{"id":16265,"date":"2024-09-27T17:34:35","date_gmt":"2024-09-27T09:34:35","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16265"},"modified":"2024-09-27T17:34:48","modified_gmt":"2024-09-27T09:34:48","slug":"2024-09-27%e5%9f%ba%e4%ba%8e%e6%b7%b1%e5%ba%a6%e5%ad%a6%e4%b9%a0%e6%9e%84%e5%bb%ba4d-radar%e7%9a%84%e7%8e%af%e5%a2%83%e6%84%9f%e7%9f%a5%e7%ae%97%e6%b3%95%e8%a7%a3%e5%86%b3%e6%99%ba%e9%a9%becorner-case","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/27\/16265\/","title":{"rendered":"2024-09-27\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u6784\u5efa4D Radar\u7684\u73af\u5883\u611f\u77e5\u7b97\u6cd5\u89e3\u51b3\u667a\u9a7eCorner Case"},"content":{"rendered":"\n<p>\u968f\u7740\u6700\u8fd1\u7684\u53d1\u5c55\uff0c\u6c7d\u8f66\u96f7\u8fbe\u7684\u6027\u80fd\u5df2\u663e\u7740\u63d0\u9ad8\u3002\u4e0b\u4e00\u4ee34D\u96f7\u8fbe\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u5206\u8fa8\u7387\u70b9\u4e91\u5f62\u5f0f\u7684\u6210\u50cf\u80fd\u529b\u3002\u5728\u6b64\u80cc\u666f\u4e0b\uff0c\u96f7\u8fbe\u611f\u77e5\u6df1\u5ea6\u5b66\u4e60\u65f6\u4ee3\u5df2\u7ecf\u5230\u6765\u3002\u7136\u800c\uff0c\u96f7\u8fbe\u6df1\u5ea6\u5b66\u4e60\u7684\u7814\u7a76\u5206\u6563\u5728\u4e0d\u540c\u7684\u4efb\u52a1\u4e2d\uff0c\u7f3a\u4e4f\u6574\u4f53\u7684\u8ba4\u77e5\u3002\u8bd5\u56fe\u63d0\u4f9b\u6df1\u5ea6\u96f7\u8fbe\u611f\u77e5\u5806\u6808\u7684\u5168\u8c8c\uff0c\u5305\u62ec\u4fe1\u53f7\u5904\u7406\u3001\u6570\u636e\u96c6\u3001\u6807\u7b7e\u3001\u6570\u636e\u589e\u5f3a\u4ee5\u53ca\u6df1\u5ea6\u548c\u901f\u5ea6\u4f30\u8ba1\u3001\u7269\u4f53\u68c0\u6d4b\u548c\u4f20\u611f\u5668\u878d\u5408\u7b49\u4e0b\u6e38\u4efb\u52a1\u3002\u5bf9\u4e8e\u8fd9\u4e9b\u4efb\u52a1\uff0c\u672c\u6587\u91cd\u70b9\u89e3\u91ca\u7f51\u7edc\u7ed3\u6784\u5982\u4f55\u9002\u5e94\u96f7\u8fbe\u9886\u57df\u77e5\u8bc6\u3002\u5176\u4e2d\uff0c\u7279\u522b\u603b\u7ed3\u4e86\u6df1\u5ea6\u96f7\u8fbe\u611f\u77e5\u4e2d\u4e09\u4e2a\u88ab\u5ffd\u89c6\u7684\u6311\u6218\uff0c\u5305\u62ec<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%A4%9A%E5%BE%84%E6%95%88%E5%BA%94&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u5f84\u6548\u5e94<\/a><\/p>\n\n\n\n<p>\u3001\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u548c\u6076\u52a3\u5929\u6c14\u5f71\u54cd\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e9b\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u7684\u5c1d\u8bd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/v2-d6e0704250545f16b2653adeb58f9d7a_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe1 \u6df1\u5ea6\u96f7\u8fbe\u611f\u77e5\u5904\u7406\u6846\u67b6<\/em><\/p>\n\n\n\n<p>\u968f\u77404D\u96f7\u8fbe\u9010\u6e10\u63a8\u5411\u5e02\u573a\uff0c\u96f7\u8fbe\u70b9\u4e91\u5bc6\u5ea6\u5927\u5e45\u589e\u52a0\u30024D \u96f7\u8fbe\u7684\u4e00\u4e2a\u4e3b\u8981\u4f18\u70b9\u662f\u53ef\u4ee5\u6839\u636e\u6d77\u62d4\u6d4b\u91cf\u5bf9\u9759\u6001\u7269\u4f53\u8fdb\u884c\u5206\u7c7b\uff0c\u800c\u65e0\u9700\u6784\u5efa\u5360\u7528\u7f51\u683c\u5730\u56fe\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u4e3a\u9759\u6001\u548c\u52a8\u6001\u7269\u4f53\u8bad\u7ec3\u5355\u4e2a\u68c0\u6d4b\u5668\u3002\u6bd4\u5982PointPillars\u7b97\u6cd5\u9488\u5bf94D\u96f7\u8fbe\u70b9\u4e91\uff0c\u4ee5\u5bf9\u591a\u7c7b\u522b\u9053\u8def\u4f7f\u7528\u8005\u8fdb\u884c3D\u68c0\u6d4b\uff0c\u53ef\u4ee5\u901a\u8fc7\u65f6\u95f4\u79ef\u5206\u548c\u5f15\u5165\u9644\u52a0\u529f\u80fd\uff08\u4f8b\u5982\u4ef0\u89d2\u3001<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%A4%9A%E6%99%AE%E5%8B%92%E9%80%9F%E5%BA%A6&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u666e\u52d2\u901f\u5ea6<\/a><\/p>\n\n\n\n<p>\u548c RCS\uff09\u6765\u63d0\u9ad8\u6027\u80fd\uff0c\u591a\u666e\u52d2\u901f\u5ea6\u5bf9\u4e8e\u68c0\u6d4b\u884c\u4eba\u548c\u9a91\u884c\u8005\u81f3\u5173\u91cd\u8981\u3002\u7136\u800c\uff0c4D \u96f7\u8fbe\u63a2\u6d4b\u5668 (mAP 47.0) \u7684\u6027\u80fd\u4ecd\u7136\u8fdc\u8fdc\u4e0d\u5982\u5728 64 \u675fLiDAR\u4e0a\u7684\u63a2\u6d4b\u5668 (mAP 62.1)\u3002\u8fd9\u79cd\u6027\u80fd\u5dee\u8ddd\u6e90\u4e8e\u96f7\u8fbe\u5206\u8fa8\u7269\u4f53\u7cbe\u786e 3D \u4f4d\u7f6e\u7684\u80fd\u529b\u8f83\u5dee\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/v2-7f288b1579b2e6693ea45d2ebd04e834_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u96f7\u8fbe\u6df1\u5ea6\u548c\u901f\u5ea6\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<p>\u96f7\u8fbe\u53ef\u4ee5\u6d4b\u91cf\u8ddd\u79bb\u548c\u591a\u666e\u52d2\u901f\u5ea6\uff0c\u4f46\u8fd9\u4e24\u8005\u90fd\u4e0d\u80fd\u76f4\u63a5\u7528\u4e8e\u4e0b\u6e38\u4efb\u52a1\u3002\u8ddd\u79bb\u6d4b\u91cf\u5f88\u7a00\u758f\uff0c\u56e0\u6b64\u5f88\u96be\u5c06\u5176\u4e0e\u89c6\u89c9\u5bf9\u5e94\u5173\u8054\u8d77\u6765\u3002\u591a\u666e\u52d2\u901f\u5ea6\u662f\u5728\u5f84\u5411\u8f74\u4e0a\u6d4b\u91cf\u7684\uff0c\u56e0\u6b64\u4e0d\u80fd\u76f4\u63a5\u7528\u4e8e\u8ddf\u8e2a\u3002\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u603b\u7ed3\u4f7f\u7528\u96f7\u8fbe\u70b9\u4e91\u7684\u5b8c\u6210\u6df1\u5ea6\u4f30\u8ba1\u548c\u901f\u5ea6\u4f30\u8ba1\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/80\/v2-2ddfa8ca00fef680370c0fdaf5d707fd_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong><a href=\"https:\/\/www.zhihu.com\/search?q=%E6%B7%B1%E5%BA%A6%E4%BC%B0%E8%AE%A1&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u6df1\u5ea6\u4f30\u8ba1<\/a><\/strong>\u4e0eLidar\u76f8\u6bd4\uff0cRadar\u5177\u6709\u4ef7\u683c\u4f4e\u3001\u5c04\u7a0b\u8fdc\u3001\u5bf9\u6076\u52a3\u5929\u6c14\u7684<a href=\"https:\/\/www.zhihu.com\/search?q=%E9%B2%81%E6%A3%92%E6%80%A7&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u9c81\u68d2\u6027<\/a>\u7b49\u4f18\u70b9\u3002\u540c\u65f6\uff0c\u5b83\u8fd8\u9762\u4e34\u7740\u68c0\u6d4b\u566a\u58f0\u3001\u65e0\u9ad8\u5ea6\u6d4b\u91cf\u548c\u7a00\u758f\u6027\u7b49\u95ee\u9898\u3002\u6700\u8fd1\uff0c\u57fa\u4e8e<a href=\"https:\/\/www.zhihu.com\/search?q=%E4%BC%AA%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u4f2a\u6fc0\u5149\u96f7\u8fbe<\/a>\u7684\u89c6\u89c9\u76ee\u6807\u68c0\u6d4b\u5df2\u6210\u4e3a\u70ed\u95e8\u7814\u7a76\u8bfe\u9898\u3002\u5176\u6838\u5fc3\u601d\u60f3\u662f\u5c06\u50cf\u7d20\u6295\u5f71\u5230\u4f2a\u70b9\u4e91\u4e2d\uff0c\u4ee5\u907f\u514d\u9006\u6295\u5f71\u6620\u5c04\uff08IPM\uff09\u5f15\u8d77\u7684\u626d\u66f2\u3002\u4f2a\u6fc0\u5149\u96f7\u8fbe\u68c0\u6d4b\u662f\u5efa\u7acb\u5728\u6df1\u5ea6\u4f30\u8ba1\u7684\u57fa\u7840\u4e0a\u3002\u7531\u4e8e\u5c3a\u5ea6\u6a21\u7cca\uff0c\u89c6\u89c9\u6df1\u5ea6\u4f30\u8ba1\u662f\u4e00\u4e2a<a