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Backbone \u7f51\u7edc\u548cRadar Cross Section\uff08RCS\uff09\u611f\u77e5\u7684BEV\u7f16\u7801\u5668\uff0c\u5c06\u7a00\u758f\u7684\u96f7\u8fbe\u70b9\u7f16\u7801\u4e3a\u5bc6\u96c6\u7684\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u7279\u5f81\u3002\u5176\u6b21\uff0cCAMF\u6a21\u5757\u5229\u7528\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\u5c06\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u7684BEV\u7279\u5f81\u5bf9\u9f50\uff0c\u5e76\u91c7\u7528\u901a\u9053\u548c\u7a7a\u95f4\u878d\u5408\u5c42\u6765\u878d\u5408\u8fd9\u4e9b\u591a\u6a21\u6001\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8RGEVDet\u7684\u6027\u80fd\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86RGEVDet++\uff0c\u8be5\u65b9\u6cd5\u5728\u7a00\u758f\u878d\u5408\u7684CAMF\u4e0a\u8fdb\u884c\u6539\u8fdb\uff0c\u652f\u6301\u57fa\u4e8e Query 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[6]\u3002\u6b64\u5916\uff0c4D\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6280\u672f\u7684\u8fdb\u6b65\u9010\u6e10\u514b\u670d\u4e86\u7a00\u758f\u96f7\u8fbe\u70b9\u7684\u9650\u5236\uff0c\u6210\u4e3a\u6f5c\u5728\u7684\u66ff\u4ee3\u65b9\u6848[8]\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u5177\u6709\u4f18\u52bf\uff0c\u4f46\u6fc0\u5149\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u6216\u96f7\u8fbe\u57fa\u4e8e\u7684\u611f\u77e5\u6a21\u578b\u4e4b\u95f4\u4ecd\u5b58\u5728\u660e\u663e\u7684\u6027\u80fd\u5dee\u8ddd\u3002\u6865\u63a5\u8fd9\u4e2a\u5dee\u8ddd\u7684\u5b9e\u7528\u4e14\u6709\u6548\u7684\u7b56\u7565\u662f\u5c06\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e0e\u591a\u89c6\u56fe\u6444\u50cf\u5934\u96c6\u6210\u5728\u4e00\u8d77\uff0c\u8fd9\u53ef\u4ee5\u4e92\u76f8\u8865\u5145\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u5168\u9762\u548c\u53ef\u9760\u7684\u73af\u5883\u611f\u77e5\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u878d\u5408\u96f7\u8fbe\u548c\u56fe\u50cf\u6570\u636e\uff0c\u8fd1\u5e74\u6765[9, 10]\u4e3b\u8981\u91c7\u7528\u5c06\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\u548c\u96f7\u8fbe\u7279\u5f81\u6295\u5f71\u5230\u9e1f\u77b0\u89c6\u89d2\uff08BEV\uff09\u7684BEVFusion Pipeline [4]\u3002\u7136\u800c\uff0c\u50cfBEVFusion\u6240\u91c7\u7528\u7684\u7b80\u5355\u878d\u5408\u6280\u672f\uff08\u5982 ConCat \u6216\u6c42\u548c\uff09\u65e0\u6cd5\u89e3\u51b3\u591a\u89c6\u56fe\u56fe\u50cf\u548c\u96f7\u8fbe\u8f93\u5165\u4e4b\u95f4\u7684\u7a7a\u95f4\u5bf9\u9f50\u95ee\u9898\u3002\u6b64\u5916\uff0c\u5927\u591a\u6570\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u65b9\u6cd5[12, 13, 14]\u4ecd\u4f7f\u7528\u539f\u672c\u7528\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\uff08\u5982PointPillars\uff09\u7684\u7f16\u7801\u5668\u6765\u63d0\u53d6\u96f7\u8fbe\u7279\u5f81\u3002\u867d\u7136\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u4ea7\u751f\u4ee4\u4eba\u79f0\u8d5e\u7684\u7ed3\u679c\uff0c\u4f46\u5b83\u4eec\u6240\u4f7f\u7528\u7684\u7279\u5b9a\u6fc0\u5149\u96f7\u8fbe\u7f16\u7801\u5668\u5e76\u6ca1\u6709\u8003\u8651\u5230\u96f7\u8fbe\u7684\u72ec\u7279\u7279\u6027\uff0c\u5982\u96f7\u8fbe\u6a2a\u622a\u9762\uff08RCS\uff09\uff0c\u5bfc\u81f4\u6027\u80fd\u4e0d\u4f73\u3002<\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3aRGEVDet\u7684\u65b0\u6846\u67b6\uff0c\u7528\u4e8e\u5c06\u96f7\u8fbe\u548c\u76f8\u673a\u7684\u7279\u5f81\u5728BEV\u7a7a\u95f4\u4e2d\u6709\u6548\u5730\u878d\u5408\u5728\u4e00\u8d77\uff0c\u8fdb\u884c3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002\u9488\u5bf9\u96f7\u8fbe\u8f93\u5165\u7684\u72ec\u7279\u7279\u6027\uff0c\u4f5c\u8005\u4e13\u95e8\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u540d\u4e3aRadarBEVNet\u7684\u65b9\u6848\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7684\u96f7\u8fbeBEV\u7279\u5f81\u63d0\u53d6\u3002\u5177\u4f53\u800c\u8a00\uff0cRadarBEVNet\u9996\u5148\u901a\u8fc7\u53cc\u6d41\u96f7\u8fbe\u89e3\u7801\u5668\u5c06\u96f7\u8fbe\u8f93\u5165\u7f16\u7801\u4e3a\u4e0d\u540c\u7684\u70b9\u5bf9\u57fa\u548cTransformer\u57fa\u8868\u793a\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u5b9e\u73b0\u4e86\u4e00\u4e2a\u6ce8\u5165\u548c\u63d0\u53d6\u6a21\u5757\uff0c\u5c06\u8fd9\u4e24\u4e2a\u8868\u793a\u6574\u5408\u5728\u4e00\u8d77\u3002\u63a5\u4e0b\u6765\uff0c\u8fd9\u4e9b\u7279\u5f81\u901a\u8fc7RCS\u611f\u77e5\u7684\u6563\u5c04\u8f6c\u6362\u4e3aBEV\u7279\u5f81\uff0c\u5176\u4e2dRCS\u88ab\u7528\u4f5c\u76ee\u6807\u5927\u5c0f\u7684\u5148\u9a8c\u548c\u5206\u914d\u70b9\u7279\u5f81\u5230BEV\u7a7a\u95f4\u7684\u4efb\u4f55\u4f4d\u7f6e\u3002\u9664\u4e86RadarBEVNet\u4e4b\u5916\uff0cRCBEVDet\u8fd8\u96c6\u6210\u4e86\u4e00\u4e2a\u4ea4\u53c9\u6ce8\u610f\u529b\u591a\u5c42\u878d\u5408\u6a21\u5757\uff08CAMF\uff09\uff0c\u4ee5\u5728BEV\u7a7a\u95f4\u5185\u5b9e\u73b0\u96f7\u8fbe\u548c\u76f8\u673a\u7684\u7279\u5f81\u878d\u5408\u3002CAMF\u4f7f\u7528\u591a\u6a21\u6001\u4ea4\u53c9\u6ce8\u610f\u529b\u81ea\u9002\u5e94\u6821\u6b63\u4e24\u79cdBEV\u7279\u5f81\u4e4b\u95f4\u7684\u5750\u6807\u4e0d\u5339\u914d\uff0c\u7136\u540e\u5e94\u7528\u901a\u9053\u548c\u7a7a\u95f4\u878d\u5408\u5c42\u6765\u8fdb\u4e00\u6b65\u5de9\u56fa\u591a\u6a21\u6001\u7279\u5f81\uff0c\u63d0\u9ad8\u6574\u4f53\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528RCBEVDet\u7684\u529f\u80fd\uff0c\u4f5c\u8005\u5347\u7ea7\u4e86CAMF\u6a21\u5757\uff0c\u652f\u6301\u7a00\u758f\u878d\u5408\u4ee5\u652f\u6301\u57fa\u4e8e Query \u7684\u591a\u89c6\u76f8\u673a\u7684\u611f\u77e5\u6a21\u578b\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u6269\u5c55\u4e86RCBEVDet\u7684\u529f\u80fd\uff0c\u5305\u62ec3D\u76ee\u6807\u68c0\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u548c3D\u591a\u76ee\u6807\u8ddf\u8e2a\u7b49\u66f4\u5e7f\u6cdb\u7684\u611f\u77e5\u4efb\u52a1\u3002\u8fd9\u4e2a\u589e\u5f3a\u7684\u6846\u67b6\u88ab\u79f0\u4e3aRCBEVDet++\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4e3a\u4e86\u9002\u5e94\u57fa\u4e8e Query \u7684\u591a\u89c6\u76f8\u673a\u7684\u611f\u77e5\u65b9\u6cd5\uff0c\u4f5c\u8005\u7528\u4e0e\u539f\u59cb\u76f8\u673aBEV\u7279\u5f81\u4e0d\u540c\u7684\u57fa\u4e8e\u76ee\u68073D\u5750\u6807\u7684\u76f8\u673a Query \u8fdb\u884c\u66ff\u6362\u3002\u8fd9\u5f00\u53d1\u4e86\u4e00\u79cd\u65b0\u7684 Query \u7ec4\u4ef6\u5728\u4f5c\u8005\u7684\u591a\u6a21\u6001\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u4e2d\u3002\u63a5\u4e0b\u6765\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u4e00\u4e2a\u6295\u5f71\u548c\u91c7\u6837\u8fc7\u7a0b\uff0c\u5176\u4e2d\uff0c\u76f8\u673a\u76ee\u6807 Query \u88ab\u6295\u5f71\u5230BEV\u7a7a\u95f4\uff0c\u5e76\u4e0e\u76f8\u5e94\u7684\u96f7\u8fbe\u7279\u5f81\u8fdb\u884c\u5339\u914d\uff0c\u4ee5\u5f62\u6210\u96f7\u8fbe\u76ee\u6807 Query \u3002\u7136\u540e\uff0c\u4f5c\u8005\u4f7f\u7528\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u5bf9\u591a\u6a21\u6001 Query \u8fdb\u884c\u5bf9\u9f50\u3002\u6700\u540e\uff0c\u8c03\u6574\u540e\u7684\u591a\u6a21\u6001 Query \u88ab ConCat \u5e76\u9001\u5165\u4e00\u4e2a\u7b80\u5355\u7684\u7ebf\u6027\u5c42\u8fdb\u884c\u6709\u6548\u7684\u7279\u5f81\u878d\u5408\uff0c\u4ece\u800c\u5728\u6269\u5c55\u7684\u4efb\u52a1\u8303\u56f4\u5185\u63d0\u9ad8\u611f\u77e5\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u540d\u4e3aRCBEVDet\u7684\u9ad8\u5ea6\u7cbe\u786e\u548c\u9c81\u68d2\u76843D\u76ee\u6807\u68c0\u6d4b\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u6846\u67b6\u3002\u8be5\u6846\u67b6\u5305\u62ecRadarBEVNet\u7528\u4e8e\u96f7\u8fbeBEV\u7279\u5f81\u63d0\u53d6\u548cCross-Attention Multi-layer Fusion Module (CAMF)\u7528\u4e8e\u5728BEV\u7a7a\u95f4\u4e2d\u8fdb\u884c\u9c81\u68d2\u96f7\u8fbe-\u6444\u50cf\u5934\u7279\u5f81\u878d\u5408\u3002<\/li>\n\n\n\n<li>\u57fa\u4e8eRCBEVDet\uff0c\u4f5c\u8005\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86RCBEVDet++\u611f\u77e5\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u6269\u5c55\u4e86CAMF\u6a21\u5757\u4ee5\u5bb9\u7eb3\u57fa\u4e8e Query \u7684\u591a\u89c6\u6444\u50cf\u5934\u611f\u77e5\u6a21\u578b\uff0c\u5e76\u5145\u5206\u53d1\u6325\u4e86RCBEVDet\u5728\u5404\u79cd3D\u611f\u77e5\u4efb\u52a1\u4e2d\u7684\u5168\u90e8\u6f5c\u529b\u3002<\/li>\n\n\n\n<li>\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cRCBEVDet\u63d0\u9ad8\u4e86\u57fa\u4e8e\u6444\u50cf\u5934\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u7684\u6027\u80fd\uff0c\u5e76\u9488\u5bf9\u4f20\u611f\u5668\u6545\u969c\u60c5\u51b5\u5c55\u793a\u4e86\u9c81\u68d2\u6027\u3002\u6b64\u5916\uff0cRCBEVDet++\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u611f\u77e5\u6a21\u578b\uff0c\u5728\u96f7\u8fbe-\u6444\u50cf\u5934\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u548c3D\u591a\u76ee\u6807\u8ddf\u8e2a\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p>2 Related Work<\/p>\n\n\n\n<p>Camera-based 3D Perception<\/p>\n\n\n\n<p>\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u548c\u4e09\u7ef4\u591a\u76ee\u6807\u8ddf\u8e2a\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u4e09\u4e2a\u57fa\u672c\u611f\u77e5\u4efb\u52a1\u3002\u76ee\u524d\uff0c\u8bb8\u591a\u4e09\u7ef4\u591a\u76ee\u6807\u8ddf\u8e2a\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u8ddf\u8e2a-\u901a\u8fc7\u68c0\u6d4b\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5229\u7528\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u7684\u7ed3\u679c\u6765\u5173\u8054\u7269\u4f53\u3002\u8fd9\u4e9b\u8ddf\u8e2a\u65b9\u6cd5\u5173\u6ce8\u7684\u662f\u7269\u4f53\u5339\u914d\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u9ad8\u6548\u5904\u7406\u8f93\u5165\u56fe\u50cf\u3002\u6b64\u5916\uff0c\u66f4\u51c6\u786e\u7684\u68c0\u6d4b\u7ed3\u679c\u53ef\u4ee5\u5e26\u6765\u66f4\u9ad8\u7684\u8ddf\u8e2a\u6027\u80fd\u3002\u56e0\u6b64\uff0c\u5728\u8fd9\u4e00\u90e8\u5206\uff0c\u4f5c\u8005\u5c06\u4e3b\u8981\u8ba8\u8bba\u5904\u7406\u591a\u5e27\u591a\u89c6\u89d2\u6444\u50cf\u5934\u8f93\u5165\u7684\u66f4\u4e30\u5bcc\u7684\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548cBEV\u8bed\u4e49\u5206\u5272\u65b9\u6cd5\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u65e8\u5728\u9884\u6d4b\u4e09\u7ef4\u7269\u4f53\u7684\u4f4d\u7f6e\u548c\u7c7b\u522b\uff0c\u800c\u8bed\u4e49\u5206\u5272\u5219\u6574\u5408\u4e86\u8f66\u8f86\u8bc6\u522b\u3001\u8bed\u4e49\u8f66\u9053\u5730\u56fe\u9884\u6d4b\u548c\u53ef\u884c\u9a76\u533a\u57df\u4f30\u8ba1\u4efb\u52a1\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4e09\u7ef4\u4fe1\u606f\u7684\u4e0d\u8db3\uff0c\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u4f7f\u7528\u6444\u50cf\u5934\u56fe\u50cf\u68c0\u6d4b\u7269\u4f53\u548c\u5206\u5272\u5730\u56fe\u5177\u6709\u6311\u6218\u6027\u3002\u8fd1\u5e74\u6765\uff0c\u8bb8\u591a\u7814\u7a76\u5df2\u7ecf\u4e3a\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u505a\u51fa\u4e86\u5f88\u5927\u7684\u52aa\u529b\uff0c\u5305\u62ec\u4ece\u56fe\u50cf\u4e2d\u63a8\u7406\u6df1\u5ea6[21]\uff0c\u5229\u7528\u51e0\u4f55\u7ea6\u675f\u548c\u5f62\u4f3c\u5148\u9a8c[22]\uff0c\u8bbe\u8ba1\u7279\u5b9a\u7684\u635f\u5931\u51fd\u6570[23, 24]\uff0c\u4ee5\u53ca\u63a2\u7d22\u8054\u5408\u4e09\u7ef4\u68c0\u6d4b\u548c\u91cd\u6784\u4f18\u5316[25]\u3002\u6700\u8fd1\uff0c\u591a\u89c6\u89d2\u4f20\u611f\u5668\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u6d41\u884c\u914d\u7f6e\uff0c\u4e3a\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u73af\u5883\u4fe1\u606f\u3002\u591a\u89c6\u89d2\u76f8\u673a\u6570\u636e\u96c6\u7684\u51fa\u73b0[26, 27]\u5bfc\u81f4\u4e86\u591a\u89c6\u89d2\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548cBEV\u8bed\u4e49\u5206\u5272\u65b9\u6cd5\u7684\u53d1\u5c55\uff0c\u53ef\u4ee5\u5927\u81f4\u5206\u4e3a\u57fa\u4e8e\u51e0\u4f55\u7684\u65b9\u6cd5\u548c\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\u4e24\u79cd\u3002<\/p>\n\n\n\n<p>2.1.1 Geometry-based Methods<\/p>\n\n\n\n<p>\u57fa\u4e8e\u51e0\u4f55\u7684\u591a\u89c6\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548cBEV\u8bed\u4e49\u5206\u5272\u4e3b\u8981\u5229\u7528\u6df1\u5ea6\u9884\u6d4b\u7f51\u7edc\u6765\u4f30\u8ba1\u56fe\u50cf\u7684\u6df1\u5ea6\u5206\u5e03\u3002\u8fd9\u4f7f\u5f97\u53ef\u4ee5\u5c06\u4ece\u63d0\u53d6\u76842D\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u4e3a3D\u76f8\u673a Frustum \u7279\u5f81\u3002\u7136\u540e\uff0c\u901a\u8fc7 Voxel \u6c60\u5316\u7b49\u64cd\u4f5c\u5728 Voxel \u6216BEV\u7a7a\u95f4\u6784\u5efa\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0cLift-Splat-Shoot\uff08LSS\uff09[28] \u9996\u6b21\u5229\u7528\u8f7b\u91cf\u7ea7\u6df1\u5ea6\u9884\u6d4b\u7f51\u7edc\u660e\u786e\u4f30\u8ba1\u6bcf\u4e2a\u56fe\u50cf\u7684\u6df1\u5ea6\u5206\u5e03\u548c\u4e0a\u4e0b\u6587\u5411\u91cf\u3002\u6df1\u5ea6\u548c\u4e0a\u4e0b\u6587\u5411\u91cf\u7684\u5916\u79ef\u51b3\u5b9a\u4e86\u6cbf\u89c6\u89d2\u5c04\u7ebf\u57283D\u7a7a\u95f4\u4e2d\u6bcf\u4e2a\u70b9\u4e0a\u7684\u7279\u5f81\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u5c06\u56fe\u50cf\u7279\u5f81\u6709\u6548\u8f6c\u6362\u4e3aBEV\u7279\u5f81\u3002\u5728 LSS \u7684\u57fa\u7840\u4e0a\uff0cFIERY[38] \u5f15\u5165\u4e86\u4e00\u4e2a\u57fa\u4e8eBEV\u7684\u672a\u6765\u5b9e\u4f8b\u9884\u6d4b\u6a21\u578b\uff0c\u80fd\u591f\u9884\u6d4b\u52a8\u6001\u4ee3\u7406\u7684\u672a\u6765\u5b9e\u4f8b\u53ca\u5176\u8fd0\u52a8\u3002BEVDet[16] \u5c06\u89c6\u89d2\u53d8\u6362\u6280\u672f\u4ece LSS \u6269\u5c55\u5230\u4f7f\u7528BEV\u7279\u5f81\u68c0\u6d4b3D\u7269\u4f53\u3002\u6b64\u5916\uff0cBEVDepth[29] \u5229\u7528 LIDAR \u7684\u663e\u5f0f\u6df1\u5ea6\u4fe1\u606f\u4f5c\u4e3a\u76d1\u7763\u6765\u589e\u5f3a\u6df1\u5ea6\u4f30\u8ba1\uff0c\u5e76\u5c06\u6444\u50cf\u673a\u7684\u5916\u90e8\u53c2\u6570\u4f5c\u4e3a\u6df1\u5ea6\u4f30\u8ba1\u7684\u5148\u9a8c\u53c2\u6570\u3002\u57fa\u4e8e BEVDet\uff0cBEVDet4D[30] \u5728\u5386\u53f2\u5e27\u4e4b\u95f4\u5bf9BEV\u7279\u5f81\u8fdb\u884c\u7a7a\u95f4\u5bf9\u9f50\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u68c0\u6d4b\u6027\u80fd\u3002\u6b64\u5916\uff0cSOLOFusion[39] \u63d0\u51fa\u5c06\u9ad8\u5206\u8fa8\u7387\u77ed\u671f\u548c\u4f4e\u5206\u8fa8\u7387\u957f\u671f\u7279\u5f81\u878d\u5408\uff0c\u63d0\u9ad8\u5177\u6709\u957f\u671f\u65f6\u95f4\u8f93\u5165\u76843D\u68c0\u6d4b\u7684\u63a8\u7406\u901f\u5ea6\u3002<\/p>\n\n\n\n<p>2.1.2 Transformer-based Methods<\/p>\n\n\n\n<p>\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\u5229\u7528\u6ce8\u610f\u529b\u673a\u5236\u5c06\u9884\u5b9a\u4e49\u7684 Query \u6295\u5f71\u5230\u591a\u4e2a\u89c6\u56fe\u56fe\u50cf\u5e73\u9762\u4e0a\uff0c\u4f7f\u7528\u5750\u6807\u53d8\u6362\u77e9\u9635\uff0c\u5e76\u968f\u540e\u66f4\u65b0 Query \u7279\u5f81\u548c\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5f00\u521b\u6027\u5de5\u4f5cDETR3D [31]\u4f7f\u7528Transformer\u89e3\u7801\u5668\u8fdb\u884c3D\u76ee\u6807\u68c0\u6d4b\uff0c\u53d1\u5c55\u4e86\u4e00\u79cd\u81ea\u9876\u5411\u4e0b\u6846\u67b6\uff0c\u5e76\u5229\u7528\u4e00\u5957\u4e00\u5957\u7684\u635f\u5931\u6765\u8861\u91cf GT \u503c\u548c\u9884\u6d4b\u4e4b\u95f4\u7684\u5dee\u5f02\u3002<\/p>\n\n\n\n<p>\u7c7b\u4f3c\u5730\uff0cCVT [35]\u5f15\u5165\u4e86\u4e00\u4e2a\u7b80\u5355\u7684BEV\u8bed\u4e49\u5206\u5272\u57fa\u51c6\uff0c\u8be5\u57fa\u51c6\u4f7f\u7528\u4ea4\u53c9\u89c6\u56feTransformer\u67b6\u6784\u3002\u5728\u8fd9\u4e00\u70b9\u4e4b\u540e\uff0cBEVformer [17]\u6784\u5efa\u4e86\u5bc6\u96c6\u7684BEV Query \uff0c\u5e76\u91c7\u7528\u4e86\u591a\u5c3a\u5ea6\u53d8\u5f62\u6ce8\u610f\u529b\uff0c\u5c06\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u5230\u8fd9\u4e9b\u5bc6\u96c6 Query \u3002\u6b64\u5916\uff0cPETR [32]\u901a\u8fc7\u5c06\u6765\u81ea3D\u5750\u6807\u7684\u663e\u5f0f\u4f4d\u7f6e\u4fe1\u606f\u751f\u6210\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\u3002\u5728PETR\u7684\u57fa\u7840\u4e0a\uff0cPETRv2 [40]\u5c06\u65f6\u95f4\u878d\u5408\u8de8\u591a\u4e2a\u5e27\u96c6\u6210\uff0c\u5e76\u6269\u5c553D\u4f4d\u7f6e\u5d4c\u5165\uff0c\u5177\u6709\u65f6\u95f4\u611f\u77e5\u5efa\u6a21\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cSparse4D [41]\u4e3a\u6bcf\u4e2a3D Anchor \u70b9\u5206\u914d\u548c\u6295\u5f71\u591a\u4e2a4D\u5173\u952e\u70b9\uff0c\u4ee5\u751f\u6210\u4e0d\u540c\u7684\u89c6\u56fe\u3001 aspect ratio \u548c\u65f6\u95f4\u6233\u7279\u5f81\uff0c\u7136\u540e\u5c06\u8fd9\u4e9b\u7279\u5f81\u5206\u5c42\u878d\u5408\u4ee5\u63d0\u9ad8\u6574\u4f53\u56fe\u50cf\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n<p>Sparse4Dv2 [42]\u6269\u5c55\u4e86Sparse4D\uff0c\u91c7\u7528\u4e86\u66f4\u9ad8\u6548\u7684\u65f6\u95f4\u878d\u5408\u6a21\u5757\uff0c\u5e76\u5f15\u5165\u4e86\u6444\u50cf\u673a\u53c2\u6570\u7f16\u7801\u548c\u5bc6\u96c6\u6df1\u5ea6\u76d1\u7763\u3002\u6700\u8fd1\uff0cStreamPETR [34]\u5229\u7528\u7a00\u758f\u76ee\u6807 Query \u4f5c\u4e3a\u4e2d\u95f4\u8868\u793a\u6765\u6355\u83b7\u65f6\u95f4\u4fe1\u606f\uff0c\u5e76\u91c7\u7528\u4e86\u81ea\u9002\u5e94\u5c3a\u5ea6\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u548c\u81ea\u9002\u5e94\u7a7a\u95f4-\u65f6\u95f4\u91c7\u6837\u6a21\u5757\u7684SparseBEV [33]\uff0c\u4ee5\u52a8\u6001\u6355\u83b7BEV\u548c\u65f6\u95f4\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>Radar-camera 3D Perception<\/p>\n\n\n\n<p>\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7531\u4e8e\u5176\u4f4e\u6210\u672c\u3001\u957f\u8ddd\u79bb\u611f\u77e5\u3001\u591a\u666e\u52d2\u901f\u5ea6\u6d4b\u91cf\u4ee5\u53ca\u5bf9\u6297\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u7684\u9c81\u68d2\u6027\uff0c\u5728\u81ea\u4e3b\u8f66\u8f86\u4e2d\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002\u5c3d\u7ba1\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6570\u636e\u901a\u5e38\u5305\u62ec\u8ddd\u79bb\u3001\u89d2\u5ea6\u548c\u901f\u5ea6\u4fe1\u606f\uff0c\u4f46\u5728\u6d4b\u91cf\u76ee\u6807\u7684\u4fef\u4ef0\u89d2\u65b9\u9762\u8868\u73b0\u76f8\u5bf9\u8f83\u5dee\u3002\u6b64\u5916\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u6570\u636e\u56fa\u6709\u7684\u7a00\u758f\u6027\u548c\u7f3a\u4e4f\u8bed\u4e49\u4fe1\u606f\uff0c\u5bf9\u7eaf\u96f7\u8fbe\u57fa\u4e8e\u76843D\u611f\u77e5\u63d0\u51fa\u4e86\u6311\u6218\u3002\u56e0\u6b64\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u901a\u5e38\u88ab\u7528\u6765\u589e\u5f3a\u591a\u6a21\u60013D\u611f\u77e5\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u4f5c\u4e3a\u8f85\u52a9\u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>\u56fe1\uff1aRCEVDet\u7684\u6574\u4f53 Pipeline \u3002\u9996\u5148\uff0c\u901a\u8fc7\u56fe\u50cf\u7f16\u7801\u5668\u5904\u7406\u591a\u89c6\u56fe\u56fe\u50cf\u5e76\u63d0\u53d6\u7279\u5f81\uff0c\u7136\u540e\u4f7f\u7528\u89c6\u56fe\u8f6c\u6362\u6a21\u5757\u5c06\u8fd9\u4e9b\u7279\u5f81\u8f6c\u6362\u4e3a\u56fe\u50cfBEV\u7279\u5f81\u3002\u540c\u65f6\uff0c\u96f7\u8fbe\u70b9\u4e91\u901a\u8fc7\u63d0\u51fa\u7684RadarBEVNet\u7f16\u7801\u4e3a\u96f7\u8fbeBEV\u7279\u5f81\u3002\u63a5\u4e0b\u6765\uff0c\u56fe\u50cf\u548c\u96f7\u8fbeBEV\u7279\u5f81\u4f7f\u7528Cross-Attention Multi-layer Fusion\u6a21\u5757\u52a8\u6001\u5bf9\u9f50\u548c\u805a\u5408\u3002\u6700\u540e\uff0c\u5c06\u878d\u5408\u540e\u7684\u591a\u6a21\u6001\u8bed\u4e49\u4e30\u5bcc\u7684BEV\u7279\u5f81\u7528\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"579\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-338-1024x579.png\" alt=\"\" class=\"wp-image-16378\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-338-1024x579.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-338-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-338-768x434.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-338.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u7531\u4e8e\u591a\u89c6\u56fe\u6444\u50cf\u5934\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4f20\u611f\u5668\u57283D\u611f\u77e5\u65b9\u9762\u7684\u4e92\u8865\u6027\u8d28\uff0c\u5176\u7ec4\u5408\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u5177\u4f53\u6765\u8bf4\uff0cRadarNet [43]\u5f15\u5165\u4e86\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u7684\u591a\u7ea7\u878d\u5408 Pipeline \uff0c\u4ee5\u63d0\u9ad8\u8fdc\u7a0b\u76ee\u6807\u68c0\u6d4b\u7684\u51c6\u786e\u6027\u548c\u51cf\u5c11\u901f\u5ea6\u8bef\u5dee\u3002CenterFusion [14]\u5229\u7528\u5173\u952e\u70b9\u68c0\u6d4b\u7f51\u7edc\u4ece\u56fe\u50cf\u751f\u6210\u521d\u59cb\u76843D\u68c0\u6d4b\u7ed3\u679c\uff0c\u5e76\u5c06\u57fa\u4e8e\u67f1\u5b50\u7684\u96f7\u8fbe\u5173\u8054\u6a21\u5757\u7528\u4e8e\u901a\u8fc7\u5c06\u96f7\u8fbe\u7279\u5f81\u4e0e\u76f8\u5e94\u7684\u68c0\u6d4b\u6846\u94fe\u63a5\u6765\u7ec6\u5316\u8fd9\u4e9b\u7ed3\u679c\u3002\u7c7b\u4f3c\u5730\uff0cMVFusion [44]\u5b9e\u73b0\u4e86\u6444\u50cf\u5934\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e4b\u95f4\u7684\u8bed\u4e49\u5bf9\u9f50\uff0c\u589e\u5f3a\u4e86\u8fd9\u4e24\u8005\u4e4b\u95f4\u7684\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cSimple-BEV [45]\u8c03\u67e5\u4e86\u591a\u4f20\u611f\u5668BEV\u611f\u77e5\u7cfb\u7edf\u7684\u4f53\u7cfb\u7ed3\u6784\u8bbe\u8ba1\u548c\u8d85\u53c2\u6570\u8bbe\u7f6e\u3002CRAFT [12]\u63d0\u51fa\u4e86\u4e00\u79cd\u4f7f\u7528Soft-Polar-Association\u548cSpatio-Contextual Fusion Transformer\u7684 Proposal \u7ea7\u878d\u5408\u6846\u67b6\uff0c\u7528\u4e8e\u9ad8\u6548\u5730\u5728\u6444\u50cf\u5934\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e4b\u95f4\u4ea4\u6362\u4fe1\u606f\u3002RADIANT [46]\u5f00\u53d1\u4e86\u4e00\u4e2a\u7f51\u7edc\u6765\u4f30\u8ba1\u96f7\u8fbe\u56de\u6ce2\u548c\u7269\u4f53\u4e2d\u5fc3\u4e4b\u95f4\u7684\u4f4d\u7f6e\u504f\u79fb\uff0c\u5e76\u5229\u7528\u96f7\u8fbe\u6df1\u5ea6\u4fe1\u606f\u6765\u589e\u5f3a\u6444\u50cf\u5934\u7684\u7279\u5f81\u3002\u8fd1\u5e74\u6765\uff0cCRN [13]\u4e3a\u591a\u89c6\u56fe\u8f6c\u6362\u751f\u6210\u96f7\u8fbe\u589e\u5f3a\u56fe\u50cf\u7279\u5f81\u5e76\u91c7\u7528\u96f7\u8fbe\u6df1\u5ea6\u4fe1\u606f\uff0c\u5e76\u5229\u7528\u4ea4\u53c9\u6ce8\u610f\u673a\u5236\u89e3\u51b3\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u7a7a\u95f4\u4e0d\u5bf9\u9f50\u548c\u4fe1\u606f\u4e0d\u5339\u914d\u95ee\u9898\u3002&nbsp;<\/p>\n\n\n\n<p>RCFusion [9]\u5229\u7528\u96f7\u8fbePillarNet [47]\u751f\u6210\u96f7\u8fbe\u4f2a\u56fe\u50cf\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u52a0\u6743\u878d\u5408\u6a21\u5757\u6709\u6548\u5730\u5c06\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u7684BEV\u7279\u5f81\u8fdb\u884c\u878d\u5408\u3002<\/p>\n\n\n\n<p>BEVGuide \u57fa\u4e8eCVT &nbsp;\u6846\u67b6\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8eBEV\u7684\u4f20\u611f\u5668\u65e0\u5173\u7684\u5173\u6ce8\u6a21\u5757\uff0c\u6709\u52a9\u4e8eBEV\u8868\u793a\u5b66\u4e60\u548c\u7406\u89e3\u3002BEVCar [37]\u5f15\u5165\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u65b9\u6cd5\uff0c\u7528\u4e8eBEV\u56fe\u548c\u76ee\u6807\u5206\u5272\uff0c\u5e76\u91c7\u7528\u57fa\u4e8e\u6ce8\u610f\u7684\u56fe\u50cf\u63d0\u5347\u7b56\u7565\u3002<\/p>\n\n\n\n<p>RadarBEVNet<\/p>\n\n\n\n<p>\u5148\u524d\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u5408\u65b9\u6cd5\u901a\u5e38\u4f7f\u7528\u8bbe\u8ba1\u7528\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u7684\u96f7\u8fbe\u7f16\u7801\u5668\uff0c\u5982PointPillars \u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4f5c\u8005\u5f15\u5165\u4e86RadarBEVNet\uff0c\u4e13\u4e3a\u9ad8\u6548\u96f7\u8fbeBEV\u7279\u5f81\u63d0\u53d6\u800c\u8bbe\u8ba1\u3002RadarBEVNet\u901a\u8fc7\u53cc\u6d41\u96f7\u8fbe Backbone \u7f51\u7edc\u548cRCS\u611f\u77e5\u7684BEV\u7f16\u7801\u5668\u5c06\u7a00\u758f\u96f7\u8fbe\u70b9\u7f16\u7801\u4e3a\u5bc6\u96c6\u7684BEV\u7279\u5f81\uff0c\u5176\u4e2dRCS\u611f\u77e5\u7684BEV\u7f16\u7801\u5668\u5229\u7528RCS\u4f5c\u4e3a\u4e00\u4e2a\u7269\u4f53\u5927\u5c0f\u7684\u5148\u9a8c\uff0c\u5c06\u5355\u4e2a\u96f7\u8fbe\u70b9\u7684\u7279\u5f81\u5206\u6563\u5230BEV\u7a7a\u95f4\u4e2d\u7684\u591a\u4e2a\u50cf\u7d20\u4e2d\u3002<\/p>\n\n\n\n<p>3.1.1 Dual-stream radar backbone<\/p>\n\n\n\n<p>\u53cc\u6d41\u5f0f\u96f7\u8fbe Backbone \u7ed3\u6784\u5305\u542b\u4e24\u90e8\u5206\uff1a\u57fa\u4e8e\u70b9\u7684 Backbone \u7ed3\u6784\u548c\u57fa\u4e8e Transformer \u7684 Backbone \u7ed3\u6784\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u70b9\u7684 Backbone \u7ed3\u6784\u4e13\u6ce8\u4e8e\u5b66\u4e60\u5c40\u90e8\u96f7\u8fbe\u7279\u5f81\uff0c\u800c\u57fa\u4e8e Transformer \u7684 Backbone \u7ed3\u6784\u6355\u83b7\u5168\u5c40\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u70b9\u578b\u7684 Backbone \u7ed3\u6784\uff0c\u4f5c\u8005\u91c7\u7528\u7c7b\u4f3c\u4e8ePointNet[49]\u7684\u67b6\u6784\u3002\u5982\u56fe2a\u6240\u793a\uff0c\u70b9\u578b\u7684 Backbone \u7ed3\u6784\u7531S\u4e2a\u5757\u7ec4\u6210\uff0c\u6bcf\u4e2a\u5757\u4e2d\u5305\u542b\u4e00\u4e2a\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u548c\u4e00\u6b21\u6c60\u5316\u64cd\u4f5c\u3002\u5177\u4f53\u800c\u8a00\uff0c\u8f93\u5165\u96f7\u8fbe\u70b9\u7279\u5f81f\u9996\u5148\u901a\u8fc7MLP\u589e\u52a0\u5176\u7279\u5f81\u7ef4\u6570\u3002\u7136\u540e\uff0c\u5c06\u9ad8\u7ef4\u96f7\u8fbe\u7279\u5f81\u9001\u5165MaxPool\u5c42\uff0c\u5e76\u4f7f\u7528\u6b8b\u5dee\u8fde\u63a5\u3002\u6574\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u5f62\u5f0f\u5316\u4e3a\u4ee5\u4e0b\u516c\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"806\" height=\"702\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-339.png\" alt=\"\" class=\"wp-image-16379\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-339.png 806w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-339-300x261.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-339-768x669.png 768w\" sizes=\"(max-width: 806px) 100vw, 806px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"726\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93001.png\" alt=\"\" class=\"wp-image-16380\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93001.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93001-284x300.png 284w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"812\" height=\"687\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-340.png\" alt=\"\" class=\"wp-image-16381\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-340.png 812w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-340-300x254.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-340-768x650.png 768w\" sizes=\"(max-width: 812px) 100vw, 812px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"243\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93002.png\" alt=\"\" class=\"wp-image-16382\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93002.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93002-300x108.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<p>3.1.2 RCS-aware BEV encoder<\/p>\n\n\n\n<p>\u5f53\u524d\u7684\u96f7\u8fbeBERV\u7f16\u7801\u5668\u901a\u5e38\u5c06\u70b9\u7279\u5f81\u6563\u5c04\u5230BERV\u7a7a\u95f4\uff0c\u57fa\u4e8e\u70b9\u76843D\u5750\u6807\u3002\u7136\u800c\uff0c\u8fd9\u5c06\u5bfc\u81f4\u4e00\u4e2a\u7a00\u758f\u7684BERV\u7279\u5f81\u56fe\uff0c\u5176\u4e2d\u5927\u591a\u6570\u50cf\u7d20\u90fd\u5305\u542b\u96f6\u503c\u3002\u8fd9\u79cd\u7a00\u758f\u6027\u4f7f\u5f97\u4e00\u4e9b\u50cf\u7d20\u6709\u6548\u5730\u805a\u5408\u7279\u5f81\u53d8\u5f97\u56f0\u96be\uff0c\u53ef\u80fd\u4f1a\u5f71\u54cd\u68c0\u6d4b\u6027\u80fd\u3002\u4e00\u4e2a\u89e3\u51b3\u65b9\u6848\u662f\u589e\u52a0BERV\u7f16\u7801\u5668\u5c42\u6570\uff0c\u4f46\u8fd9\u4e5f\u53ef\u80fd\u5bfc\u81f4\u80cc\u666f\u7279\u5f81\u5c06\u5c0f\u76ee\u6807\u7279\u5f81\u5e73\u6ed1\u6389\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u79f0\u4e3aRC-aware\u7684BERV\u7f16\u7801\u5668\u3002\u96f7\u8fbe\u6a2a\u622a\u9762\u79ef\uff08RCS\uff09\u662f\u901a\u8fc7\u96f7\u8fbe\u6d4b\u91cf\u76ee\u6807\u7684\u53ef\u68c0\u6d4b\u6027\u3002\u4f8b\u5982\uff0c\u8f83\u5927\u7684\u7269\u4f53\u901a\u5e38\u4f1a\u4ea7\u751f\u66f4\u5f3a\u7684\u96f7\u8fbe\u6ce2\u53cd\u5c04\uff0c\u5bfc\u81f4\u66f4\u5927\u7684RCS\u6d4b\u91cf\u3002\u56e0\u6b64\uff0cRCS\u53ef\u4ee5\u63d0\u4f9b\u4e00\u4e2a\u7269\u4f53\u7684\u5c3a\u5bf8\u7684\u7c97\u7cd9\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p>RC-aware BERV\u7f16\u7801\u5668\u7684\u5173\u952e\u8bbe\u8ba1\u662fRC-aware\u6563\u5c04\u64cd\u4f5c\uff0c\u5b83\u5229\u7528RCS\u4f5c\u4e3a\u76ee\u6807\u7684\u5c3a\u5bf8\u7684\u5148\u9a8c\u4f30\u8ba1\u3002\u5229\u7528\u8fd9\u4e2a\u5148\u9a8c\uff0c\u4f5c\u8005\u63d0\u51fa\u7684\u6563\u5c04\u64cd\u4f5c\u5141\u8bb8\u5355\u4e2a\u96f7\u8fbe\u70b9\u4e0a\u7684\u7279\u5f81\u88ab\u6563\u5c04\u5230BERV\u7a7a\u95f4\u4e2d\u7684\u591a\u4e2a\u50cf\u7d20\uff0c\u800c\u4e0d\u662f\u5c40\u9650\u4e8e\u4e00\u4e2a\u50cf\u7d20\uff0c\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"809\" height=\"787\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-341.png\" alt=\"\" class=\"wp-image-16383\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-341.png 809w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-341-300x292.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-341-768x747.png 768w\" sizes=\"(max-width: 809px) 100vw, 809px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"332\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93003.png\" alt=\"\" class=\"wp-image-16385\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93003.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93003-300x144.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p>Cross-Attention Multi-layer Fusion Module<\/p>\n\n\n\n<p>\u5728\u672c\u8282\u5f00\u59cb\u4ecb\u7ecd\u00a0\u4ea4\u53c9\u6ce8\u610f\u529b\u591a\u5c42\u878d\u5408\u6a21\u5757<\/p>\n\n\n\n<p>3.2.1 Multi-modal Feature Alignment with Cross-Attention<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"805\" height=\"775\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-343.png\" alt=\"\" class=\"wp-image-16386\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-343.png 805w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-343-300x289.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-343-768x739.png 768w\" sizes=\"(max-width: 805px) 100vw, 805px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"454\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93004.png\" alt=\"\" class=\"wp-image-16387\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93004.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93004-300x198.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<p>3.2.2 Channel and Spatial Fusion<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93005.png\" alt=\"\" class=\"wp-image-16388\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93005.