{"id":16044,"date":"2024-09-24T16:56:28","date_gmt":"2024-09-24T08:56:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16044"},"modified":"2024-09-24T16:56:42","modified_gmt":"2024-09-24T08:56:42","slug":"%e3%80%90%e7%99%be%e5%ba%a6%e3%80%91ropebev%ef%bc%9a%e9%b8%9f%e7%9e%b0%e5%9b%be%e4%b8%ad%e7%9a%84%e5%a4%9a%e7%9b%b8%e6%9c%ba%e8%b7%af%e4%be%a7%e6%84%9f%e7%9f%a5%e7%bd%91%e7%bb%9c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/24\/16044\/","title":{"rendered":"2024-09-24\u3010\u767e\u5ea6\u3011RopeBEV\uff1a\u9e1f\u77b0\u56fe\u4e2d\u7684\u591a\u76f8\u673a\u8def\u4fa7\u611f\u77e5\u7f51\u7edc"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"962\" height=\"165\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-274.png\" alt=\"\" class=\"wp-image-16045\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-274.png 962w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-274-300x51.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-274-768x132.png 768w\" sizes=\"(max-width: 962px) 100vw, 962px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2409.11706<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86RopeBEV\uff1a\u9e1f\u77b0\u56fe\u4e2d\u7684\u591a\u76f8\u673a\u8def\u4fa7\u611f\u77e5\u7f51\u7edc\u3002\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e2d\u7684\u591a\u76f8\u673a\u611f\u77e5\u65b9\u6cd5\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\u3002\u7136\u800c\uff0c\u7531\u4e8e\u8def\u4fa7\u548c\u8f66\u4fa7\u573a\u666f\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u76ee\u524d\u7f3a\u5c11\u8def\u4fa7\u591a\u76f8\u673aBEV\u89e3\u51b3\u65b9\u6848\u3002\u672c\u6587\u7cfb\u7edf\u6027\u5730\u5206\u6790\u4e86\u76f8\u6bd4\u4e8e\u8f66\u4fa7\u573a\u666f\u7684\u8def\u4fa7\u573a\u666f\u591a\u76f8\u673aBEV\u611f\u77e5\u4e2d\u7684\u5173\u952e\u6311\u6218\u3002\u8fd9\u4e9b\u6311\u6218\u5305\u62ec\u76f8\u673a\u4f4d\u59ff\u7684\u591a\u6837\u5316\u3001\u76f8\u673a\u6570\u91cf\u7684\u4e0d\u786e\u5b9a\u6027\u3001\u611f\u77e5\u533a\u57df\u7684\u7a00\u758f\u6027\u548c\u65b9\u5411\u89d2\u7684\u6a21\u7cca\u6027\u3002\u4f5c\u4e3a\u56de\u5e94\uff0c\u672c\u6587\u5f15\u5165\u4e86RopeBEV\uff0c\u8fd9\u662f\u9996\u4e2a\u7a20\u5bc6\u7684\u591a\u76f8\u673aBEV\u65b9\u6cd5\u3002RopeBEV\u5f15\u5165\u4e86BEV\u589e\u5f3a\uff0c\u4ee5\u89e3\u51b3\u7531\u4e0d\u540c\u76f8\u673a\u4f4d\u59ff\u9020\u6210\u7684\u8bad\u7ec3\u5e73\u8861\u95ee\u9898\u3002\u5b83\u901a\u8fc7\u7ed3\u5408CamMask\u548cROIMask\uff0c\u5206\u522b\u652f\u6301\u4e0d\u540c\u7684\u76f8\u673a\u6570\u91cf\u548c\u7a00\u758f\u611f\u77e5\u3002\u6700\u540e\uff0c\u5229\u7528\u76f8\u673a\u65cb\u8f6c\u5d4c\u5165\u6765\u89e3\u51b3\u65b9\u5411\u6a21\u7cca\u95ee\u9898\u3002\u672c\u6587\u65b9\u6cd5\u5728\u73b0\u5b9e\u4e16\u754c\u516c\u8def\u6570\u636e\u96c6RoScenes\u4e0a\u6392\u540d\u7b2c\u4e00\uff0c\u5e76\u4e14\u5728\u6db5\u76d650\u591a\u4e2a\u5341\u5b57\u8def\u53e3\u548c600\u591a\u4e2a\u76f8\u673a\u7684\u79c1\u6709\u57ce\u5e02\u6570\u636e\u96c6\u4e0a\u8bc1\u660e\u4e86\u5176\u5b9e\u7528\u4ef7\u503c\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u672c\u6587\u7cfb\u7edf\u6027\u5730\u5206\u6790\u4e86\u8def\u4fa7\u548c\u8f66\u4fa7\u591a\u76f8\u673a\u611f\u77e5\u573a\u666f\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u5305\u62ec\u76f8\u673a\u4f4d\u59ff\u7684\u591a\u6837\u6027\u3001\u76f8\u673a\u6570\u91cf\u7684\u4e0d\u786e\u5b9a\u6027\u3001\u611f\u77e5\u533a\u57df\u7684\u7a00\u758f\u6027\u548c\u65b9\u5411\u89d2\u7684\u6a21\u7cca\u6027\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u9996\u4e2a\u7528\u4e8e\u8def\u4fa7\u573a\u666f\u7684\u7a20\u5bc6BEV\u65b9\u6cd5\uff0c\u5373RopeBEV\uff0c\u5b83\u7ed3\u5408\u4e86\u4e13\u95e8\u4e3a\u89e3\u51b3\u56db\u79cd\u5dee\u5f02\u800c\u8bbe\u8ba1\u7684\u6539\u8fdb\uff1aBEV\u589e\u5f3a\u3001