href=\"https:\/\/www.zhihu.com\/search?q=%E4%B8%8D%E9%80%82%E5%AE%9A%E9%97%AE%E9%A2%98&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u4e0d\u9002\u5b9a\u95ee\u9898<\/a>\u3002\u7136\u800c\uff0c\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\uff0c\u65e0\u8bba\u662f\u5426\u6709\u76d1\u7763\u8fc7\u7a0b\uff0c\u90fd\u53ef\u4ee5\u4ec5\u4f7f\u7528\u76f8\u673a\u6210\u529f\u9884\u6d4b<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%AF%86%E9%9B%86%E6%B7%B1%E5%BA%A6%E5%9B%BE&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u5bc6\u96c6\u6df1\u5ea6\u56fe<\/a>\u3002\u7c97\u7565\u5730\u8bf4\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ece\u6570\u636e\u4e2d\u5b66\u4e60\u5bf9\u8c61\u5927\u5c0f\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u56e0\u6b64\u5bb9\u6613\u53d7\u5230\u4e00\u4e9b\u4e0e\u6570\u636e\u76f8\u5173\u7684\u95ee\u9898\u5f71\u54cd\uff0c\u4f8b\u5982\u5bf9\u8f93\u5165\u56fe\u50cf\u8d28\u91cf\u7684\u654f\u611f\u6027\u548c\u5b66\u4e60\u975e\u56e0\u679c\u76f8\u5173\u6027\uff0c\u4f8b\u5982\u5bf9\u8c61\u548c\u9634\u5f71\u76f8\u5173\u6027\u3002\u501f\u52a9\u6fc0\u5149\u96f7\u8fbe\u548c\u96f7\u8fbe\u7b49\u8ddd\u79bb\u4f20\u611f\u5668\u53ef\u4ee5\u7f13\u89e3\u8fd9\u4e9b\u9650\u5236\u3002<a href=\"https:\/\/www.zhihu.com\/search?q=%E6%B7%B1%E5%BA%A6%E8%A1%A5%E5%85%A8&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u6df1\u5ea6\u8865\u5168<\/a><\/p>\n\n\n\n<p>\u662f\u6df1\u5ea6\u4f30\u8ba1\u7684\u5b50\u95ee\u9898\uff0c\u5176\u76ee\u7684\u662f\u4f7f\u7528\u8ddd\u79bb\u4f20\u611f\u5668\u6d4b\u91cf\u7684\u7a00\u758f\u6df1\u5ea6\u6765\u6062\u590d\u56fe\u50cf\u7684\u5bc6\u96c6\u6df1\u5ea6\u56fe\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u7531\u4e8e\u591a\u8def\u5f84\u4f20\u64ad\uff0c\u96f7\u8fbe\u53ef\u4ee5\u770b\u5230\u975e\u89c6\u8ddd\u9ad8\u53cd\u5c04\u7269\u4f53\uff0c\u4f8b\u5982\u8f6e\u5708\u548c\u88ab\u906e\u6321\u7684\u8f66\u8f86\uff0c\u8fd9\u79cd\u73b0\u8c61\u79f0\u4e3a\u900f\u89c6\u6548\u5e94\u3002\u57283D\u5750\u6807\u4e2d\u5f88\u6709\u7528\uff0c\u4f46\u4f1a\u5e26\u6765\u5c06\u96f7\u8fbe\u68c0\u6d4b\u4e0e\u56fe\u50cf\u89c6\u56fe\u4e2d\u7684\u89c6\u89c9\u5bf9\u8c61\u5173\u8054\u8d77\u6765\u7684\u56f0\u96be\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/80\/v2-6d255e721c090601a312ab1ddb553252_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe2 \u96f7\u8fbe\u8ddd\u79bb\u6d4b\u91cf<\/em><\/p>\n\n\n\n<p>\u73b0\u6210\u7684\u96f7\u8fbe\u5728 2D \u96f7\u8fbe\u5e73\u9762\u4e0a\u8fd4\u56de\u68c0\u6d4b\u7ed3\u679c\u3002\u7531\u4e8e\u955c\u9762\u53cd\u5c04\uff0c\u68c0\u6d4b\u7ed3\u679c\u7a00\u758f\u5730\u5206\u5e03\u5728\u7269\u4f53\u4e0a\u3002\u7531\u4e8e\u591a\u8def\u5f84\u4f20\u64ad\uff0c\u96f7\u8fbe\u53ef\u4ee5\u7a7f\u900f\u906e\u6321\u7269\uff0c\u540c\u65f6\u8fd9\u4f1a\u5bfc\u81f4\u68c0\u6d4b\u5230\u4e00\u4e9b\u566a\u58f0\u3002<\/p>\n\n\n\n<p>\u4e24\u7ea7\u67b6\u6784\u5e7f\u6cdb\u5e94\u7528\u4e8e\u56fe\u50cf\u5f15\u5bfc\u96f7\u8fbe\u6df1\u5ea6\u5b8c\u6210\u4efb\u52a1\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u901a\u8fc7\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7f51\u7edc\u4f30\u8ba1\u7c97\u7565\u7684\u96f7\u8fbe\u6df1\u5ea6\u3002\u96f7\u8fbe\u548c\u56fe\u50cf\u7531\u4e24\u4e2a\u7f16\u7801\u5668\u72ec\u7acb\u5904\u7406\uff0c\u5e76\u5728\u7279\u5f81\u7ea7\u522b\u878d\u5408\u5728\u4e00\u8d77\u3002\u7136\u540e\uff0c\u89e3\u7801\u5668\u5728\u56fe\u50cf\u89c6\u56fe\u4e2d\u8f93\u51fa\u7c97\u5bc6\u6df1\u5ea6\u56fe\uff0c\u5e76\u6839\u636e\u8303\u56f4\u76f8\u5173\u7684\u9608\u503c\u8fc7\u6ee4\u6389\u8bef\u5dee\u8f83\u5927\u7684\u9884\u6d4b\u6df1\u5ea6\u3002\u63a5\u4e0b\u6765\uff0c\u539f\u59cb\u4f20\u611f\u5668\u8f93\u5165\u548c\u8fc7\u6ee4\u540e\u7684\u6df1\u5ea6\u56fe\u88ab\u53d1\u9001\u5230\u7b2c\u4e8c\u4e2a\u7f16\u7801\u5668-\u89e3\u7801\u5668\uff0c\u4ee5\u8f93\u51fa\u7ec6\u7c92\u5ea6\u7684<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%AF%86%E9%9B%86%E5%9B%BE&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u5bc6\u96c6\u56fe<\/a><\/p>\n\n\n\n<p>\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u53ef\u4ee5\u901a\u8fc7\u6269\u5927\u96f7\u8fbe\u68c0\u6d4b\u8303\u56f4\u4ee5\u66f4\u597d\u5730\u5339\u914d\u89c6\u89c9\u5bf9\u8c61\u6765\u63d0\u9ad8\u5173\u8054\u8d28\u91cf\u3002\u5982\u56fe 3b \u6240\u793a\uff0c\u5c06\u9ad8\u5ea6\u6269\u5c55\u5e94\u7528\u4e8e\u96f7\u8fbe\u68c0\u6d4b\u4ee5\u8865\u507f\u4e22\u5931\u7684\u9ad8\u5ea6\u4fe1\u606f\u3002\u6bcf\u6b21\u68c0\u6d4b\u90fd\u5047\u5b9a\u56fa\u5b9a\u9ad8\u5ea6\uff0c\u5e76\u6839\u636e\u8303\u56f4\u6295\u5f71\u5230\u56fe\u50cf\u89c6\u56fe\u4e0a\u3002\u7136\u540e\uff0c\u6269\u5c55\u7684\u68c0\u6d4b\u88ab\u53d1\u9001\u5230\u4e24\u7ea7\u67b6\u6784\u4ee5\u8f93\u51fa\u53bb\u566a\u7684\u96f7\u8fbe\u6df1\u5ea6\u56fe\uff0c\u53ef\u4ee5\u901a\u8fc7\u4e00\u79cd\u6982\u7387\u5173\u8054\u65b9\u6cd5\u6765\u6a21\u62df\u96f7\u8fbe\u68c0\u6d4b\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/p>\n\n\n\n<p>\u5982\u56fe 3c \u6240\u793a\uff0c\u96f7\u8fbe\u70b9\u8f6c\u6362\u4e3a\u591a\u901a\u9053\u589e\u5f3a\u96f7\u8fbe (MER) \u56fe\u50cf\uff0c\u6bcf\u4e2a\u901a\u9053\u4ee3\u8868\u7279\u5b9a\u5173\u8054<a href=\"https:\/\/www.zhihu.com\/search?q=%E7%BD%AE%E4%BF%A1%E6%B0%B4%E5%B9%B3&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u7f6e\u4fe1\u6c34\u5e73<\/a><\/p>\n\n\n\n<p>\u4e0b\u7684\u6269\u5c55\u96f7\u8fbe\u6df1\u5ea6\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u8fb9\u754c\u5904\u88ab\u906e\u6321\u7684\u68c0\u6d4b\u548c\u4e0d\u7cbe\u786e\u7684\u68c0\u6d4b\u4fdd\u7559\uff0c\u4f46\u7f6e\u4fe1\u5ea6\u8f83\u4f4e\u3002\u53e6\u4e00\u79cd\u65b9\u5f0f\u662f\u4f7f\u7528\u96f7\u8fbe\u4f5c\u4e3a\u76d1\u7763\u6765\u8bad\u7ec3\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b\u3002\u5176\u4e2d\uff0c\u5e94\u7528\u4e86\u4e25\u683c\u7684\u8fc7\u6ee4\uff0c\u53ea\u4fdd\u7559\u9ad8\u7f6e\u4fe1\u5ea6\u7684\u68c0\u6d4b\u7ed3\u679c\u3002\u5728\u9884\u5904\u7406\u4e2d\uff0c\u53bb\u9664\u4e86\u8fb9\u754c\u6846\u5185\u8d85\u51fa\u8303\u56f4\u9608\u503c\u7684\u6742\u6ce2\uff0c\u5e76\u4e22\u5f03\u4e86\u6846\u4e0a\u90e8 50% \u548c\u5916\u90e8 20% \u7684\u70b9\u4ee5\u53ca\u91cd\u53e0\u533a\u57df\uff0c\u4ee5\u907f\u514d\u900f\u89c6\u6548\u679c\uff0c\u6240\u6709\u80cc\u666f\u68c0\u6d4b\u4e5f\u88ab\u4e22\u5f03\u3002\u5bf9\u4e8e\u5173\u8054\uff0c\u9996\u5148\u5e94\u7528\u53cc\u8fb9\u8fc7\u6ee4\uff0c\u5373\u8fb9\u7f18\u4fdd\u7559\u8fc7\u6ee4\uff0c\u4ee5\u5c06\u6269\u5c55\u9650\u5236\u5728\u5bf9\u8c61\u8fb9\u754c\u5185\u3002\u540c\u65f6\u8fdb\u4e00\u6b65\u5c06\u5173\u8054\u56fe\u526a\u88c1\u5230\u9760\u8fd1\u8fb9\u7f18\u7684\u4f4d\u7f6e\uff0c\u4ee5\u6d88\u9664\u4e0d\u7cbe\u786e\u7684\u8fb9\u754c\u4f30\u8ba1\u3002\u4e3a\u4e86\u8865\u507f\u9ad8\u5ea6\u4fe1\u606f\uff0c\u76f4\u63a5\u4f7f\u7528\u8fb9\u754c\u6846\u7684\u9ad8\u5ea6\u4f5c\u4e3a\u53c2\u8003\u3002\u8003\u8651\u5230\u8f66\u8f86\u5f62\u72b6\u7684\u590d\u6742\u6027\uff0c\u5c06\u68c0\u6d4b\u8303\u56f4\u6269\u5c55\u5230\u5176\u8fb9\u754c\u6846\u7684\u4e0b\u4e09\u5206\u4e4b\u4e00\uff0c\u4ee5\u6355\u83b7\u8f66\u8f86\u7684\u5e73\u5766\u524d\u8868\u9762\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/80\/v2-624e540cf5ab1748b3d5997b9992c3a5_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe3 (a)\u96f7\u8fbe\u63a2\u6d4b\u6269\u5c55\u6280\u672f\u3002(b) \u6269\u5927\u96f7\u8fbe\u63a2\u6d4b\u9ad8\u5ea6\u3002(c) \u6784\u5efa\u6982\u7387\u56fe\uff0c\u5176\u4e2d\u6df1\/\u6d45\u84dd\u8272\u8868\u793a\u5177\u6709\u9ad8\/\u4f4e\u7f6e\u4fe1\u5ea6\u9608\u503c\u7684\u901a\u9053\u3002(d) \u6839\u636e\u8fb9\u754c\u6846\u5e94\u7528\u4e25\u683c\u7684\u8fc7\u6ee4\uff0c\u5176\u4e2d\u4ec5\u4fdd\u7559\u4e0e\u6b63\u9762\u76f8\u5bf9\u5e94\u7684\u68c0\u6d4b\u3002<\/em><\/p>\n\n\n\n<p>\u4f5c\u4e3a\u771f\u503c\u7cfb\u7edf\u7684LiDAR\u800c\u8a00\uff0c\u4e00\u76f4\u5b58\u5728\u4e00\u4e9b\u56fa\u6709\u7684\u7f3a\u9677\uff0c\u4f8b\u5982\u7a00\u758f\u6027\u3001\u8303\u56f4\u6709\u9650\u4ee5\u53ca\u65e0\u53cd\u5c04\u7684\u5b54\u6d1e\u7b49\u3002\u56e0\u6b64\uff0c\u5bf9<a href=\"https:\/\/www.zhihu.com\/search?q=LiDAR%E7%82%B9&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">LiDAR\u70b9<\/a><\/p>\n\n\n\n<p>\u8fdb\u884c\u9884\u5904\u7406\u53ef\u4ee5\u66f4\u597d\u5730\u8fdb\u884c\u76d1\u7763\u3002\u901a\u8fc7\u79ef\u7d2f\u591a\u5e27\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u53ef\u4ee5\u63d0\u9ad8\u5bc6\u5ea6\uff0c\u800c\u6ca1\u6709 LiDAR \u5230\u8fbe\u7684\u50cf\u7d20\u88ab\u5206\u914d\u96f6\u503c\u3002\u7531\u4e8eLiDAR\u548c\u76f8\u673a\u4e0d\u5171\u4eab\u76f8\u540c\u7684FoV\uff0c\u6295\u5f71\u5230\u56fe\u50cf\u89c6\u56fe\u4e0a\u7684LiDAR\u70b9\u4e5f\u5b58\u5728\u906e\u6321\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u901a\u8fc7\u4e24\u4e2a\u6807\u51c6\u8fc7\u6ee4\u6389\u906e\u6321\u70b9\uff1a\u4e00\u662f\u89c6\u89c9\u5149\u6d41\u548cLiDAR\u573a\u666f\u6d41\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u4e8c\u662f\u5206\u5272\u63a9\u6a21\u548c\u8fb9\u754c\u6846\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u4f7f\u7528\u89c6\u89c9\u8bed\u4e49\u63a9\u6a21\u548c\u6fc0\u5149\u96f7\u8fbe\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\u3002\u89c6\u89c9\u8bed\u4e49\u5206\u5272\u53ef\u4ee5\u68c0\u6d4b\u8fdc\u5904\u8f83\u5c0f\u7684\u7269\u4f53\uff0c\u4ece\u800c\u8865\u507f\u6fc0\u5149\u96f7\u8fbe\u7684\u6709\u9650\u8303\u56f4\u3002\u4e3a\u4e86\u63d0\u53d6\u66f4\u597d\u7684\u8868\u793a\uff0c\u5229\u7528\u5171\u4eab\u89e3\u7801\u5668\u540c\u65f6\u5b66\u4e60\u6df1\u5ea6\u4f30\u8ba1\u548c\u8bed\u4e49\u5206\u5272\u3002LiDAR \u6d4b\u91cf\u548c\u89c6\u89c9\u8bed\u4e49\u63a9\u6a21\u6ce8\u91ca\u90fd\u7528\u4f5c\u76d1\u7763\u3002\u56e0\u6b64\uff0c\u635f\u5931\u51fd\u6570\u7531\u4e09\u90e8\u5206\u7ec4\u6210\uff1a\u4ee5\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e3a\u5730\u9762\u5b9e\u51b5\u7684\u6df1\u5ea6\u635f\u5931\u3001\u89c6\u89c9\u8bed\u4e49\u5206\u5272\u635f\u5931\u548c\u7528\u4e8e\u5e73\u6ed1\u5ea6\u7684\u8bed\u4e49\u5f15\u5bfc\u6b63\u5219\u5316\u9879\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/80\/v2-1358dc89861b7d0993ac02efd40d1dd5_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u901f\u5ea6\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<p>\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\uff0c\u901f\u5ea6\u4f30\u8ba1\u6709\u52a9\u4e8e\u8f68\u8ff9\u9884\u6d4b\u548c\u8def\u5f84\u89c4\u5212\u3002\u96f7\u8fbe\u53ef\u4ee5\u7cbe\u786e\u6d4b\u91cf\u591a\u666e\u52d2\u901f\u5ea6\uff0c\u5373\u6781\u5750\u6807\u4e2d\u7684\u5f84\u5411\u901f\u5ea6\u3002\u5982\u679c\u8f66\u8f86\u5728\u4e00\u5b9a\u8ddd\u79bb\u5904\u5e73\u884c\u4e8e\u81ea\u8f66\u79fb\u52a8\uff0c\u5219\u5176\u5b9e\u9645\u901f\u5ea6\u53ef\u4ee5\u901a\u8fc7\u6d4b\u91cf\u7684\u591a\u666e\u52d2\u901f\u5ea6\u6765\u8fd1\u4f3c\u3002\u4e0d\u8fc7\uff0c\u8fd9\u4ec5\u9002\u7528\u4e8e\u9ad8\u901f\u516c\u8def\u573a\u666f\u3002\u5728\u57ce\u5e02\u9053\u8def\u4e0a\uff0c\u7269\u4f53\u5728\u8fc7\u9a6c\u8def\u65f6\u6709\u53ef\u80fd\u53d1\u751f\u5207\u5411\u8fd0\u52a8\uff0c\u90a3\u4e48\u5176\u591a\u666e\u52d2\u901f\u5ea6\u5c06\u63a5\u8fd1\u4e8e\u96f6\u3002\u56e0\u6b64\uff0c\u591a\u666e\u52d2\u901f\u5ea6\u4e0d\u80fd\u4ee3\u66ff\u5168\u901f\u5ea6\u3002\u4ece\u591a\u666e\u52d2\u901f\u5ea6\u6062\u590d\u5168\u901f\u5ea6\u9700\u8981\u4e24\u4e2a\u6b65\u9aa4\uff1a\u9996\u5148\u8865\u507f\u81ea\u8f66\u8fd0\u52a8\uff0c\u7136\u540e\u4f30\u8ba1\u5207\u5411\u901f\u5ea6\u3002\u7b2c\u4e00\u6b65\uff0c\u53ef\u4ee5\u901a\u8fc7<a href=\"https:\/\/www.zhihu.com\/search?q=%E8%A7%86%E8%A7%89%E6%83%AF%E6%80%A7%E9%87%8C%E7%A8%8B%E8%AE%A1&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1<\/a><\/p>\n\n\n\n<p>(VIO) \u548c GPS \u6765\u4f30\u8ba1\u81ea\u8f66\u8fd0\u52a8\u3002\u96f7\u8fbe\u60ef\u6027\u91cc\u7a0b\u8ba1\u4e5f\u53ef\u7528\u4e8e\u89c6\u89c9\u9000\u5316\u6216\u65e0\u6cd5\u4f7f\u7528 GPS \u7684\u73af\u5883\u3002\u7136\u540e\uff0c\u901a\u8fc7\u51cf\u53bb\u81ea\u8f66\u901f\u5ea6\u6765\u8865\u507f\u591a\u666e\u52d2\u901f\u5ea6\u3002\u7b2c\u4e8c\u6b65\uff0c\u6839\u636e\u51e0\u4f55\u7ea6\u675f\u4f30\u8ba1\u5168\u901f\u5ea6\u3002\u5047\u8bbe\u96f7\u8fbe\u591a\u6b21\u68c0\u6d4b\u5230\u4e00\u4e2a\u7269\u4f53\uff0c\u5e76\u4e14\u8be5\u7269\u4f53\u5904\u4e8e\u7ebf\u6027\u8fd0\u52a8\u3002<\/p>\n\n\n\n<p>\u5982\u4e0b\u56fe a \u6240\u793a\uff0c\u9884\u6d4b\u7ebf\u901f\u5ea6(vx,vy)\u4e0e\u6d4b\u91cf\u591a\u666e\u52d2\u901f\u5ea6vr,i\u4e4b\u95f4\u7684\u5173\u7cfb\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/80\/v2-181d1291407d3d2d2ab2b8f6a29b47fc_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe4 \u96f7\u8fbe\u8fd0\u52a8\u6a21\u578b\u3002(a)\u7ebf\u6027\u8fd0\u52a8\u6a21\u578b\u9700\u8981\u5bf9\u7269\u4f53\u8fdb\u884c\u591a\u6b21\u68c0\u6d4b\u3002(b)\u66f2\u7ebf\u8fd0\u52a8\u6a21\u578b\u9700\u8981\u4e24\u4e2a\u96f7\u8fbe\u89c2\u6d4b\u76f8\u540c\u7684\u7269\u4f53\u6216\u786e\u5b9a\u8f66\u8f86\u8fb9\u754c\u548c\u540e\u8f74\u3002<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/80\/v2-aae31b972694deed2dc644db11648dd0_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0c\u4e0b\u6807i\u8868\u793a\u7b2ci\u6b21\u68c0\u6d4b\uff0c\u03b8i\u662f\u6d4b\u91cf\u7684\u65b9\u4f4d\u89d2\u3002\u901a\u8fc7\u89c2\u5bdf\u6bcf\u4e2a\u7269\u4f53\u7684 N \u6b21\u68c0\u6d4b\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528<a href=\"https:\/\/www.zhihu.com\/search?q=%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98%E6%B3%95&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u6700\u5c0f\u4e8c\u4e58\u6cd5<\/a><\/p>\n\n\n\n<p>\u6c42\u89e3\u7ebf\u901f\u5ea6\u3002\u7136\u800c\uff0cL2 \u635f\u5931\u5bf9\u4e8e\u5f02\u5e38\u503c\uff08\u4f8b\u5982\u6742\u6ce2\u548c\u8f66\u8f6e\u7684\u5fae\u591a\u666e\u52d2\u8fd0\u52a8\uff09\u5e76\u4e0d\u7a33\u5065\u3002\u5e94\u7528RANSAC\u53bb\u9664\u5f02\u5e38\u503c\uff0c\u7136\u540e\u4f7f\u7528\u6b63\u4ea4\u8ddd\u79bb\u56de\u5f52\uff08ODR\uff09\u6765\u627e\u5230\u6700\u4f73\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u7ebf\u6027\u8fd0\u52a8\u6a21\u578b\u56e0\u5176\u7b80\u5355\u6027\u800c\u88ab\u5e7f\u6cdb\u4f7f\u7528\uff0c\u4f46\u5bf9\u4e8e\u9ad8\u66f2\u7387\u7684\u8fd0\u52a8\u4f1a\u4ea7\u751f\u8f83\u5927\u7684\u4f4d\u7f6e\u8bef\u5dee\u3002\u6216\u8005\uff0c\u5982\u56fe 9b \u6240\u793a\uff0c\u66f2\u7ebf\u8fd0\u52a8\u6a21\u578b\u7531\u4e0b\u5f0f\u7ed9\u51fa\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/80\/v2-771aa05558693c5b50f240359590fcb4_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0c\u03c9\u662f\u89d2\u901f\u5ea6\uff0c\u03b8\u662f\u68c0\u6d4b\u70b9\u7684\u89d2\u5ea6\uff0c(xc,yc)\u8868\u793a\u77ac\u65f6\u65cb\u8f6c\u4e2d\u5fc3(ICR)\u7684\u4f4d\u7f6e\uff0c(xS,yS)\u8868\u793a\u5df2\u77e5\u7684\u96f7\u8fbe\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5c06\u89d2\u901f\u5ea6\u548c ICR \u7684\u4f4d\u7f6e\u89e3\u8026\uff0c\u9700\u8981\u81f3\u5c11\u4e24\u4e2a\u96f7\u8fbe\u4f20\u611f\u5668\u6765\u89c2\u5bdf\u540c\u4e00\u7269\u4f53\u3002\u7136\u540e\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u4e0a\u5f0f\u8f6c\u5316\u4e3a\u7ebf\u6027\u5f62\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/80\/v2-49db091ca3ee3c350d38d2f342ff3e05_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5176\u4e2d\u4e0b\u6807j\u8868\u793a\u7b2cj\u4e2a\u96f7\u8fbe\u3002\u7c7b\u4f3c\u5730\uff0cRANSAC \u548c ODR \u53ef\u7528\u4e8e\u627e\u5230 ICR \u89d2\u901f\u5ea6\u548c\u4f4d\u7f6e\u7684\u65e0\u504f\u89e3\u3002\u5bf9\u4e8e\u5355\u4e2a\u96f7\u8fbe\u8bbe\u7f6e\uff0c\u5982\u679c\u6211\u4eec\u80fd\u591f\u6b63\u786e\u4f30\u8ba1\u8f66\u8f86\u5f62\u72b6\uff0c\u4e5f\u53ef\u4ee5\u5bfc\u51fa\u4e0a\u5f0f\u7684\u552f\u4e00\u89e3\u3002\u6839\u636e<a href=\"https:\/\/www.zhihu.com\/search?q=%E9%98%BF%E5%85%8B%E6%9B%BC%E8%BD%AC%E5%90%91%E5%87%A0%E4%BD%95&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u963f\u514b\u66fc\u8f6c\u5411\u51e0\u4f55<\/a><\/p>\n\n\n\n<p>\uff0cICR\u7684\u4f4d\u7f6e\u5e94\u4f4d\u4e8e\u4ece\u540e\u8f74\u5ef6\u4f38\u7684\u7ebf\u4e0a\u3002\u901a\u8fc7\u5c06\u6b64\u7ea6\u675f\u6dfb\u52a0\u5230\u4e0a\u5f0f\uff0c\u53ef\u4ee5\u4ee5\u5c01\u95ed\u5f62\u5f0f\u786e\u5b9a\u5168\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>\u4e0a\u8ff0\u65b9\u6cd5\u5728\u521a\u6027\u8fd0\u52a8\u7684\u5047\u8bbe\u4e0b\u9884\u6d4b\u7269\u4f53\u7ea7\u522b\u7684\u901f\u5ea6\u3002\u7136\u800c\uff0c\u7269\u4f53\u90e8\u5206\u7684\u5fae\u8fd0\u52a8\uff0c\u4f8b\u5982\u884c\u4eba\u6446\u52a8\u624b\u81c2\uff0c\u5bf9\u4e8e\u5206\u7c7b\u4e5f\u5f88\u6709\u7528\uff0c\u6355\u83b7\u8fd9\u4e9b\u975e\u521a\u6027\u8fd0\u52a8\u9700\u8981\u70b9\u7ea7\u522b\u7684\u901f\u5ea6\u4f30\u8ba1\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u4e0e\u5176\u4ed6\u6a21\u5f0f\u878d\u5408\u6216\u4f7f\u7528\u76f8\u90bb\u96f7\u8fbe\u5e27\u4e4b\u95f4\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u6765\u5b9e\u73b0\u3002\u901a\u8fc7\u96f7\u8fbe\u548c\u6444\u50cf\u673a\u7684\u878d\u5408\u4f30\u8ba1\u9010\u70b9\u901f\u5ea6\u3002\u9996\u5148\u901a\u8fc7\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\u4f30\u8ba1\u4e86\u5bc6\u96c6\u7684\u5168\u5c40\u5149\u6d41\u4ee5\u53ca\u96f7\u8fbe\u70b9\u4e0e\u56fe\u50cf\u50cf\u7d20\u4e4b\u95f4\u7684\u5173\u8054\u3002\u63a5\u4e0b\u6765\uff0c\u6839\u636e\u5149\u6d41\u548c\u591a\u666e\u52d2\u901f\u5ea6\u4e4b\u95f4\u7684\u51e0\u4f55\u5173\u7cfb\u63a8\u5bfc\u4e86\u5c01\u95ed\u5f0f\u5168\u901f\u5ea6\u3002\u5728\u81ea\u76d1\u7763\u5b66\u4e60\u6846\u67b6\u4e2d\u4f30\u8ba1\u4e86 4D \u96f7\u8fbe\u70b9\u4e91\u7684\u573a\u666f\u6d41\u3002\u573a\u666f\u6d41\u662f\u4e00\u4e2a3D\u8fd0\u52a8\u573a\uff0c\u53ef\u4ee5\u7c97\u7565\u5730\u8ba4\u4e3a\u662f\u7ebf\u6027\u901f\u5ea6\u573a\u3002\u6a21\u578b\u7531\u4e24\u4e2a\u6b65\u9aa4\u7ec4\u6210\uff1a\u6d41\u91cf\u4f30\u8ba1\u548c\u9759\u6001\u6d41\u91cf\u7ec6\u5316\u3002\u5728\u6d41\u91cf\u4f30\u8ba1\u6b65\u9aa4\u4e2d\uff0c\u91c7\u7528\u4e86\u4e0ePointPWCNet \u7c7b\u4f3c\u7684\u7ed3\u6784\u3002\u4e3a\u4e86\u8865\u507f\u5e27\u4e4b\u95f4\u68c0\u6d4b\u7684\u4f4d\u7f6e\u968f\u673a\u6027\uff0c\u4f7f\u7528\u6210\u672c-\u4f53\u79ef\u5c42\u6765\u5b9e\u73b0\u8865\u4e01\u5230\u8865\u4e01\u7684\u76f8\u5173\u6027\u3002\u7136\u540e\uff0c\u5c06\u7279\u5f81\u548c\u76f8\u5173\u56fe\u53d1\u9001\u5230\u89e3\u7801\u5668\u7f51\u7edc\u8fdb\u884c\u6d41\u56de\u5f52\u3002\u5728\u9759\u6001\u6d41\u7ec6\u5316\u6b65\u9aa4\u4e2d\uff0c\u5047\u8bbe\u5927\u591a\u6570\u96f7\u8fbe\u68c0\u6d4b\u662f\u9759\u6001\u7684\uff0c\u53ef\u4ee5\u4f7f\u7528 Kabsch \u7b97\u6cd5\u6765\u7a33\u5065\u5730\u4f30\u8ba1\u81ea\u8f66\u8fd0\u52a8\u3002\u7136\u540e\uff0c\u6839\u636e\u7c97\u7565\u7684\u81ea\u8f66\u8fd0\u52a8\u8fc7\u6ee4\u6389\u79fb\u52a8\u7269\u4f53\uff0c\u5e76\u518d\u6b21\u5c06\u5361\u5e03\u4ec0\u7b97\u6cd5\u5e94\u7528\u4e8e\u6240\u6709\u9759\u6001\u70b9\uff0c\u4ee5\u8fdb\u884c\u7ec6\u7c92\u5ea6\u7684\u81ea\u8f66\u8fd0\u52a8\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p>\u81ea\u76d1\u7763\u635f\u5931\u7531\u4e09\u90e8\u5206\u7ec4\u6210\uff1a<\/p>\n\n\n\n<p>1\uff09<strong>\u5f84\u5411\u4f4d\u79fb\u635f\u5931\uff1a<\/strong>\u7528\u4e8e\u60e9\u7f5a\u6cbf\u5f84\u5411\u8f74\u6295\u5f71\u7684\u4f30\u8ba1\u901f\u5ea6\u4e0e\u6d4b\u91cf\u7684\u591a\u666e\u52d2\u901f\u5ea6\u4e4b\u95f4\u7684\u8bef\u5dee\uff1b2\uff09<strong>\u8f6f\u5207\u89d2\u8ddd\u79bb\u635f\u5931\uff1a<\/strong>\u7528\u4e8e\u9f13\u52b1\u4e24\u4e2a\u8fde\u7eed\u70b9\u4e91\u4e4b\u95f4\u7684\u65f6\u95f4\u4e00\u81f4\u6027\uff1b3\uff09<strong>\u8f6f\u7a7a\u95f4\u5e73\u6ed1\u5ea6\u635f\u5931\uff1a<\/strong>\u7528\u4e8e\u4fc3\u8fdb\u4f30\u8ba1\u901f\u5ea6\u4e0e\u5176\u9886\u57df\u7a7a\u95f4\u7684\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u635f\u5931\u7684\u8ba1\u7b97\u53ef\u7528\u4e8e\u5bf9\u96f7\u8fbe\u70b9\u4e91\u7684\u7a7a\u95f4\u7a00\u758f\u6027\u548c\u65f6\u95f4\u968f\u673a\u6027\u8fdb\u884c\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/80\/v2-388f837f05e993bd5b2a59560c1112ff_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>Radar\u76ee\u6807\u68c0\u6d4b<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8e\u5206\u8fa8\u7387\u8f83\u4f4e\uff0c\u7ecf\u5178\u96f7\u8fbe\u68c0\u6d4b\u7b97\u6cd5\u7684\u5206\u7c7b\u80fd\u529b\u6709\u9650\u3002\u8fd1\u5e74\u6765\uff0c\u6c7d\u8f66\u96f7\u8fbe\u7684\u6027\u80fd\u6709\u4e86\u5f88\u5927\u7684\u63d0\u9ad8\u3002\u5728\u786c\u4ef6\u5c42\u9762\uff0c\u4e0b\u4e00\u4ee3\u6210\u50cf\u96f7\u8fbe\u53ef\u4ee5\u8f93\u51fa\u9ad8\u5206\u8fa8\u7387\u70b9\u4e91\u3002\u5728\u7b97\u6cd5\u5c42\u9762\uff0c\u795e\u7ecf\u7f51\u7edc\u663e\u793a\u51fa\u4e86\u4ece\u6570\u636e\u96c6\u4e2d\u5b66\u4e60\u66f4\u597d\u7279\u5f81\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u8003\u8651\u96f7\u8fbe\u68c0\u6d4b\u7684\u66f4\u5e7f\u6cdb\u5b9a\u4e49\uff0c\u5305\u62ec\u9010\u70b9\u68c0\u6d4b\u30012D\/3D \u8fb9\u754c\u6846\u68c0\u6d4b\u548c\u5b9e\u4f8b\u5206\u5272\u3002\u9996\u5148\uff0c\u4ecb\u7ecd\u7ecf\u5178\u7684\u68c0\u6d4b\u7ba1\u9053\u4ee5\u53ca\u6700\u8fd1\u5728\u805a\u7c7b\u548c\u7279\u5f81\u9009\u62e9\u65b9\u9762\u7684\u6539\u8fdb\u3002\u5982\u56fe 10 \u6240\u793a\uff0c\u795e\u7ecf\u7f51\u7edc\u53ef\u4ee5\u5e94\u7528\u4e8e\u7ecf\u5178\u6d41\u7a0b\u4e2d\u7684\u4e0d\u540c\u9636\u6bb5\u3002\u6839\u636e\u8f93\u5165\u6570\u636e\u7ed3\u6784\uff0c\u5c06\u6df1\u5ea6\u96f7\u8fbe\u68c0\u6d4b\u5206\u4e3a\u57fa\u4e8e\u70b9\u4e91\u548c\u57fa\u4e8e\u9884CFAR\u3002\u96f7\u8fbe\u70b9\u4e91\u548c\u9884CFAR\uff08Constant