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93005-300x67.png 300w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p>4 Rcbevdet++: Radar-camera sparse fusion for 3D perception<\/p>\n\n\n\n<p>\u56fe6\u8bf4\u660e\u4e86\uff0c\u4e3a\u4e86\u5145\u5206\u6316\u6398RcbeVDet\u7684\u6f5c\u529b\uff0c\u4f5c\u8005\u5c06CAMF\u6a21\u5757\u6269\u5c55\u4ee5\u652f\u6301\u7a00\u758f\u878d\u5408\u4e0e\u57fa\u4e8e Query \u7684\u591a\u89c6\u70b9\u76f8\u673a\u611f\u77e5\u6a21\u578b\uff0c\u8fd9\u79cd\u65b9\u6cd5\u6bd4\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u83b7\u5f97\u4e86\u66f4\u9ad8\u7684\u51c6\u786e\u5ea6\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u5c06RcbeVDet\u5e94\u7528\u5230\u4e86\u66f4\u591a\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u5305\u62ec3D\u76ee\u6807\u68c0\u6d4b\uff0cBEV\u8bed\u4e49\u5206\u5272\u548c3D\u591a\u76ee\u6807\u8ddf\u8e2a\u3002\u4e3a\u4e86\u533a\u5206\u8fd9\u4e2a\u66f4\u65b0\u7684RcbeVDet\u7248\u672c\u4e0e\u539f\u59cb\u7248\u672c\uff0c\u4f5c\u8005\u7279\u610f\u5c06\u5176\u547d\u540d\u4e3aRcbeVDet++\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"818\" height=\"669\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-344.png\" alt=\"\" class=\"wp-image-16389\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-344.png 818w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-344-300x245.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-344-768x628.png 768w\" sizes=\"(max-width: 818px) 100vw, 818px\" \/><\/figure>\n\n\n\n<p>Sparse Fusion with CAMF<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"632\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93006.png\" alt=\"\" class=\"wp-image-16390\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93006.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93006-300x275.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p>5 Experiments<\/p>\n\n\n\n<p>\u5728\u672c\u8282\u4e2d\uff0c\u4f5c\u8005\u901a\u8fc7\u5927\u91cf\u5b9e\u9a8c\u8bc4\u4f30 RCBEVDet \u548c RCBEVDet++\u3002\u5728\u7b2c 5.1 \u8282\u4e2d\uff0c\u4f5c\u8005\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u5b9e\u9a8c\u8bbe\u7f6e\u3002\u5728\u7b2c 5.2 \u8282\u4e2d\uff0c\u4f5c\u8005\u5c06\u4f5c\u8005\u7684\u65b9\u6cd5\u4e0e\u6700\u5148\u8fdb\u7684\u5dde\u754c\u65b9\u6cd5\u5728\u4e09\u4e2a\u4efb\u52a1\u4e2d\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u8fd9\u4e9b\u4efb\u52a1\u5206\u522b\u662f\u00a0<span style=\"color: rgb(255, 255, 255);background: none 0% 0% \/ auto no-repeat scroll padding-box border-box rgb(136, 128, 255);width: auto;height: auto;border-style: none;border-width: 3px;border-color: rgba(0, 0, 0, 0.4);border-radius: 0px;\">\u5373<\/span>\u00a0\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u548c<br> 3D \u591a\u76ee\u6807\u8ddf\u8e2a\u3002\u5728\u7b2c 5.3 \u8282\u4e2d\uff0c\u4f5c\u8005\u8fdb\u884c\u4e86\u4e00\u9879\u5e7f\u6cdb\u7684 Ablation \u7814\u7a76\uff0c\u4ee5\u8c03\u67e5 RCBEVDet \u548c RCBEVDet++ <br>\u4e2d\u7684\u5355\u4e2a\u7ec4\u4ef6\u3002\u5728\u7b2c 5.4 \u8282\u4e2d\uff0c\u4f5c\u8005\u8ba8\u8bba\u4e86 RCBEVDet++ \u5728 BEV \u8bed\u4e49\u5206\u5272\u4e2d\u7684\u4efb\u52a1\u6743\u8861\u3002\u5728\u7b2c 5.5 \u8282\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86 <br>RCBEVDet \u7684\u9c81\u68d2\u6027\u3002\u5728\u7b2c 5.6 \u8282\u4e2d\uff0c\u4f5c\u8005\u5c55\u793a\u4e86\u4f5c\u8005\u65b9\u6cd5\u7684\u53ef\u5efa\u6a21\u6027\u3002<\/p>\n\n\n\n<p>Implementation Details<\/p>\n\n\n\n<p>5.1.1 Datasets and Evaluation Metrics<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"586\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/93007.png\" alt=\"\" class=\"wp-image-16392\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93007.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/93007-300x255.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<p>5.1.2 Architecture and Training Details<\/p>\n\n\n\n<p>\u672c\u6587\u91c7\u7528BEVDepth [29]\u3001BEVPoolv2 [55]\u3001SparseBEV [33]\u4f5c\u4e3aRCBEVDet\u548cRCBEVDet++\u7684\u6444\u50cf\u673a\u6d41\u3002\u5bf9\u4e8eBEVDepth\uff0c\u4f5c\u8005\u9075\u5faaBEVDet4D [30]\u6765\u7d2f\u79ef\u591a\u5e27\u7684\u4e2d\u95f4BEV\u7279\u5f81\uff0c\u5e76\u6dfb\u52a0\u4e00\u4e2a\u989d\u5916\u7684BEV\u7f16\u7801\u5668\u6765\u805a\u5408\u8fd9\u4e9b\u591a\u5e27\u7684BEV\u7279\u5f81\u3002\u5bf9\u4e8e\u96f7\u8fbe\uff0c\u4f5c\u8005\u7d2f\u79ef\u591a\u626b\u96f7\u8fbe\u70b9\uff0c\u5e76\u4ee5RCS\u548c\u591a\u666e\u52d2\u901f\u5ea6\u4f5c\u4e3a\u8f93\u5165\u7279\u5f81\uff0c\u4e0eGRIFNet [56]\u548cCRN [13]\u76f8\u540c\u7684\u65b9\u5f0f\u3002\u4f5c\u8005\u5c06\u53cc\u6d41\u96f7\u8fbe\u9aa8\u67b6\u4e2d stages\uff08\u9636\u6bb5\uff09\u7684\u6570\u91cf\u8bbe\u7f6e\u4e3a3\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b Head \uff0c\u4f5c\u8005\u4f7f\u7528CenterPoint [57]\u4e2d\u7684\u4e2d\u5fc3 Head \u8fdb\u884cRCBEVDet\uff0c\u5e76\u4f7f\u7528SparseBEV [33]\u4e2d\u7684\u7a00\u758f Head \u8fdb\u884cRCBEVDet++\u3002\u5728BEV\u8bed\u4e49\u5206\u5272 Head \uff0c\u4f5c\u8005\u4e3a\u6bcf\u4e2a\u4efb\u52a1\u91c7\u7528\u5355\u72ec\u7684\u5206\u5272 Head \u3002\u5bf9\u4e8e\u4e09\u7ef4\u591a\u76ee\u6807\u8ddf\u8e2a\uff0c\u4f5c\u8005\u9075\u5faaCenterPoint\uff0c\u4ee5\u8d2a\u5fc3\u65b9\u5f0f\u8ddf\u8e2a\u591a\u5e27\u4e2d\u7684\u76ee\u6807\u4e2d\u5fc3\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u6a21\u578b\u5206\u4e3a\u4e24\u9636\u6bb5\u8bad\u7ec3\u3002\u7b2c\u4e00\u9636\u6bb5\uff0c\u4f5c\u8005\u6839\u636e\u6807\u51c6\u5b9e\u73b0 [29, 33]\u8bad\u7ec3\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u6a21\u578b\u3002\u7b2c\u4e8c\u9636\u6bb5\uff0c\u4f5c\u8005\u8bad\u7ec3\u96f7\u8fbe-\u6444\u50cf\u673a\u878d\u5408\u6a21\u578b\u3002\u6444\u50cf\u673a\u6d41\u7684\u6743\u91cd\u4ece\u7b2c\u4e00\u9636\u6bb5\u7ee7\u627f\uff0c\u5e76\u5728\u7b2c\u4e8c\u9636\u6bb5\u4e2d\u51bb\u7ed3\u6444\u50cf\u673a\u6d41\u7684\u53c2\u6570\u3002\u6240\u6709\u6a21\u578b\u4f7f\u7528AdamW [58]\u4f18\u5316\u5668\u8bad\u7ec312\u4e2a\u5468\u671f\u3002\u4e3a\u4e86\u9632\u6b62\u8fc7\u62df\u5408\uff0c\u4f5c\u8005\u4ece\u56fe\u50cf\u65cb\u8f6c\u3001\u88c1\u526a\u3001\u7f29\u653e\u548c\u7ffb\u8f6c\u4ee5\u53ca\u96f7\u8fbe\u6c34\u5e73\u7ffb\u8f6c\u3001\u6c34\u5e73\u65cb\u8f6c\u548c\u5750\u6807\u7f29\u653e\u7b49\u65b9\u9762\u5e94\u7528\u4e86\u5404\u79cd\u6570\u636e\u589e\u5f3a\u3002<\/p>\n\n\n\n<p>Comparison with State-of-the-Art<\/p>\n\n\n\n<p>\u4f5c\u8005\u5c06\u4f5c\u8005\u7684\u65b9\u6cd5\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u7684\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u548c\u96f7\u8fbe-\u6444\u50cf\u5934\u591a\u6a21\u6001\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5e94\u7528\u4e8e\u4e09\u4e2a\u4efb\u52a1\uff1a3D\u76ee\u6807\u68c0\u6d4b\uff0cBEV\u8bed\u4e49\u5206\u5272\uff0c\u548c3D\u591a\u76ee\u6807\u8ddf\u8e2a\u3002<\/p>\n\n\n\n<p>5.2.1 3D Object Detection<\/p>\n\n\n\n<p>\u4f5c\u8005\u5728\u8868\u683cI\u548cII\u4e2d\u5206\u522b\u63d0\u4f9b\u4e86\u5728val\u96c6\u548c\u6d4b\u8bd5\u96c6\u4e0a\u76843D\u76ee\u6807\u68c0\u6d4b\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u5982\u88681\u6240\u793a\uff0cRCBEVDet\u5728\u5404\u79cdbackbone\u4e0a\u8d85\u8d8a\u4e86\u4e4b\u524d\u7684\u96f7\u8fbe-\u6444\u50cf\u5934\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u57fa\u4e8eSparseBEV\uff0cRCBEVDet++\u6bd4CRN\u63d0\u9ad8\u4e864.4 NDS\uff0c\u5c55\u793a\u4e86\u4f5c\u8005\u878d\u5408\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u53e6\u5916\uff0c\u4e0e\u4e4b\u524d\u7684\u6700\u4f73\u65b9\u6cd5\u76f8\u6bd4\uff0cRCBEVDet\u548cRCBEVDet++\u5c06\u901f\u5ea6\u8bef\u5dee\u964d\u4f4e\u4e8614.6%\uff0c\u8bc1\u660e\u4e86\u4f5c\u8005\u5728\u5229\u7528\u96f7\u8fbe\u4fe1\u606f\u65b9\u9762\u7684\u65b9\u6cd5\u6548\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"393\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-345-1024x393.png\" alt=\"\" class=\"wp-image-16393\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-345-1024x393.