CamMask\u3001ROIMask\u548c\u76f8\u673a\u65cb\u8f6c\u5d4c\u5165\uff1b<\/p>\n\n\n\n<p>3\uff09RopeBEV\u5728\u73b0\u5b9e\u4e16\u754c\u516c\u8def\u6570\u636e\u96c6RoScenes\u4e0a\u6392\u540d\u7b2c\u4e00\uff0c\u5e76\u4e14\u5728\u6db5\u76d650\u591a\u4e2a\u5341\u5b57\u8def\u53e3\u548c600\u591a\u4e2a\u76f8\u673a\u7684\u5927\u89c4\u6a21\u79c1\u6709\u57ce\u5e02\u6570\u636e\u96c6\u4e0a\u8bc1\u660e\u4e86\u5176\u5de5\u4e1a\u5b9e\u7528\u6027\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=\"999\" height=\"627\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-275.png\" alt=\"\" class=\"wp-image-16046\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-275.png 999w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-275-300x188.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-275-768x482.png 768w\" sizes=\"(max-width: 999px) 100vw, 999px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"475\" height=\"534\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-276.png\" alt=\"\" class=\"wp-image-16047\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-276.png 475w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-276-267x300.png 267w\" sizes=\"(max-width: 475px) 100vw, 475px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"480\" height=\"459\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-277.png\" alt=\"\" class=\"wp-image-16048\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-277.png 480w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-277-300x287.png 300w\" sizes=\"(max-width: 480px) 100vw, 480px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"356\" height=\"627\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-278.png\" alt=\"\" class=\"wp-image-16049\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-278.png 356w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-278-170x300.png 170w\" sizes=\"(max-width: 356px) 100vw, 356px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"474\" height=\"436\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-279.png\" alt=\"\" class=\"wp-image-16050\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-279.png 474w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-279-300x276.png 300w\" sizes=\"(max-width: 474px) 100vw, 474px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"987\" height=\"336\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-280.png\" alt=\"\" class=\"wp-image-16051\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-280.png 987w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-280-300x102.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-280-768x261.png 768w\" sizes=\"(max-width: 987px) 100vw, 987px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"476\" height=\"246\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-281.png\" alt=\"\" class=\"wp-image-16052\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-281.png 476w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-281-300x155.png 300w\" sizes=\"(max-width: 476px) 100vw, 476px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"476\" height=\"204\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-282.png\" alt=\"\" class=\"wp-image-16053\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-282.png 476w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-282-300x129.png 300w\" sizes=\"(max-width: 476px) 100vw, 476px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"996\" height=\"526\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-283.png\" alt=\"\" class=\"wp-image-16054\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-283.png 996w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-283-300x158.