False Alarm Rate\uff09\u6570\u636e\u5206\u522b\u4e0e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u548c\u89c6\u89c9\u56fe\u50cf\u7c7b\u4f3c\u3002\u56e0\u6b64\uff0c\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u4efb\u52a1\u7684\u67b6\u6784\u53ef\u4ee5\u9002\u7528\u4e8e\u96f7\u8fbe\u68c0\u6d4b\u3002\u91cd\u70b9\u5173\u6ce8\u5982\u4f55\u5c06\u96f7\u8fbe\u9886\u57df\u7684\u77e5\u8bc6\u6574\u5408\u5230\u8fd9\u4e9b\u7f51\u7edc\u4e2d\u4ee5\u89e3\u51b3\u4f4e\u4fe1\u566a\u6bd4\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/80\/v2-cc45d50803ac5cbfcb039c25b4a6afe2_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe5 \u96f7\u8fbe\u68c0\u6d4b\u6846\u67b6\u6982\u8ff0\uff1a\u84dd\u8272\u6846\u8868\u793a\u7ecf\u5178\u96f7\u8fbe\u68c0\u6d4b\u6a21\u5757\u3002\u6a59\u8272\u6846\u4ee3\u8868\u57fa\u4e8e\u4eba\u5de5\u667a\u80fd\u7684\u66ff\u4ee3\u3002<\/em><\/p>\n\n\n\n<p><strong>1. \u7ecf\u5178\u68c0\u6d4b\u6d41\u7a0b<\/strong><\/p>\n\n\n\n<p>\u5982\u4e0a\u56fe5\u6240\u793a\uff0c\u4f20\u7edf\u7684\u96f7\u8fbe\u68c0\u6d4b\u6d41\u7a0b\u7531\u56db\u4e2a\u6b65\u9aa4\u7ec4\u6210\uff1aCFAR\u68c0\u6d4b\u3001\u805a\u7c7b\u3001\u7279\u5f81\u63d0\u53d6\u548c\u5206\u7c7b\u3002\u9996\u5148\uff0c\u5e94\u7528 CFAR \u68c0\u6d4b\u5668\u6765\u68c0\u6d4b RD \u70ed\u56fe\u4e2d\u7684\u5cf0\u503c\u4f5c\u4e3a\u76ee\u6807\u5217\u8868\u3002\u7136\u540e\uff0c\u5c06\u8fd0\u52a8\u76ee\u6807\u6295\u5f71\u5230\u7b1b\u5361\u5c14\u5750\u6807\u5e76\u901a\u8fc7 DBSCAN \u8fdb\u884c\u805a\u7c7b\u3002\u9759\u6001\u76ee\u6807\u901a\u5e38\u5728\u805a\u7c7b\u4e4b\u524d\u88ab\u8fc7\u6ee4\u6389\uff0c\u56e0\u4e3a\u5b83\u4eec\u4e0e\u73af\u5883\u6742\u6ce2\u65e0\u6cd5\u533a\u5206\u3002\u5728\u6bcf\u4e2a\u96c6\u7fa4\u4e2d\uff0c\u63d0\u53d6\u624b\u5de5\u5236\u4f5c\u7684\u7279\u5f81\uff0c\u4f8b\u5982\u6d4b\u91cf\u7edf\u8ba1\u6570\u636e\u548c\u5f62\u72b6\u63cf\u8ff0\u7b26\uff0c\u5e76\u5c06\u5176\u53d1\u9001\u5230\u673a\u5668\u5b66\u4e60\u5206\u7c7b\u5668\u3002\u5f53\u7136\uff0c\u53ef\u4ee5\u5bf9\u8fd9\u56db\u4e2a\u6b65\u9aa4\u4e2d\u7684\u6bcf\u4e00\u4e2a\u8fdb\u884c\u6539\u8fdb\u3002CFAR\u901a\u5e38\u5728\u7247\u4e0aDSP\u4e2d\u6267\u884c\uff0c\u56e0\u6b64\u65b9\u6cd5\u7684\u9009\u62e9\u53d7\u5230\u786c\u4ef6\u652f\u6301\u7684\u9650\u5236\u3002\u5355\u5143\u5e73\u5747\uff08CA\uff09CFAR \u56e0\u5176\u6548\u7387\u800c\u88ab\u5e7f\u6cdb\u4f7f\u7528\u3002\u5b83\u5c06\u566a\u58f0\u4f30\u8ba1\u4e3a CFAR \u7a97\u53e3\u5185\u88ab\u6d4b\u5c0f\u533a (CUT) \u5468\u56f4\u76f8\u90bb\u5c0f\u533a\u7684\u5e73\u5747\u529f\u7387\uff0c\u901a\u8fc7\u8bbe\u7f6e\u9608\u503c\u4ee5\u5b9e\u73b0<a href=\"https:\/\/www.zhihu.com\/search?q=%E7%91%9E%E5%88%A9%E5%88%86%E5%B8%83&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u745e\u5229\u5206\u5e03<\/a><\/p>\n\n\n\n<p>\u566a\u58f0\u7684\u6052\u5b9a\u8bef\u62a5\u7387\u3002<\/p>\n\n\n\n<p>\u4e0b\u4e00\u4ee3\u9ad8\u5206\u8fa8\u7387\u96f7\u8fbe\u82af\u7247\u8fd8\u652f\u6301\u9636\u6b21\u7edf\u8ba1\uff08OS\uff09CFAR\u3002\u6839\u636e\u63a5\u6536\u529f\u7387\u5bf9CUT\u5468\u56f4\u7684\u76f8\u90bb\u5c0f\u533a\u8fdb\u884c\u6392\u5e8f\uff0c\u5e76\u9009\u62e9\u7b2ck\u4e2a\u5c0f\u533a\u6765\u8868\u793a\u566a\u58f0\u503c\u3002OS-CFAR\u5728\u533a\u5206\u8fd1\u8ddd\u79bb\u76ee\u6807\u65b9\u9762\u5177\u6709\u4f18\u52bf\uff0c\u4f46\u5f15\u5165\u4e86\u7565\u5fae\u589e\u52a0\u7684\u8bef\u62a5\u7387\u548c\u989d\u5916\u7684\u8ba1\u7b97\u6210\u672c\u3002\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u53ef\u7528\u4e8e\u6539\u8fdb CFAR \u4e2d\u7684\u566a\u58f0\u4f30\u8ba1\u548c\u5cf0\u503c\u5206\u7c7b\u3002\u805a\u7c7b\u662f\u96f7\u8fbe\u68c0\u6d4b\u6d41\u7a0b\u4e2d\u6700\u91cd\u8981\u7684\u9636\u6bb5\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u4e0b\u4e00\u4ee3\u9ad8\u5206\u8fa8\u7387\u96f7\u8fbe\u3002DBSCAN\u53d7\u5230\u9752\u7750\u6709\u51e0\u4e2a\u539f\u56e0\uff1a\u4e0d\u9700\u8981\u9884\u5148\u6307\u5b9a\u7684\u7c07\u6570\u91cf\uff1b\u9002\u5408\u4efb\u610f\u5f62\u72b6\uff1b\u8fd0\u884c\u5f97\u5f88\u5feb\u3002\u4e00\u4e9b\u5de5\u4f5c\u901a\u8fc7\u660e\u786e\u8003\u8651\u96f7\u8fbe\u70b9\u4e91\u7684\u7279\u5f81\u6765\u6539\u8fdb DBSCAN\u3002\u57fa\u4e8e\u7f51\u683c\u7684 DBSCAN\u5efa\u8bae\u5728 RA\u7f51\u683c\u56fe\u4e2d\u5bf9\u96f7\u8fbe\u70b9\u8fdb\u884c\u805a\u7c7b\uff0c\u4ee5\u907f\u514d\u7b1b\u5361\u5c14\u5750\u6807\u4e2d\u4e0e\u8ddd\u79bb\u76f8\u5173\u7684\u5206\u8fa8\u7387\u53d8\u5316\u3002\u591a\u9636\u6bb5\u805a\u7c7b\u63d0\u51fa\u4e86\u4ece\u7c97\u5230\u7ec6\u7684\u4e24\u9636\u6bb5\u6846\u67b6\u6765\u51cf\u8f7b\u6742\u6ce2\u7684\u8d1f\u9762\u5f71\u54cd\u3002\u5b83\u57fa\u4e8e\u7b2c\u4e00\u9636\u6bb5\u4f30\u8ba1\u7684\u7c07\u7684\u901f\u5ea6\u548c\u7a7a\u95f4\u8f68\u8ff9\u5e94\u7528\u7b2c\u4e8c\u6b21\u7c07\u5408\u5e76\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u6c7d\u8f66\u96f7\u8fbe\u5206\u8fa8\u7387\u7684\u63d0\u9ad8\uff0c\u96f7\u8fbe\u76ee\u6807\u5206\u7c7b\u5df2\u6210\u4e3a\u7814\u7a76\u70ed\u70b9\u3002\u5bf9\u4e8e\u79fb\u52a8\u7269\u4f53\uff0c\u8f6e\u5b50\u548c\u624b\u81c2\u7b49\u79fb\u52a8\u90e8\u4ef6\u7684\u5fae\u591a\u666e\u52d2\u901f\u5ea6\u53ef\u7528\u4e8e\u5206\u7c7b\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u89c2\u5bdf\u8fd9\u4e9b\u5fae\u8fd0\u52a8\uff0c\u5e94\u7528\u77ed\u65f6\u5085\u91cc\u53f6\u53d8\u6362\uff08STFT\uff09\u6765\u63d0\u53d6\u591a\u666e\u52d2\u9891\u8c31\u56fe\u3002\u4e0d\u540c\u7c7b\u578b\u7684 VRU \u53ef\u4ee5\u6839\u636e\u5176\u5fae\u591a\u666e\u52d2\u7279\u5f81\u8fdb\u884c\u5206\u7c7b \u3002\u5bf9\u4e8e\u9759\u6001\u7269\u4f53\uff0c\u5efa\u8bae\u4f7f\u7528\u7edf\u8ba1RCS\u548c\u65f6\u57dfRCS\u4f5c\u4e3a\u8f66\u8f86\u548c\u884c\u4eba\u5206\u7c7b\u7684\u6709\u7528\u7279\u5f81\u3002\u4e00\u4e9b\u7814\u7a76\u4eba\u5458\u81f4\u529b\u4e8e\u5229\u7528\u5927\u91cf\u7279\u5f81\u6765\u5b9e\u73b0\u66f4\u597d\u7684\u5206\u7c7b\u3002\u4e5f\u6709\u7efc\u5408\u8003\u8651\u4e86 98 \u4e2a\u7279\u5f81\u7684\u5927\u96c6\u5408\uff0c\u5e76\u4f7f\u7528\u542f\u53d1\u5f0f\u5f15\u5bfc\u5411\u540e\u6d88\u9664\u8fdb\u884c\u7279\u5f81\u9009\u62e9\u3002\u53d1\u73b0\u8ddd\u79bb\u548c\u591a\u666e\u52d2\u7279\u5f81\u5bf9\u4e8e\u5206\u7c7b\u6700\u91cd\u8981\uff0c\u800c\u89d2\u5ea6\u548c\u5f62\u72b6\u7279\u5f81\u901a\u5e38\u88ab\u4e22\u5f03\uff0c\u53ef\u80fd\u662f\u56e0\u4e3a\u89d2\u5ea6\u5206\u8fa8\u7387\u4f4e\u3002<\/p>\n\n\n\n<p><strong>2. \u70b9\u4e91\u68c0\u6d4b\u5668<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u7269\u4f53\u68c0\u6d4b\u5668\u6709\u671b\u53d6\u4ee3\u57fa\u4e8e\u4f20\u7edf\u624b\u52a8\u5236\u4f5c\u7279\u5f81\u7684Pipeline\u7ba1\u9053\u3002\u7136\u800c\uff0c<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%8D%B7%E7%A7%AF%E7%A5%9E%E7%BB%8F%E7%BD%91%E7%BB%9C&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u5377\u79ef\u795e\u7ecf\u7f51\u7edc<\/a><\/p>\n\n\n\n<p>\u5bf9\u4e8e\u7a00\u758f\u6570\u636e\u7ed3\u6784\u7684\u8bbe\u8ba1\u5e76\u4e0d\u597d\u3002\u4e3a\u4e86\u83b7\u5f97\u66f4\u597d\u7684\u6027\u80fd\uff0c\u6709\u5fc5\u8981\u589e\u52a0\u96f7\u8fbe\u70b9\u4e91\u7684\u8f93\u5165\u5bc6\u5ea6\u3002\u901a\u8fc7\u5c06\u96f7\u8fbe\u70b9\u7d2f\u79ef\u5230\u5360\u7528\u7f51\u683c\u6620\u5c04\uff08OGM\uff09\u4e2d\uff0c\u7136\u540e\u5e94\u7528 