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-345-300x115.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-345-768x295.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-345.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u6d4b\u8bd5\u96c6\u4e0a\uff0c\u4f7f\u7528V2-99 Backbone \u65f6\uff0cRCBEVDet++\u5c06SparseBEV Baseline \u63d0\u9ad8\u4e865.1 NDS\u548c7.0 mAP\uff0c\u5e76\u8d85\u8d8a\u4e86\u5176\u79bb\u7ebf\u7248\u672c\uff08\u4f7f\u7528\u672a\u6765\u5e27\uff09\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u4f7f\u7528\u8f83\u5c0fV2-99 Backbone \u7684RCBEVDet++\u4e0eStreamPETR\u548cFar3D\u4f7f\u7528\u8f83\u5927 Backbone Vit-L\u7684\u6027\u80fd\u76f8\u5f53\u3002\u6b64\u5916\uff0c\u4f7f\u7528\u8f83\u5927Vit-L Backbone \u7684RCBEVDet++\u5728\u65e0\u6d4b\u8bd5\u65f6\u6570\u636e\u589e\u5f3a\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u4e8672.7 NDS\u548c67.3 mAP\uff0c\u4e3anuScenes\u4e0a\u7684\u96f7\u8fbe-\u6444\u50cf\u59343D\u76ee\u6807\u68c0\u6d4b\u8bbe\u7acb\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>5.2.2 BEV Semantic Segmentation<\/p>\n\n\n\n<p>\u5728Table III\u7684val\u96c6\u4e0a\uff0c\u4f5c\u8005\u5c06\u4f5c\u8005\u7684\u65b9\u6cd5\u4e0e\u6700\u5148\u8fdb\u7684BEV\u8bed\u4e49\u5206\u5272\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u91c7\u7528ResNet-101 Backbone \u7f51\uff0cRCBEVDet++\u5728&#8221;Drivable Area&#8221;\u7c7b\u522b\u7684\u6027\u80fd\u4e0a\u6bd4CRN\u67090.6\u7684IoU\u4f18\u52bf\uff0c\u540c\u65f6\u4e5f\u6bd4BEVGuide\u5728&#8221;Lane&#8221;\u7c7b\u522b\u7684\u6027\u80fd\u4e0a\u6709\u4e866.3\u7684IoU\u4f18\u52bf\u3002\u5728\u6240\u6709\u4efb\u52a1\u7684\u7efc\u5408\u8bc4\u4f30\u4e2d\uff0cRCBEVDet++\u8fbe\u5230\u4e86\u60ca\u4eba\u768462.8 mIoU\uff0c\u6bd4\u4e4b\u524d\u7684\u6700\u4f73\u7ed3\u679c\u63d0\u9ad8\u4e861.8 mIoU\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\u4e86\u4f5c\u8005\u5728\u5904\u7406BEV\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u65f6\u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>state-of-the-art\u7684\u6027\u80fd\uff0cmIoU\u8fbe\u523062.8\uff0c\u6bd4\u4e4b\u524d\u7684\u6700\u4f73\u7ed3\u679c\u63d0\u9ad8\u4e861.8 mIoU\u3002\u8fd9\u4e9b\u7ed3\u679c\u5c55\u793a\u4e86\u4f5c\u8005\u7684\u65b9\u6cd5\u5728\u5904\u7406BEV\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u4e0a\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>5.2.3 3D Multi-Object Tracking<\/p>\n\n\n\n<p>\u5728\u88684\u4e2d\uff0c\u4f5c\u8005\u603b\u7ed3\u4e86\u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u76843D\u591a\u76ee\u6807\u8ddf\u8e2a\u7ed3\u679c\u3002\u7531\u4e8e\u4f5c\u8005\u65b9\u6cd5\u5728\u4f30\u8ba1\u7269\u4f53\u4f4d\u7f6e\u548c\u901f\u5ea6\u65b9\u9762\u7684\u9ad8\u7cbe\u5ea6\uff0cRGEVDet++\u540c\u65f6\u5b9e\u73b0\u4e86\u6700\u4f73\u7684AMOTA\u548cAMOTP\uff0c\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u76f8\u6bd4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"802\" height=\"379\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-346.png\" alt=\"\" class=\"wp-image-16394\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-346.png 802w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-346-300x142.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-346-768x363.png 768w\" sizes=\"(max-width: 802px) 100vw, 802px\" \/><\/figure>\n\n\n\n<p>Ablation Studies<\/p>\n\n\n\n<p>\u4f5c\u8005\u5bf9\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u7684\u5404\u4e2a\u8bbe\u8ba1\u9009\u62e9\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u4e3a\u4e86\u7b80\u4fbf\u8d77\u89c1\uff0c\u4f5c\u8005\u5bf93D\u68c0\u6d4b\u4efb\u52a1\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u6240\u6709\u7ed3\u679c\u90fd\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u5f97\u5230\uff0c\u4f7f\u7528\u4e86ResNet-50 Backbone \u7f51\u7edc\uff0c\u56fe\u50cf\u8f93\u5165\u5927\u5c0f\u4e3a256 x 704\uff0cBEV\u5927\u5c0f\u4e3a128&#215;128\uff0c\u9664\u975e\u53e6\u6709\u8bf4\u660e\u3002<\/p>\n\n\n\n<p>5.3.1 Main Components<\/p>\n\n\n\n<p>\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u4f5c\u8005\u5bf9\u7b2c\u4e09\u8282\u4e2d\u7684\u4e3b\u8981\u7ec4\u6210\u90e8\u5206\u8fdb\u884c\u5b9e\u9a8c\uff0c\u4ee5\u4fbf\u8bc4\u4f30\u5b83\u4eec\u7684\u6709\u6548\u6027\uff0c\u5305\u62ecRadarBEVNet\u548cCAMF\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5982\u88685\u6240\u793a\uff0c\u4f5c\u8005\u9010\u6b65\u5411baseline BEVDepth\u6dfb\u52a0\u7ec4\u4ef6\u4ee5\u521b\u5efaRGEVDet\u3002\u9996\u5148\uff0c\u57fa\u4e8e\u4ec5\u4f7f\u7528\u76f8\u673a\u7684\u6a21\u578b\uff0c\u4f5c\u8005\u5229\u7528CRN [13]\u4e2d\u91c7\u7528PointPillar\u4f5c\u4e3a\u96f7\u8fbe\u80cc\u9aa8\u7684\u5355\u96f7\u8fbe\u548c\u76f8\u673a\u76843D\u76ee\u6807\u68c0\u6d4b Baseline \u3002\u8be5 Baseline \u96f7\u8fbe-\u76f8\u673a\u68c0\u6d4b\u5668 achieve 53.6 NDS\u548c42.3 mAP\uff0c\u76f8\u8f83\u4e8e\u4ec5\u4f7f\u7528\u76f8\u673a\u7684\u68c0\u6d4b\u5668\u63d0\u9ad8\u4e861.7 NDS\u548c1.8 mAP\u3002\u63a5\u4e0b\u6765\uff0c\u5c06PointPillar\u66ff\u6362\u4e3a\u63d0\u51fa\u7684RadarBEVNet\uff0c\u4ea7\u751f\u4e862.1 NDS\u548c3.0 mAP\u7684\u6539\u8fdb\uff0c\u8bc1\u660eRadar-BEVNet\u7684\u96f7\u8fbe\u7279\u5f81\u8868\u793a\u80fd\u529b\u5f88\u5f3a\u3002\u6b64\u5916\uff0c\u6574\u5408CAMF\u5c063D\u68c0\u6d4b\u6027\u80fd\u4ece55.7 NDS\u63d0\u9ad8\u523056.4 NDS\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u9075\u5faaHop [66]\u7684\u65b9\u6cd5\uff0c\u5f15\u5165\u989d\u5916\u7684\u591a\u5e27\u635f\u5931\uff0c\u79f0\u4e3aTemporal Supersonic\uff0c\u4ece\u800c\u5b9e\u73b00.4 NDS\u7684\u6539\u8fdb\u548c0.3 mAP\u7684\u964d\u4f4e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"790\" height=\"410\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-347.png\" alt=\"\" class=\"wp-image-16395\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-347.png 790w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-347-300x156.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-347-768x399.png 768w\" sizes=\"(max-width: 790px) 100vw, 790px\" \/><\/figure>\n\n\n\n<p>\u603b\u7684\u6765\u8bf4\uff0c\u4f5c\u8005\u89c2\u5bdf\u5230\u6bcf\u4e2a\u7ec4\u6210\u90e8\u5206\u90fd\u6301\u7eed\u5730\u63d0\u5347\u4e863D\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u3002\u540c\u65f6\uff0c\u7ed3\u679c\u8868\u660e\u591a\u6a21\u5757\u878d\u5408\u53ef\u4ee5\u663e\u8457\u63d0\u5347\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>5.3.2 RadarBEVNet<\/p>\n\n\n\n<p>\u88686\u4e2d\u5c55\u793a\u4e86\u4e0eRadarBEVNet\u8bbe\u8ba1\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\uff0c\u5305\u62ec\u53cc\u6d41\u96f7\u8fbe Backbone \u7f51\u7edc\u548c\u4e86\u89e3\u76ee\u6807\u6563\u5c04\u622a\u9762(RCS)\u7684BEV\u7f16\u7801\u5668\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4f7f\u7528PointPillar\u4f5c\u4e3a\u96f7\u8fbe Backbone \u7684\u57fa\u7840\u6a21\u578b\u5b9e\u73b0\u4e8654.3 NDS\u548c42.6 mAP\u3002\u5c06\u4e86\u89e3\u76ee\u6807\u6563\u5c04\u622a\u9762\u7684BEV\u7f16\u7801\u5668\u96c6\u6210\u5230\u6a21\u578b\u4e2d\uff0c\u4f7f\u5176\u57283D\u76ee\u6807\u68c0\u6d4b\u65b9\u9762\u7684\u6027\u80fd\u63d0\u9ad8\u4e861.4 NDS\u548c1.9 mAP\uff0c\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u7684\u4e86\u89e3\u76ee\u6807\u6563\u5c04\u622a\u9762\u7684BEV\u7279\u5f81\u91cd\u5efa\u7684\u6709\u6548\u6027\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u53d1\u73b0\u76f4\u63a5\u5c06\u57fa\u4e8eTransformer\u7684 Backbone \u4e0eBEV Backbone \u76f8\u7ed3\u5408\uff0c\u5176\u6027\u80fd\u4ec5\u7565\u6709\u63d0\u9ad8\u3002\u8fd9\u53ef\u4ee5\u5f52\u56e0\u4e8e\u57fa\u4e8e\u70b9\u548c\u5c0fTransformer