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-283-768x406.png 768w\" sizes=\"(max-width: 996px) 100vw, 996px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"474\" height=\"649\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-284.png\" alt=\"\" class=\"wp-image-16055\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-284.png 474w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-284-219x300.png 219w\" sizes=\"(max-width: 474px) 100vw, 474px\" \/><\/figure>\n\n\n\n<p>\u603b\u7ed3<\/p>\n\n\n\n<p>\u672c\u6587\u7cfb\u7edf\u6027\u5730\u5206\u6790\u4e86\u8def\u4fa7\u548c\u8f66\u4fa7\u591a\u76f8\u673a\u611f\u77e5\u573a\u666f\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u5305\u62ec\u76f8\u673a\u4f4d\u59ff\u7684\u591a\u6837\u6027\u3001\u76f8\u673a\u6570\u91cf\u7684\u4e0d\u786e\u5b9a\u6027\u3001\u611f\u77e5\u533a\u57df\u7684\u7a00\u758f\u6027\u548c\u65b9\u5411\u89d2\u7684\u6a21\u7cca\u6027\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u672c\u6587\u63d0\u51fa\u4e86RopeBEV\uff0c\u8fd9\u662f\u9996\u4e2a\u7528\u4e8e\u8def\u4fa7\u591a\u76f8\u673a\u611f\u77e5\u7684\u7a20\u5bc6BEV\u65b9\u6cd5\u3002RopeBEV\u5f15\u5165\u4e86BEV\u589e\u5f3a\uff0c\u4ee5\u89e3\u51b3\u7531\u8def\u4fa7\u76f8\u673a\u4e0d\u540c\u4f4d\u59ff\u9020\u6210\u7684\u8bad\u7ec3\u53ef\u5b66\u4e60\u67e5\u8be2\u4e2d\u7684\u4e0d\u5e73\u8861\u95ee\u9898\uff0c\u91c7\u7528CamMask\u548cROIMask\u4ee5\u652f\u6301\u4e0d\u540c\u6570\u91cf\u7684\u76f8\u673a\u548c\u81ea\u5b9a\u4e49\u7684\u611f\u77e5\u533a\u57df\uff0c\u5e76\u4e14\u901a\u8fc7\u76f8\u673a\u65cb\u8f6c\u5d4c\u5165\u6765\u89e3\u51b3\u65b9\u5411\u89d2\u6a21\u7cca\u95ee\u9898\u3002\u5728RoScenes\u548c\u79c1\u6709\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8bc1\u660e\u4e86RopeBEV\u5353\u8d8a\u7684\u8def\u4fa7\u611f\u77e5\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u5c40\u9650\u6027\u548c\u672a\u6765\u5de5\u4f5c<\/strong>\uff1a\u5c3d\u7ba1RopeBEV\u652f\u6301\u8f66\u9053\u5206\u5272\u548c\u573a\u666f\u5efa\u56fe\u4efb\u52a1\uff0c\u4f46\u662f\u7531\u4e8e\u7f3a\u4e4f\u7528\u4e8e\u8fd9\u4e9b\u4efb\u52a1\u7684\u8def\u4fa7\u591a\u76f8\u673a\u6570\u636e\u96c6\uff0c\u76ee\u524d\u65e0\u6cd5\u8bc4\u4f30\u5176\u6027\u80fd\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u7269\u7406\u9650\u5236\uff0c\u8def\u4fa7\u591a\u76f8\u673a\u7cfb\u7edf\u4e4b\u95f4\u7684\u65f6\u95f4\u6233\u5dee\u5f02\u901a\u5e38\u5927\u4e8e\u8f66\u4fa7\u7cfb\u7edf\u4e2d\u7684\u65f6\u95f4\u6233\u5dee\u5f02\uff0c\u8fd9\u53ef\u80fd\u4f1a\u5bfc\u81f4\u8f93\u5165\u5e27\u5185\u7684\u4fe1\u606f\u6ca1\u6709\u5bf9\u9f50\uff0c\u4ece\u800c\u5f71\u54cd\u611f\u77e5\u8f93\u51fa\u7ed3\u679c\u3002\u663e\u5f0f\u7ed3\u5408\u8de8\u65f6\u95f4\u7ef4\u5ea6\u7684\u65f6\u95f4\u5d4c\u5165\u6216\u8005\u7279\u5f81\u5bf9\u9f50\u662f\u6253\u7b97\u7814\u7a76\u7684\u672a\u6765\u65b9\u5411\u4e4b\u4e00\u3002\u6b64\u5916\uff0c\u672c\u6587\u7684\u76ee\u6807\u662f\u6269\u5c55RopeBEV\u4ee5\u652f\u6301\u8ddf\u8e2a\u548c\u9884\u6d4b\u4efb\u52a1\uff0c\u5e76\u4e14\u63a2\u7d22\u5176\u5b83\u6570\u636e\u6a21\u6001\uff08\u4f8b\u5982\u6fc0\u5149\u96f7\u8fbe\u6216\u8005\u96f7\u8fbe\uff09\u7684\u96c6\u6210\uff0c\u4ee5\u5b9e\u73b0\u591a\u6a21\u6001\u8def\u4fa7BEV\u65b9\u6cd5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/ [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-16044","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16044"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=16044"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16044\/revisions"}],"predecessor-version":[{"id":16057,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16044\/revisions\/16057"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16044"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16044"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16044"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}