YOLOv3\u8fdb\u884c\u5bf9\u8c61\u68c0\u6d4b\u3002\u5229\u7528\u70b9\u4e91\u5206\u5272\u7f51\u7edc\uff0c\u4f8b\u5982 PointNet\u548c PointNet++\uff0c\u7136\u540e\u662f\u7528\u4e8e 2D \u96f7\u8fbe\u68c0\u6d4b\u7684\u8fb9\u754c\u6846\u56de\u5f52\u6a21\u5757\u3002\u539f\u59cb 3D \u70b9\u4e91\u8f93\u5165\u88ab 4D \u96f7\u8fbe\u70b9\u4e91\u53d6\u4ee3\uff0c\u8be5\u70b9\u4e91\u5177\u6709 x-y \u5e73\u9762\u4e2d\u7684\u4e24\u4e2a\u7a7a\u95f4\u5750\u6807\u3001\u591a\u666e\u52d2\u901f\u5ea6\u548c RCS\u3002\u53e6\u5916\uff0c\u901a\u8fc7\u6bd4\u8f83\u4e24\u9636\u6bb5\u805a\u7c7b\u65b9\u6cd5\u3001\u57fa\u4e8e OGM \u7684\u65b9\u6cd5\u548c\u57fa\u4e8e PointNet \u7684\u65b9\u6cd5\u5728 2D \u68c0\u6d4b\u65b9\u9762\u7684\u6027\u80fd\u3002\u57fa\u4e8e OGM \u7684\u65b9\u6cd5\u6027\u80fd\u6700\u597d\uff0c\u800c\u53ef\u80fd\u662f\u7531\u4e8e\u7a00\u758f\u6027\uff0c\u57fa\u4e8e PointNet \u7684\u65b9\u6cd5\u6027\u80fd\u6bd4\u5176\u4ed6\u65b9\u6cd5\u5dee\u5f97\u591a\u3002\u53e6\u5916\uff0c\u5408\u5e76\u5168\u5c40\u4fe1\u606f\u53ef\u4ee5\u5e2e\u52a9\u89e3\u51b3\u96f7\u8fbe\u70b9\u4e91\u7684\u7a00\u758f\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u5728 PointNet++ \u4e2d\u7684\u6bcf\u4e2a\u96c6\u5408\u62bd\u8c61\u5c42\u4e2d\u6dfb\u52a0\u4e86\u4e00\u4e2a gMLP\u5757\u3002gMLP \u6a21\u5757\u6709\u671b\u4ee5\u53ef\u627f\u53d7\u7684\u8ba1\u7b97\u6210\u672c\u63d0\u53d6\u5168\u5c40\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u5927\u591a\u6570\u96f7\u8fbe\u68c0\u6d4b\u65b9\u6cd5\u4ec5\u9002\u7528\u4e8e\u79fb\u52a8\u76ee\u6807\uff0c\u56e0\u4e3a\u9759\u6001\u7269\u4f53\u7531\u4e8e\u89d2\u5206\u8fa8\u7387\u4f4e\u800c\u96be\u4ee5\u5206\u7c7b\u3002\u57fa\u4e8e\u4e00\u79cd\u573a\u666f\u7406\u89e3\u6846\u67b6\u53ef\u4ee5\u540c\u65f6\u68c0\u6d4b\u9759\u6001\u548c\u52a8\u6001\u5bf9\u8c61\u3002\u5bf9\u4e8e\u9759\u6001\u5bf9\u8c61\uff0c\u9996\u5148\u901a\u8fc7\u591a\u5e27\u7684\u65f6\u95f4\u6574\u5408\u6784\u5efaRCS\u76f4\u65b9\u56fe\u7f51\u683c\u56fe\uff0c\u5e76\u5c06\u5176\u53d1\u9001\u5230\u5168\u5377\u79ef\u7f51\u7edc\uff08FCN\uff09\u8fdb\u884c\u8bed\u4e49\u5206\u5272\u3002\u5bf9\u4e8e\u52a8\u6001\u7269\u4f53\uff0c\u91c7\u7528\u4e86\u4e24\u5206\u652f\u5faa\u73af\u67b6\u6784\uff1a\u4e00\u662f\u70b9\u7279\u5f81\u751f\u6210\u6a21\u5757\uff0c\u5b83\u4f7f\u7528PointNet ++\u4ece\u8f93\u5165\u70b9\u4e91\u4e2d\u63d0\u53d6\u7279\u5f81\u3002\u53e6\u4e00\u4e2a\u662f\u8bb0\u5fc6\u62bd\u8c61\u6a21\u5757\uff0c\u5b83\u4ece\u8bb0\u5fc6\u70b9\u4e91\u4e2d\u7684\u65f6\u95f4\u9886\u57df\u5b66\u4e60\u65f6\u95f4\u7279\u5f81\u3002\u5f97\u5230\u7684\u7279\u5f81\u88ab\u8fde\u63a5\u5728\u4e00\u8d77\u5e76\u53d1\u9001\u5230\u5b9e\u4f8b\u5206\u5272\u5934\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u4e00\u4e2a\u5185\u5b58\u66f4\u65b0\u6a21\u5757\u6765\u5c06\u76ee\u6807\u96c6\u6210\u5230\u5b58\u50a8\u7684\u70b9\u4e91\u4e2d\u3002\u6700\u540e\uff0c\u9759\u6001\u548c\u52a8\u6001\u70b9\u88ab\u7ec4\u5408\u6210\u5355\u4e2a\u8bed\u4e49\u70b9\u4e91\u3002\u6240\u63d0\u51fa\u7684\u6846\u67b6\u53ef\u4ee5\u6210\u529f\u68c0\u6d4b\u6c7d\u8f66\u548c\u884c\u4eba\u7b49\u79fb\u52a8\u76ee\u6807\uff0c\u4ee5\u53ca\u505c\u653e\u7684\u6c7d\u8f66\u3001\u57fa\u7840\u8bbe\u65bd\u3001\u7535\u7ebf\u6746\u548c\u690d\u88ab\u7b49\u9759\u6001\u76ee\u6807\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u79cd\u88ab\u79f0\u4e4b\u4e3aRPFA-Net\u7684\u65b9\u6cd5\u662f\u901a\u8fc7\u5f15\u5165\u96f7\u8fbe\u652f\u67f1\u7279\u5f81\u6ce8\u610f\u529b\uff08PFA\uff09\u6a21\u5757\u6765\u6539\u8fdb PointPillars\uff0c\u5b83\u662f\u5229\u7528\u81ea\u6ce8\u610f\u529b\u4ece\u652f\u67f1\u4e2d\u63d0\u53d6\u5168\u5c40\u4e0a\u4e0b\u6587\u7279\u5f81\u3002\u7136\u540e\uff0c\u5168\u5c40\u7279\u5f81\u4e0e\u539f\u59cb\u7279\u5f81\u56fe\u505a\u6b8b\u5dee\u8fde\u63a5\uff0c\u5e76\u53d1\u9001\u5230\u57fa\u4e8eCNN \u7684\u68c0\u6d4b\u7f51\u7edc\u3002\u5176\u80cc\u540e\u7684\u60f3\u6cd5\u662f\u63a2\u7d22\u5bf9\u8c61\u4e4b\u95f4\u7684\u5168\u5c40\u5173\u7cfb\uff0c\u4ee5\u66f4\u597d\u5730\u4f30\u8ba1\u822a\u5411\u89d2\u3002\u4e8b\u5b9e\u4e0a\uff0c\u81ea\u6ce8\u610f\u529b\u57fa\u672c\u4e0a\u662f\u4e00\u4e2a\u96c6\u5408\u7b97\u5b50\uff0c\u975e\u5e38\u9002\u5408\u7a00\u758f\u70b9\u4e91\u3002Radar transformer\u662f\u4e00\u4e2a\u5b8c\u5168\u7531\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u6784\u5efa\u7684\u5206\u7c7b\u7f51\u7edc\u30024D \u96f7\u8fbe\u70b9\u4e91\u9996\u5148\u53d1\u9001\u5230 MLP \u7f51\u7edc\u8fdb\u884c\u8f93\u5165\u5d4c\u5165\u3002\u4ee5\u4e0b\u7279\u5f81\u63d0\u53d6\u7f51\u7edc\u7531\u5c40\u90e8\u7279\u5f81\u5206\u652f\u548c\u5168\u5c40\u7279\u5f81\u5206\u652f\u4e24\u4e2a\u5206\u652f\u7ec4\u6210\u3002\u5728\u5c40\u90e8\u7279\u5f81\u5206\u652f\u4e2d\uff0c\u5b83\u4f7f\u7528\u4e09\u4e2a\u5806\u53e0\u96c6\u62bd\u8c61\u6a21\u5757\u548c\u5411\u91cf\u6ce8\u610f\u6a21\u5757\u6765\u63d0\u53d6\u5206\u5c42\u5c40\u90e8\u7279\u5f81\u3002\u5728\u5168\u5c40\u7279\u5f81\u5206\u652f\u4e2d\uff0c\u6bcf\u4e2a\u5c42\u6b21\u63d0\u53d6\u7684\u5c40\u90e8\u7279\u5f81\u4e0e\u524d\u4e00\u4e2a\u5c42\u6b21\u7684\u5168\u5c40\u7279\u5f81\u56fe\u8fde\u63a5\u8d77\u6765\uff0c\u5e76\u8f93\u5165\u5230\u5411\u91cf\u6ce8\u610f\u6a21\u5757\u4e2d\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u3002\u5728\u6700\u540e\u4e00\u4e2a\u5c42\u6b21\u4e2d\uff0c\u6807\u91cf\u6ce8\u610f\u529b\uff0c\u5373\u4f20\u7edf\u7684\u81ea\u6ce8\u610f\u529b\uff0c\u53ef\u7528\u4e8e\u7279\u5f81\u96c6\u6210\u540e\uff0c\u7279\u5f81\u56fe\u88ab\u53d1\u9001\u5230\u5206\u7c7b\u5934\u3002<\/p>\n\n\n\n<p><strong>3. \u9884CFAR\uff08Constant False Alarm Rate\uff09\u63a2\u6d4b\u5668<\/strong><\/p>\n\n\n\n<p>\u4eba\u4eec\u5c1d\u8bd5\u63a2\u7d22\u9884 CFAR \u6570\u636e\u7528\u4e8e\u68c0\u6d4b\u7684\u6f5c\u529b\u3002\u96f7\u8fbe\u9884 CFAR \u6570\u636e\u7f16\u7801\u4e86\u76ee\u6807\u548c\u80cc\u666f\u7684\u4e30\u5bcc\u4fe1\u606f\uff0c\u795e\u7ecf\u7f51\u7edc\u6709\u671b\u66f4\u597d\u5730\u5229\u7528\u8fd9\u4e9b\u4fe1\u606f\u3002\u4e00\u79cd\u9009\u62e9\u662f\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u6765\u4ee3\u66ff CFAR \u6216 DOA \u4f30\u8ba1\u3002\u6216\u8005\uff0c\u4e5f\u6709\u4e00\u4e9b\u52aa\u529b\u901a\u8fc7\u795e\u7ecf\u7f51\u7edc\u6267\u884c\u7aef\u5230\u7aef\u68c0\u6d4b\u3002\u6df1\u5ea6\u96f7\u8fbe\u63a2\u6d4b\u5668\u8054\u5408\u8bad\u7ec3\u4e24\u4e2a\u7ea7\u8054\u7f51\u7edc\uff0c\u5206\u522b\u7528\u4e8eCFAR\u548cDOA\u4f30\u8ba1\u3002\u4f7f\u7528\u5806\u53e0\u7684\u590d\u6742 RD \u56fe\u4f5c\u4e3a FCN \u7684\u8f93\u5165\u8fdb\u884c 3D \u68c0\u6d4b\u3002\u4e3a\u4e86\u6d88\u9664\u540c\u76f8\u76f4\u6d41\u5206\u91cf\uff0c\u4f7f\u7528\u7b2c\u4e00\u4e2a\u63a5\u6536\u5668\u4e2d\u7684 