Backbone \u5206\u522b\u5bf9\u96f7\u8fbe\u70b9\u8fdb\u884c\u5355\u72ec\u5904\u7406\uff0c\u5b83\u4eec\u5404\u81ea\u72ec\u7279\u7684\u96f7\u8fbe\u7279\u5f81\u8868\u793a\u7f3a\u4e4f\u6709\u6548\u7684\u4ea4\u4e92\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u6ce8\u5165\u548c\u63d0\u53d6\u6a21\u5757\uff0c\u4ece\u800c\u63d0\u9ad8\u4e860.6 NDS\u548c0.8 mAP\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"790\" height=\"318\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-348.png\" alt=\"\" class=\"wp-image-16396\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-348.png 790w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-348-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-348-768x309.png 768w\" sizes=\"(max-width: 790px) 100vw, 790px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u4f5c\u8005\u5728\u4e0d\u540c\u7684\u8f93\u5165\u6a21\u5f0f\u4e0b\uff0c\u5c06\u6240\u63d0\u51fa\u7684RadarBEVNet\u4e0ePointPillar\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5982\u88687\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"809\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-349.png\" alt=\"\" class=\"wp-image-16397\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-349.png 809w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-349-300x119.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-349-768x304.png 768w\" sizes=\"(max-width: 809px) 100vw, 809px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"250\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-350-1024x250.png\" alt=\"\" class=\"wp-image-16398\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-350-1024x250.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-350-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-350-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-350.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>5.3.3 Cross-attention Multi-layer Fusion (CAMF)<\/p>\n\n\n\n<p>\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u4f5c\u8005\u5bf9CAMF\u6a21\u5757\u8fdb\u884c\u4e86\u6d88\u878d\u5b9e\u9a8c\uff0c\u8be5\u6a21\u5757\u5305\u62ec\u7528\u4e8e\u5bf9\u591a\u6a21\u6001\u7279\u5f81\u8fdb\u884c\u5bf9\u9f50\u7684\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u4ee5\u53ca\u7528\u4e8eBEV\u7279\u5f81\u878d\u5408\u7684\u901a\u9053\u548c\u7a7a\u95f4\u878d\u5408\u6a21\u5757\uff0c\u5982\u88688\u6240\u793a\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4f7f\u7528\u6765\u81eaBEVfusion[4]\u7684\u878d\u5408\u6a21\u5757\u7684\u57fa\u51c6\u6a21\u578b\u5728\u878d\u5408\u6a21\u5757\u4e0a\u83b7\u5f97\u4e8655.7 NDS\u548c45.3 mAP\u3002\u5f53\u5f15\u5165\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u8fdb\u884c\u591a\u6a21\u6001BEV\u7279\u5f81\u5bf9\u9f50\u65f6\uff0c3D\u68c0\u6d4b\u6027\u80fd\u4ece55.7 NDS\u548c45.3 mAP\u63d0\u9ad8\u523056.1 NDS\u548c45.5 mAP\u3002\u8fd9\u7a81\u663e\u4e86\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5728\u8de8\u6a21\u6001\u7279\u5f81\u5bf9\u9f50\u7684\u6709\u6548\u6027\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u6ce8\u610f\u5230\uff0c\u5728BEVfusion[4]\u7684\u5355\u5c42\u878d\u5408\u4e4b\u5916\u5f15\u5165\u4e86\u901a\u9053\u548c\u7a7a\u95f4\u878d\u5408\u6a21\u5757\u8fdb\u884cBEV\u7279\u5f81\u878d\u5408\uff0c\u6027\u80fd\u63d0\u9ad8\u4e860.3 NDS\u548c0.1 mAP\u3002\u8fd9\u8868\u660e\uff0c\u901a\u9053\u548c\u7a7a\u95f4\u591a\u5c42\u878d\u5408\u63d0\u4f9b\u4e86\u66f4\u597d\u7684\u591a\u6a21\u6001BEV\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"231\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-351.png\" alt=\"\" class=\"wp-image-16399\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-351.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-351-300x103.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p>5.3.4 Sparse Fusion with CAMF<\/p>\n\n\n\n<p>\u4e5d\u8868\u5c55\u793a\u4e86\u4f5c\u8005\u4f7f\u7528CAMF\u7684\u7a00\u758f\u878d\u5408\u7684\u6d88\u878d\u7ed3\u679c\u3002\u4e5d\u8868\u7684\u7b2c\u4e00\u884c\u6307\u7684\u662f\u7a00\u758fBEV Baseline \u3002\u4ec5\u91c7\u7528\u53d8\u5f62\u6ce8\u610f\u673a\u5236\u5c06\u96f7\u8fbeBEV\u7279\u5f81\u4e0e\u56fe\u50cf\u7a00\u758f\u7279\u5f81\u5bf9\u9f50\uff0c\u5f97\u5230\u7684\u6027\u80fd\u63d0\u5347\u4e3a1.2 NDS\u548c2.3 mAP\u3002\u5728\u6dfb\u52a0\u96f7\u8fbe Query \u6837\u672c\u8fdb\u884c\u591a\u6a21\u6001\u7279\u5f81\u5bf9\u9f50\u540e\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u68c0\u6d4b\u6027\u80fd2.4 NDS\u548c4.2 mAP\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u89c2\u5bdf\u5230\uff0c\u7528\u975e\u53c2\u6570\u7f16\u7801\uff08\u5373\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\uff09\u66ff\u4ee3\u53ef\u5b66\u4e60\u7684\u4f4d\u7f16\u7801\uff0c\u53ef\u4ee5\u63d0\u5347\u7ed3\u679c1.9 NDS\u548c1.9 mAP\u3002\u6700\u540e\uff0c\u4e0eRCBEVDet\u4e2d\u7684CAMF\u76f8\u6bd4\uff0c\u4e5d\u8868\u4e2d\u7684\u7ebf\u6027\u878d\u5408\u5728MLP\u7684\u5c42\u53e0\u878d\u5408\u4e0a\u8d85\u8fc7\u4e86\u591a\u5c42\u878d\u5408\u3002\u8fd9\u662f\u56e0\u4e3aBEV\u7279\u5f81\u662f\u4e8c\u7ef4\u5bc6\u96c6\u7279\u5f81\uff0c\u9700\u8981\u7a7a\u95f4\u548c\u901a\u9053\u7684\u878d\u5408\uff1b\u800c\u7a00\u758f Query \u7279\u5f81\u662f\u4e00\u7ef4\u7279\u5f81\uff0c\u56e0\u6b64\uff0c\u7ebf\u6027\u878d\u5408\u5c42\u662f\u8db3\u591f\u7684\u3002<\/p>\n\n\n\n<p>Task Trade-off in BEV semantic segmentation<\/p>\n\n\n\n<p>\u5728nuScenes\u4e2d\uff0cBEV\u8bed\u4e49\u5206\u5272\u9700\u8981\u5b8c\u6210\u4e09\u4e2a\u4efb\u52a1\uff0c\u5305\u62ec\u8f66\u8f86\u3001\u53ef\u884c\u9a76\u533a\u57df\u548c\u8f66\u9053 segmentation\u3002\u4e3a\u4e86\u5728\u8fd9\u4e09\u4e2a\u4efb\u52a1\u4e4b\u95f4\u5b9e\u73b0\u6700\u4f73\u5e73\u8861\uff0c\u4f5c\u8005\u8c03\u6574\u4e86\u4e09\u4e2a\u4efb\u52a1\u7684\u635f\u5931\u6743\u91cd\uff0c\u5e76\u5c06\u5176\u7ed3\u679c\u663e\u793a\u5728\u886810\u4e2d\u3002\u4f5c\u8005\u53d1\u73b0\uff0c\u4e3a\u6bcf\u4e2a\u4efb\u52a1\u5206\u914d\u76f8\u7b49\u7684\u635f\u5931\u6743\u91cd\u5f97\u523057.7 mIoU\u3002\u968f\u7740\u8f66\u8f86\u548c\u8f66\u9053\u7684\u635f\u5931\u6743\u91cd\u9010\u6b65\u589e\u52a0\uff0c\u540c\u65f6\u964d\u4f4e\u53ef\u884c\u9a76\u533a\u57df\u7684\u635f\u5931\u6743\u91cd\uff0c\u5206\u5272\u6027\u80fd\u9996\u5148\u4ece57.7 mIoU\u589e\u52a0\u523059.5 mIoU\uff0c\u8fbe\u5230\u5cf0\u503c\uff0c\u7136\u540e\u4e0b\u964d\u523058.9 mIoU\u3002\u5728\u8f66\u8f86\u3001\u53ef\u884c\u9a76\u533a\u57df\u548c\u8f66\u9053\u5206\u522b\u91c7\u7528400\u300180\u548c200\u7684\u635f\u5931\u6743\u91cd\u65f6\uff0c\u6700\u4f73\u4efb\u52a1\u6743\u8861\u5b9e\u73b0\u3002\u8fdb\u4e00\u6b65\u589e\u52a0\u8f66\u8f86\u548c\u8f66\u9053\u7684\u635f\u5931\u6743\u91cd\u53ef\u80fd\u4f1a\u635f\u5bb3\u4e09\u4e2a\u4efb\u52a1\u7684\u6240\u6709\u5206\u5272\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-352-1024x229.png\" alt=\"\" class=\"wp-image-16400\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-352-1024x229.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-352-300x67.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-352-768x171.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-352.