611f\u77e5\u80fd\u529b\u4ecd\u7136\u4e0d\u5982\u8fdc\u573a\u73af\u5883\u7684\u611f\u77e5\u80fd\u529b\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u7684\u667a\u80fd\u5316\u80fd\u529b\uff0c\u672c\u6587\u6784\u5efa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u4e09\u79cd\u4e3b\u8981\u4f20\u611f\u5668\uff08\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u9c7c\u773c\uff09\u7684\u591a\u6a21\u6001\u6570\u636e\u91c7\u96c6\u5e73\u53f0\uff0c\u5176\u652f\u6301\u7075\u6d3b\u7684\u4f20\u611f\u5668\u914d\u7f6e\uff0c\u4ee5\u5b9e\u73b0\u81ea\u8f66\u7684\u52a8\u6001\u89c6\u56fe\uff08\u65e0\u8bba\u662f\u5168\u5c40\u89c6\u56fe\u6216\u8005\u5c40\u90e8\u89c6\u56fe\uff09\u3002\u540c\u65f6\uff0c\u672c\u6587\u6784\u5efa\u4e86\u4e00\u4e2a\u5927\u89c4\u6a21\u591a\u4f20\u611f\u5668\u6570\u636e\u96c6\uff08\u79f0\u4e3aRoboSense\uff09\uff0c\u4ee5\u4fc3\u8fdb\u8fd1\u573a\u573a\u666f\u7406\u89e3\u3002RoboSense\u5305\u542b\u8d85\u8fc7133K\u4e2a\u540c\u6b65\u6570\u636e\u4ee5\u53ca360\u00b0\u89c6\u56fe\u4e2d\u6807\u6ce8\u76841.4M\u4e2a3D\u8fb9\u754c\u6846\u548cIDs\uff0c\u57287.6K\u4e2a\u65f6\u95f4\u5e8f\u5217\u4e0a\u5f62\u6210216K\u6761\u8f68\u8ff9\u3002\u4e0e\u5148\u524d\u7684KITTI\u548cnuScenes\u7b49\u5355\u8f86\u6c7d\u8f66\u7684\u6570\u636e\u96c6\u76f8\u6bd4\uff0c\u5b83\u57285\u7c73\u8303\u56f4\u5185\u5bf9\u8fd1\u573a\u969c\u788d\u7269\u7684\u6807\u6ce8\u6570\u91cf\u5206\u522b\u662f\u5148\u524d\u7684270\u500d\u548c18\u500d\u3002\u6b64\u5916\uff0c\u672c\u6587\u4e3a\u8fd1\u573a3D\u611f\u77e5\u548c\u9884\u6d4b\u5ea6\u91cf\u5b9a\u4e49\u4e86\u4e00\u79cd\u65b0\u7684\u5339\u914d\u6807\u51c6\u3002\u57fa\u4e8eRoboSense\uff0c\u672c\u6587\u5236\u5b9a\u4e866\u9879\u4e3b\u6d41\u4efb\u52a1\uff0c\u4ee5\u4fc3\u8fdb\u76f8\u5173\u7814\u7a76\u7684\u672a\u6765\u53d1\u5c55\uff0c\u5e76\u4e14\u76f8\u5e94\u5730\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u6570\u636e\u5206\u6790\u548c\u57fa\u51c6\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u4e3a\u5982\u4e0b\u56db\u65b9\u9762\uff1a<\/p>\n\n\n\n<p>1\uff09\u636e\u6211\u4eec\u6240\u77e5\uff0cRoboSense\u662f\u4e3a\u65e0\u4eba\u9a7e\u9a76\u8f66\u8f86\u7684\u5ba4\u5916\u4f4e\u901f\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u6784\u5efa\u7684\u9996\u4e2a\u6570\u636e\u96c6\uff0c\u5176\u7279\u522b\u6ce8\u91cd\u4e8e\u8fd1\u573a\u573a\u666f\u7406\u89e3\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u5728133K+\u4e2a\u591a\u4f20\u611f\u5668\u6570\u636e\u7684\u540c\u6b65\u5e27\u4e0a\u6807\u6ce8\u4e861.4M\u4e2a3D\u8fb9\u754c\u6846\uff0c\u5176\u4e2d\u8d85\u8fc730%\u7684\u76ee\u6807\u4f4d\u4e8e\u81ea\u8f66\u5468\u56f4\u7684\u8fd1\u573a\u5185\u3002\u6bcf\u4e2a\u76ee\u6807\u4e0e\u4e00\u4e2a\u552f\u4e00\u7684ID\u76f8\u5173\u8054\uff0c\u4ece\u800c\u5f62\u6210\u603b\u5171216K\u6761\u8f68\u8ff9\uff0c\u8fd9\u4e9b\u8f68\u8ff9\u5206\u5e03\u4e8e7.6K\u4e2a\u65f6\u95f4\u5e8f\u5217\u4e0a\uff0c\u6db5\u76d6\u4e866\u79cd\u4e3b\u8981\u7684\u573a\u666f\u7c7b\u522b\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u6784\u5efa\u4e86\u82e5\u5e72\u79cd\u4f20\u611f\u5668\u5e03\u5c40\uff0c\u5305\u62ec\u76f8\u673a\u3001\u9c7c\u773c\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u7075\u6d3b\u4f20\u611f\u5668\u914d\u7f6e\u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