RD \u5355\u5143\u4f5c\u4e3a\u6807\u51c6\u5316\u5668\u6765\u6267\u884c\u76f8\u4f4d\u6807\u51c6\u5316\uff0c\u9636\u6bb5\u6807\u51c6\u5316\u5bf9\u4e8e\u6210\u529f\u7684\u8bad\u7ec3\u81f3\u5173\u91cd\u8981\u3002\u5728 DDM \u914d\u7f6e\u4e2d\uff0c\u5982\u4e0b\u56fe 6 \u6240\u793a\u8bbe\u8ba1\u4e86\u4e00\u4e2aDDM-MIMO\u7f16\u7801\u5668\uff0c\u4ee5\u590d\u6742\u7684RD\u56fe\u4f5c\u4e3a\u8f93\u5165\u3002\u6240\u6709 Tx \u5929\u7ebf\u540c\u65f6\u53d1\u5c04\u4fe1\u53f7\uff0c\u6ca1\u6709\u6267\u884c\u6ce2\u5f62\u5206\u79bb\uff0c\u800c\u662f\u76f4\u63a5\u5bf9 Rx \u5929\u7ebf\u63a5\u6536\u5230\u7684 ADC \u4fe1\u53f7\u5e94\u7528\u8ddd\u79bb FFT \u548c\u591a\u666e\u52d2 FFT\u3002\u8fd9\u6837\uff0c\u4ece\u4e0d\u540c\u7684 Tx \u5929\u7ebf\u68c0\u6d4b\u5230\u7684\u76ee\u6807\u5e94\u8be5\u5728 RA \u56fe\u4e2d\u4ee5\u56fa\u5b9a\u7684<a href=\"https:\/\/www.zhihu.com\/search?q=%E5%A4%9A%E6%99%AE%E5%8B%92%E9%A2%91%E7%A7%BB&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u666e\u52d2\u9891\u79fb<\/a><\/p>\n\n\n\n<p>\u5206\u522b\u5b9a\u4f4d\u3002\u4e3a\u4e86\u63d0\u53d6\u8fd9\u4e9b\u7279\u5f81\uff0c\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4e24\u5c42 MIMO \u7f16\u7801\u5668\uff0c\u5176\u4e2d\u5305\u62ec\u4e00\u4e2a\u7528\u4e8e\u5206\u79bb Tx \u901a\u9053\u7684\u6269\u5f20\u5377\u79ef\u5c42\uff0c\u4ee5\u53ca\u4e00\u4e2a\u7528\u4e8e\u6df7\u5408\u4fe1\u606f\u7684\u5377\u79ef\u5c42\u3002\u8be5 MIMO \u7f16\u7801\u5668\u4e0e\u4ee5\u4e0b RA \u7f16\u7801\u5668\u3001\u68c0\u6d4b\u5934\u548c\u5206\u6bb5\u5934\u8054\u5408\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/80\/v2-5f39f48e96dae27602907201cd9f605e_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><em>\u56fe6 \u96f7\u8fbe\u6570\u636e\u589e\u5f3a\u6280\u672f<\/em><\/p>\n\n\n\n<p>\u5982\u4e0a\u56fe\u6240\u793a\uff0c\u96f7\u8fbe\u6d4b\u91cf\u7684\u591a\u666e\u52d2\u901f\u5ea6\u662f\u6807\u91cf\uff0c\u56e0\u6b64\u96f7\u8fbe\u63a2\u6d4b\u7684\u5c40\u90e8\u65cb\u8f6c\u4f1a\u5bfc\u81f4\u591a\u666e\u52d2\u901f\u5ea6\u4e0e\u771f\u5b9e\u901f\u5ea6\u4e4b\u95f4\u7684\u504f\u5dee\uff0c\u800c\u5168\u5c40\u5e73\u79fb\u548c\u65cb\u8f6c\u4e0d\u4f1a\u51fa\u73b0\u8fd9\u79cd\u9519\u4f4d\u3002\u5728\u589e\u5f3a\u96f7\u8fbeRA\u56fe\u65f6\uff0c\u9700\u8981\u5bf9\u80cc\u666f\u533a\u57df\u8fdb\u884c\u63d2\u503c\u5e76\u8865\u507f\u63a2\u6d4b\u5f3a\u5ea6\u3002<\/p>\n\n\n\n<p>\u5728\u9700\u8981\u5927\u5e26\u5bbd\u548c\u9ad8\u5206\u8fa8\u7387\u7684\u8fd1\u573a\u5e94\u7528\u4e2d\uff0cRD \u5730\u56fe\u4e0d\u9002\u5408\uff0c\u56e0\u4e3a\u6269\u5c55\u7684\u591a\u666e\u52d2\u8f6e\u5ed3\u53ef\u80fd\u5bfc\u81f4\u8bef\u62a5\uff0c\u800cRA \u5730\u56fe\u5219\u6ca1\u6709\u9047\u5230\u540c\u6837\u7684\u95ee\u9898\u3002\u5bf9\u4e8eRA\u56fe\u4e0a\u7684\u6bcf\u4e2a\u68c0\u6d4b\u70b9\uff0c\u53ef\u4ee5\u5229\u7528\u6162\u65f6\u95f4\u7684\u5fae\u591a\u666e\u52d2\u4fe1\u606f\u6765\u66f4\u597d\u5730\u5206\u7c7b\u3002RODNet\u4f7f\u7528\u590d\u6742\u7684 RA \u5730\u56fe\u4f5c\u4e3a\u5bf9\u8c61\u68c0\u6d4b\u7684\u8f93\u5165\u3002\u5206\u522b\u6267\u884c\u8ddd\u79bb FFT\u548c\u89d2\u5ea6 FFT\uff0c\u4ee5\u83b7\u5f97\u6bcf\u4e2a\u91c7\u6837\u7684\u7ebf\u6027\u8c03\u9891\u8109\u51b2\u7684\u590d\u6742 RA \u56fe\u3002\u5728\u6ca1\u6709\u591a\u666e\u52d2\u7ef4\u5ea6\u7684\u60c5\u51b5\u4e0b\uff0c\u4ec5\u4f7f\u7528 RA \u56fe\u5f88\u96be\u533a\u5206\u9759\u6001\u6742\u6ce2\u548c\u8fd0\u52a8\u7269\u4f53\u3002\u4e3a\u4e86\u5229\u7528\u8fd0\u52a8\u4fe1\u606f\uff0c\u9700\u8981\u5bf9\u5e27\u5185\u7684\u4e00\u4e9b<a href=\"https:\/\/www.zhihu.com\/search?q=%E7%BA%BF%E6%80%A7%E8%B0%83%E9%A2%91%E4%BF%A1%E5%8F%B7&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u7ebf\u6027\u8c03\u9891\u4fe1\u53f7<\/a><\/p>\n\n\n\n<p>\u8fdb\u884c\u91c7\u6837\u3002\u7136\u540e\uff0c\u4e0e\u8fd9\u4e9b\u7ebf\u6027\u8c03\u9891\u8109\u51b2\u76f8\u5bf9\u5e94\u7684RA\u56fe\u5e8f\u5217\u88ab\u53d1\u9001\u5230\u65f6\u95f4\u5377\u79ef\u5c42\u3002\u4f7f\u7528\u6cbf\u7ebf\u6027\u8c03\u9891\u7ef4\u5ea6\u7684 1 \u00d7 1 \u5377\u79ef\u6765\u805a\u5408\u65f6\u95f4\u4fe1\u606f\u3002\u7136\u540e\uff0c\u4f7f\u7528 3D \u5377\u79ef\u5c42\u63d0\u53d6\u65f6\u95f4\u7279\u5f81\u3002\u6700\u540e\uff0c\u901a\u8fc7\u6700\u5927\u6c60\u5316\u6cbf\u7ebf\u6027\u8c03\u9891\u7ef4\u5ea6\u5408\u5e76\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u5f53\u7136\uff0c\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u5229\u7528\u590d\u6742 RA \u6216 RD \u56fe\u4e2d\u7684\u76f8\u4f4d\u4fe1\u606f\u662f\u4e00\u9879\u8270\u5de8\u7684\u4efb\u52a1\u3002\u4e00\u4e9b\u4eba\u5c1d\u8bd5\u4f7f\u7528\u5b9e\u503c RAD \u5f20\u91cf\u4f5c\u4e3a\u8f93\u5165\u3002\u4f7f\u7528 3D RAD \u5f20\u91cf\u4f5c\u4e3a\u8f93\u5165\u7684\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u662f<a href=\"https:\/\/www.zhihu.com\/search?q=%E7%BB%B4%E6%95%B0%E7%81%BE%E9%9A%BE&amp;search_source=Entity&amp;hybrid_search_source=Entity&amp;hybrid_search_extra=%7B%22sourceType%22%3A%22article%22%2C%22sourceId%22%3A717859459%7D\" target=\"_blank\" rel=\"noreferrer noopener\">\u7ef4\u6570\u707e\u96be<\/a><\/p>\n\n\n\n<p>\u3002\u56e0\u6b64\uff0c\u4eba\u4eec\u63d0\u51fa\u4e86\u8bb8\u591a\u6280\u672f\u6765\u964d\u4f4e 3D \u5f20\u91cf\u5904\u7406\u7684\u8ba1\u7b97\u6210\u672c\u3002\u6bd4\u5982RADDet\u5c06 RAD \u5f20\u91cf\u6807\u51c6\u5316\u5e76\u91cd\u5851\u4e3a\u7c7b\u4f3c\u56fe\u50cf\u7684\u6570\u636e\u7ed3\u6784\uff0c\u591a\u666e\u52d2\u7ef4\u5ea6\u88ab\u89c6\u4e3a 2D RA \u5730\u56fe\u7684\u901a\u9053\u3002\u7136\u540e\uff0c\u5c06YOLO\u5e94\u7528\u4e8eRA\u56fe\u4e0a\u8fdb\u884c\u7269\u4f53\u68c0\u6d4b\u3002\u6216\u8005\uff0c3D \u5377\u79ef\u53ef\u7528\u4e8e\u4ece 3D \u5f20\u91cf\u4e2d\u7684\u6240\u6709\u4e09\u4e2a\u7ef4\u5ea6\u63d0\u53d6\u7279\u5f81\uff0c\u4f46\u9700\u8981\u5de8\u5927\u7684\u8ba1\u7b97\u548c\u5185\u5b58\u5f00\u9500\u3002<\/p>\n\n\n\n<p>\u96f7\u8fbe\u9884 CFAR \u6570\u636e\u5728\u6781\u5750\u6807\u4e2d\u6355\u83b7\u3002\u5bf9\u4e8e\u76ee\u6807\u68c0\u6d4b\uff0c\u9700\u8981\u8fdb\u884c\u6781\u5750\u6807\u5230\u7b1b\u5361\u5c14\u53d8\u6362\u624d\u80fd\u83b7\u5f97\u6b63\u786e\u7684\u8fb9\u754c\u6846\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7\u6bd4\u8f83\u5750\u6807\u53d8\u6362\u7684\u4e09\u79cd\u914d\u7f6e\uff1a\u9884\u5904\u7406\u8f93\u5165\u53d8\u6362\u3001\u795e\u7ecf\u7f51\u7edc\u5b66\u4e60\u4ee5\u53ca\u4e2d\u95f4\u5c42\u7279\u5f81\u56fe\u4e0a\u7684\u53d8\u6362\u3002\u5bf9\u6700\u540e\u4e00\u5c42\u7279\u5f81\u56fe\u5e94\u7528\u663e\u5f0f\u6781\u5750\u6807\u5230\u7b1b\u5361\u5c14\u53d8\u6362\u53ef\u4ee5\u83b7\u5f97\u6700\u4f73\u6027\u80fd\uff0c\u57fa\u4e8e\u9690\u5f0f\u5b66\u4e60\u7684\u53d8\u6362\u7a0d\u5dee\uff0c\u9884\u5904\u7406\u53d8\u6362\u8fdc\u4e0d\u5982\u5176\u4ed6\u4e24\u79cd\u3002\u8fd9\u79cd\u7cdf\u7cd5\u7684\u6027\u80fd\u4e3b\u8981\u662f\u7531\u4e8e\u8f93\u5165\u4e2d\u65b9\u4f4d\u89d2\u65c1\u74e3\u7684\u626d\u66f2\u3002\u4e8b\u5b9e\u4e0a\uff0c\u4f20\u7edf\u7684\u4e8c\u7ef4\u5377\u79ef\u5e76\u4e0d\u662f\u96f7\u8fbe\u9884 CFAR \u6570\u636e\u7684\u6700\u4f73\u9009\u62e9\uff0c\u56e0\u4e3a\u8ddd\u79bb\u3001\u591a\u666e\u52d2\u548c\u65b9\u4f4d\u89d2\u7ef4\u5ea6\u7684\u52a8\u6001\u8303\u56f4\u548c\u5206\u8fa8\u7387\u5404\u4e0d\u76f8\u540c\u3002PolarNet\u4f7f\u7528\u4e24\u4e2a 1D \u5377\u79ef\u7684\u7ea7\u8054\uff0c\u800c\u4e0d\u662f2D \u5377\u79ef\uff0c\u5305\u62ec\u4e00\u4e2a\u5217\u5411\u5377\u79ef\u6765\u63d0\u53d6\u8303\u56f4\u76f8\u5173\u7684\u7279\u5f81\uff0c\u7136\u540e\u662f\u4e00\u4e2a\u884c\u5411\u5377\u79ef\u6765\u6df7\u5408\u6765\u81ea\u7a7a\u95f4\u9886\u57df\u7684\u4fe1\u606f\u3002\u8c37\u6b4c\u7684 RadarNet\u4f7f\u7528\u4e86\u7c7b\u4f3c\u7684\u60f3\u6cd5\u6765\u8fdb\u884c\u624b\u52bf\u8bc6\u522b\uff0c\u901a\u8fc7\u9996\u5148\u63d0\u53d6\u8303\u56f4\u7279\u5f81\uff0c\u7136\u540e\u5728\u540e\u671f\u5c06\u5b83\u4eec\u6c47\u603b\u5728\u4e00\u8d77\u3002<\/p>\n\n\n\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u7ed3\u5408\u65f6\u95f4\u4fe1\u606f\u662f\u63d0\u9ad8\u9884 CFAR \u68c0\u6d4b\u5668\u6027\u80fd\u7684\u6709\u6548\u65b9\u6cd5\uff0c\u6709\u591a\u79cd\u65b9\u6cd5\u53ef\u4ee5\u5c06\u65f6\u95f4\u4fe1\u606f\u6dfb\u52a0\u5230\u7f51\u7edc\u4e2d\uff0c\u6bd4\u5982\u4f7f\u7528\u5377\u79ef LSTM \u5c42\u6765\u5904\u7406\u6765\u81ea\u7f16\u7801\u5668\u7f51\u7edc\u7684\u4e00\u7cfb\u5217\u7279\u5f81\u56fe\u3002\u65f6\u95f4\u5c42\u53ef\u4ee5\u5b9e\u73b0\u66f4\u51c6\u786e\u7684\u68c0\u6d4b\u548c\u66f4\u597d\u7684\u901f\u5ea6\u4f30\u8ba1\u3002\u901a\u8fc7\u6bd4\u8f83\u5177\u6709\u7d2f\u79ef\u8f93\u5165\u7684\u9759\u6001\u6a21\u578b\u548c\u5177\u6709\u5806\u53e0\u8f93\u5165\u7684\u65f6\u95f4\u6a21\u578b\u4e4b\u95f4\u7684\u6027\u80fd\u3002\u5bf9\u4e8e\u9759\u6001\u6a21\u578b\uff0c\u4e09\u5e27\u5185\u7684 RAD \u5f20\u91cf\u88ab\u7d2f\u79ef\u6210\u4e00\u4e2a\u5f20\u91cf\uff0c\u5e76\u9988\u9001\u5230\u591a\u89c6\u56fe\u7f16\u7801\u5668-\u89e3\u7801\u5668\u8fdb\u884c\u5206\u5272\u3002\u5bf9\u4e8e\u65f6\u95f4\u6a21\u578b\uff0c\u5c06\u4e94\u5e27\u5185\u7684 RAD \u5f20\u91cf\u5806\u53e0\u8d77\u6765\u5f62\u6210 4D \u5f20\u91cf\uff0c\u7136\u540e\u53d1\u9001\u5230\u591a\u89c6\u56fe\u7f16\u7801\u5668-\u89e3\u7801\u5668\u3002\u5728\u6bcf\u4e2a\u5206\u652f\u4e2d\uff0c\u4f7f\u7528\u591a\u4e2a 3D \u5377\u79ef\u5c42\u6765\u5229\u7528\u65f6\u7a7a\u4fe1\u606f\uff0c\u56e0\u6b64\uff0c\u65f6\u95f4\u7ef4\u5ea6\u7684\u5f15\u5165\u53ef\u4ee5\u663e\u7740\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\u3002RODNet\u7814\u7a76\u5728\u7279\u5f81\u7ea7\u522b\u5806\u53e0\u591a\u4e2a\u5e27\uff0c\u5b83\u5c06\u63d0\u53d6\u7684\u6bcf\u5e27\u7279\u5f81\u8fde\u63a5\u8d77\u6765\u5e76\u5c06\u5176\u53d1\u9001\u5230 3D CNN \u5c42\u3002\u5bf9\u4e8e\u8fd0\u52a8\u8865\u507f\uff0c\u5728\u524d\u51e0\u5c42\u7684\u7ebf\u6027\u8c03\u9891\u7ef4\u5ea6\u4e0a\u5e94\u7528\u4e86\u53ef\u53d8\u5f62\u5377\u79ef\u3002\u6b64\u5916\uff0c\u5728\u540e\u9762\u7684\u5c42\u4e2d\u4f7f\u7528\u4e86\u5177\u6709\u4e0d\u540c\u65f6\u95f4\u957f\u5ea6\u7684\u521d\u59cb\u6a21\u5757\u3002\u5c3d\u7ba1\u5f15\u5165\u4e86\u989d\u5916\u7684\u8ba1\u7b97\u6210\u672c\uff0c\u4f46\u8fd9\u4e24\u4e2a\u65f6\u95f4\u6a21\u5757\u663e\u7740\u63d0\u9ad8\u4e86\u5e73\u5747\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u4e5f\u6709\u4f7f\u7528\u6ce8\u610f\u529b\u6a21\u5757\u4ece\u4e24\u4e2a\u8fde\u7eed\u5e27\u4e2d\u63d0\u53d6\u7684\u7279\u5f81\u4e4b\u95f4\u663e\u5f0f\u5730\u5efa\u6a21\u5176\u65f6\u95f4\u5173\u7cfb\u3002\u9996\u5148\uff0c\u4ee5\u4e24\u79cd\u987a\u5e8f\u5806\u53e0 RA \u5730\u56fe\uff0c\u5373\u5f53\u524d\u5e27\u5728\u9876\u90e8\uff0c\u524d\u4e00\u5e27\u5728\u9876\u90e8\u3002\u7136\u540e\uff0c\u4f7f\u7528\u4e24\u4e2a\u7f16\u7801\u5668\u4ece\u8fd9\u4e24\u4e2a\u8f93\u5165\u4e2d\u63d0\u53d6\u7279\u5f81\u5e76\u5c06\u8fd9\u4e9b\u7279\u5f81\u8fde\u63a5\u5728\u4e00\u8d77\uff0c\u8fdb\u4e00\u6b65\u6dfb\u52a0\u4f4d\u7f6e\u7f16\u7801\u4ee5\u8865\u507f\u4f4d\u7f6e\u4e0d\u7cbe\u786e\u3002\u63a5\u4e0b\u6765\uff0c\u8fd9\u4e9b\u7279\u5f81\u88ab\u53d1\u9001\u5230\u5c4f\u853d\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u8be5\u63a9\u6a21\u7528\u4e8e\u7981\u7528\u540c\u4e00\u5e27\u4e2d\u7684\u8de8\u5bf9\u8c61\u6ce8\u610f\u3002\u6700\u540e\uff0c\u65f6\u95f4\u589e\u5f3a\u7684\u7279\u5f81\u88ab\u53d1\u9001\u5230\u7f16\u7801\u5668\u4ee5\u8fdb\u884c\u5bf9\u8c61\u68c0\u6d4b\u3002\u8fd9\u79cd\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u65b9\u6cd5\u5728\u8bed\u4e49\u4e0a\u66f4\u5177\u53ef\u89e3\u91ca\u6027\uff0c\u5e76\u4e14\u907f\u514d\u4e86\u5377\u79ef\u5f15\u8d77\u7684\u5c40\u90e8\u6027\u7ea6\u675f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/80\/v2-8e985cbf40e0a69aef6d135fd8ba3fd5_720w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>\u96f7\u8fbe\u68c0\u6d4b\u662f\u672c\u6587\u7684\u4e3b\u8981\u5173\u6ce8\u70b9\u3002\u603b\u7ed3\u4e86\u6df1\u5ea6\u96f7\u8fbe\u611f\u77e5\u7684\u4e09\u4e2a\u6311\u6218\uff1a\u9996\u5148\uff0c\u5728\u76ee\u6807\u68c0\u6d4b\u4e2d\u9700\u8981\u660e\u786e\u8003\u8651\u591a\u5f84\u6548\u5e94\uff1b\u5176\u6b21\uff0c\u6211\u4eec\u9700\u8981\u7f13\u89e3\u96f7\u8fbe\u5206\u7c7b\u4e2d\u7684\u8fc7\u5ea6\u81ea\u4fe1\u95ee\u9898\u5e76\u4f30\u8ba1\u8fb9\u754c\u6846\u56de\u5f52\u7684\u4e0d\u786e\u5b9a\u6027\uff1b\u7b2c\u4e09\uff0c\u878d\u5408\u96f7\u8fbe\u67b6\u6784\u5e94\u5177\u6709\u81ea\u9002\u5e94\u673a\u5236\uff0c\u4ee5\u5145\u5206\u5229\u7528\u96f7\u8fbe\u7684\u5168\u5929\u5019\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u5c06\u6df1\u5ea6\u96f7\u8fbe\u68c0\u6d4b\u5668\u5206\u4e3a\u57fa\u4e8e\u70b9\u4e91\u7684\u548c\u57fa\u4e8e\u9884CFAR\u7684PointNet\u53d8\u4f53\u7f51\u7edc\u3002\u901a\u8fc7\u589e\u52a0\u7a7a\u95f4\u5bc6\u5ea6\u548c\u5229\u7528\u65f6\u95f4\u4fe1\u606f\uff0c\u5e76\u5229\u7528\u4e00\u4e9b\u65b0\u7684\u7b97\u5b50\uff0c\u5982\u6df1\u5ea6\u5377\u79ef\u3001\u6ce8\u610f\u529b\u548c\u56fe\u5377\u79ef\uff0c\u5c06\u591a\u89c6\u56fe\u7f16\u7801\u5668\u89e3\u7801\u5668\u5bf9\u96f7\u8fbe\u70b9\u4e91\u548c\u96f7\u8fbe\u5f20\u91cf\u7684\u8fdb\u884c\u9009\u62e9\uff0c\u5176\u53ef\u4ee5\u5b9e\u73b0\u663e\u7740\u7684\u6027\u80fd\u63d0\u5347\uff0c\u5e76\u53ef\u7528\u4e8e\u66f4\u5927\u7684\u611f\u53d7\u91ce\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u968f\u7740\u6700\u8fd1\u7684\u53d1\u5c55\uff0c\u6c7d\u8f66\u96f7\u8fbe\u7684\u6027\u80fd\u5df2\u663e\u7740\u63d0\u9ad8\u3002\u4e0b\u4e00 [&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-16265","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16265"}],"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=16265"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16265\/revisions"}],"predecessor-version":[{"id":16294,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16265\/revisions\/16294"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16265"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16265"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16265"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}