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Analysis of Robustness<\/p>\n\n\n\n<p>5.5.1 Sensor Failure<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5206\u6790\u4f20\u611f\u5668\u6545\u969c\u573a\u666f\u4e0b\u7684\u9c81\u68d2\u6027\uff0c\u4f5c\u8005\u968f\u673a\u5220\u9664\u56fe\u50cf\u6216\u96f7\u8fbe\u8f93\u5165\u8fdb\u884c\u8bc4\u4f30\u3002\u5728\u672c\u5b9e\u9a8c\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528dropout\u8bad\u7ec3\u7b56\u7565\u4f5c\u4e3a\u6570\u636e\u589e\u5f3a\uff0c\u7528\u4e8e\u8bad\u7ec3RCBEVDet\uff0c\u5e76\u62a5\u544aCRN [13]\u4e2d\u7684_Car_\u7c7bmAP\u3002\u5177\u4f53\u6765\u8bf4\uff0cRCBEVDet\u5728\u6240\u6709\u4f20\u611f\u5668\u6545\u969c\u60c5\u51b5\u4e0b\u90fd\u4f18\u4e8eCRN\u548cBEVFusion\uff0c_Car_\u7c7b\u7684mAP\u66f4\u9ad8\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cCRN\u5728\u4e09\u79cd\u96f7\u8fbe\u4f20\u611f\u5668\u6545\u969c\u6848\u4f8b\u4e2d\u7684mAP\u5206\u522b\u4e0b\u964d\u4e864.5\u300111.8\u548c25.0\uff0c\u800cRCBEVDet\u4ec5\u51fa\u73b00.9\u30016.4\u548c10.4 mAP\u7684\u4e0b\u964d\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u7ed3\u679c\u5f3a\u8c03\u4e86\u6240\u63d0\u51fa\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\u901a\u8fc7\u52a8\u6001\u5bf9\u9f50\u589e\u5f3a\u4e86BEV\u7279\u5f81\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>5.5.2 Modal Alignment<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5c55\u793aCAMF\u4e0e\u96f7\u8fbe\u6821\u6b63\u7684\u6548\u679c\uff0c\u4f5c\u8005\u4ee5\u968f\u673a\u6270\u52a8\u7684\u65b9\u5f0f\u5bf9\u96f7\u8fbe\u8f93\u5165\u7684x\u8f74\u548cy\u8f74\u5750\u6807\u8fdb\u884c\u64cd\u4f5c\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4f5c\u8005\u5c06x\u8f74\u548cy\u8f74\u5750\u6807\u6bcf\u4e2a\u96f7\u8fbe\u70b9\u7684\u566a\u58f0\u5747\u5300\u5730\u4ece-1\u52301\u4e2d\u91c7\u6837\u3002\u5982\u886812\u6240\u793a\uff0cRCBEVDet\u5728\u566a\u58f0\u96f7\u8fbe\u8f93\u5165\u4e0b\u4ec5\u964d\u4f4e1.3 NDS\u548c1.5 mAP\uff0c\u800cCRN\u964d\u4f4e2.3 NDS\u548c5.1 mAP\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u901a\u8fc7\u56fe8\u53ef\u89c6\u5316\u4e86CAMF\u5982\u4f55\u89e3\u51b3\u96f7\u8fbe\u504f\u79fb\u7684\u95ee\u9898\u3002\u5982\u56fe8\u6240\u793a\uff0c\u8bb8\u591a\u96f7\u8fbe\u7279\u5f81\u4e0e GT \u6846\u4e4b\u95f4\u7684\u4f4d\u7f6e\u5b58\u5728\u504f\u5dee\u3002\u5229\u7528CAMF\uff0c\u8fd9\u4e9b\u96f7\u8fbe\u7279\u5f81\u5f97\u4ee5\u5728\u771f\u5b9e\u6846\u5185\u91cd\u65b0\u5bf9\u9f50\uff0c\u4ece\u800c\u6709\u6548\u5730\u6821\u6b63\u4e86\u96f7\u8fbe\u7684\u504f\u79fb\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"809\" height=\"482\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-353.png\" alt=\"\" class=\"wp-image-16401\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-353.png 809w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-353-300x179.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-353-768x458.png 768w\" sizes=\"(max-width: 809px) 100vw, 809px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"762\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-354.png\" alt=\"\" class=\"wp-image-16402\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-354.png 762w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-354-300x94.png 300w\" sizes=\"(max-width: 762px) 100vw, 762px\" \/><\/figure>\n\n\n\n<p>5.5.3 Comparison with CRN<\/p>\n\n\n\n<p>CRN [13] \u4e5f\u5229\u7528\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u89e3\u51b3\u96f7\u8fbe-\u76f8\u673a\u7684\u5339\u914d\u95ee\u9898\u3002\u886811 \u548c\u886812 \u7684\u7ed3\u679c\u8868\u660e\uff0c\u4f5c\u8005\u7684 CAMF \u6bd4 CRN \u4e2d\u63d0\u51fa\u7684\u591a\u6a21\u6001\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\uff08MDCA\uff09\u66f4\u9c81\u68d2\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u533a\u5206\u4f5c\u8005\u7684\u65b9\u6cd5\uff0c\u4f5c\u8005\u63d0\u51fa\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"774\" height=\"437\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-355.png\" alt=\"\" class=\"wp-image-16403\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-355.png 774w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-355-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-355-768x434.png 768w\" sizes=\"(max-width: 774px) 100vw, 774px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"810\" height=\"545\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-356.png\" alt=\"\" class=\"wp-image-16404\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-356.png 810w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-356-300x202.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-356-768x517.png 768w\" sizes=\"(max-width: 810px) 100vw, 810px\" \/><\/figure>\n\n\n\n<p>Model Generalization<\/p>\n\n\n\n<p>RCBEVDet\u91c7\u7528\u53cc\u5206\u652f\u67b6\u6784\u5c06\u96f7\u8fbe\u548c\u591a\u89c6\u89d2\u76f8\u673a\u878d\u5408\uff0c\u5e76\u5c06\u591a\u89c6\u89d2\u76f8\u673a\u57fa\u7840\u65b9\u6cd5\u96c6\u6210\u5230\u8be5\u6a21\u578b\u4e2d\uff0c\u4ece\u800c\u63d0\u9ad8\u7279\u5f81\u8868\u793a\u3002\u4e3a\u4e86\u8bc1\u660eRCBEVDet\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4f5c\u8005\u57283D\u76ee\u6807\u68c0\u6d4b\u6846\u67b6\u4e2d\u5206\u522b\u4f7f\u7528\u4e86\u4e0d\u540c\u7684 Backbone \u7f51\u7edc\u548c\u68c0\u6d4b\u5668\u8bbe\u8ba1\u8fdb\u884c\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p>5.6.1 Generalization for Backbone Architectures<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc1\u660eRCBEVDet\u5728backbone\u67b6\u6784\u4e0a\u7684\u6a21\u578b\u6cdb\u5316\u80fd\u529b\uff0c\u4f5c\u8005\u5728BEVDepth\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u5305\u62ec\u4f7f\u7528\u57fa\u4e8eCNN\u548cTransformer\u7684\u591a\u79cdbackbone\u67b6\u6784\u3002\u5982\u886813\u6240\u793a\uff0c\u4f5c\u8005\u7684\u65b9\u6cd5\u5728\u4e0d\u540cbackbone\u4e0a\u7684 Baseline \u6027\u80fd\u53ef\u63d0\u9ad83.8~4.9 NDS\u548c4.8~10.2 mAP\u3002\u6b64\u5916\uff0c\u5bf9\u4e8e\u5927\u5c0f\u4e0d\u540c\u7684\u76f8\u540c\u7c7b\u578b\u7684backbone\u7ed3\u6784\uff08\u4f8b\u5982\uff0cResNet-18\u548cResNet-50\uff09\uff0cRCBEVDet\u53ef\u4ee5\u5b9e\u73b0\u4e00\u81f4\u7684\u6027\u80fd\u63d0\u53474.9 NDS\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"984\" height=\"382\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-357.png\" alt=\"\" class=\"wp-image-16405\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-357.png 984w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-357-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-357-768x298.png 768w\" sizes=\"(max-width: 984px) 100vw, 984px\" \/><\/figure>\n\n\n\n<p>5.6.2 Generalization for 3D Detector Architecture<\/p>\n\n\n\n<p>\u4f5c\u8005\u901a\u8fc7\u5c06\u4f5c\u8005\u7684\u65b9\u6cd5\u96c6\u6210\u5230\u5404\u79cd\u4e3b\u6d41\u7684\u591a\u89c6\u56fe\u6444\u50cf\u5934\u57fa\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u4e2d\uff0c\u5305\u62ec\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\uff08\u4f8b\u5982\uff0cBEVDet\u548cBEVDepth\uff09\u548c\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\uff08\u4f8b\u5982\uff0cStreamPETR\u548cSparseBEV\uff09\uff0c\u6765\u8bc4\u4f30\u68c0\u6d4b\u5668\u7684\u67b6\u6784\u901a\u7528\u6027\u3002\u8fd9\u4e9b\u65b9\u6cd5\u4ee3\u8868\u4e86\u5404\u79cd\u68c0\u6d4b\u5668\u8bbe\u8ba1\u3002\u5982\u886814\u6240\u793a\uff0c\u901a\u8fc7\u5c06\u96f7\u8fbe\u7279\u5f81\u8fdb\u884c\u878d\u5408\uff0c\u4f5c\u8005\u7684\u65b9\u6cd5\u63d0\u9ad8\u4e86\u6240\u6709\u6d41\u884c\u7684\u591a\u89c6\u56fe\u6444\u50cf\u5934\u57fa3D\u76ee\u6807\u68c0\u6d4b\u5668\u7684\u6027\u80fd\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5bf9\u4e8e\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\uff0cRCBEVDet\u5bf9BEVDet\u76845.6 NDS\u548c4.9 NDS\u8fdb\u884c\u4e86\u6539\u8fdb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"410\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-358.png\" alt=\"\" class=\"wp-image-16406\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-358.png 692w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-358-300x178.png 300w\" sizes=\"(max-width: 692px) 100vw, 692px\" \/><\/figure>\n\n\n\n<p><strong>\u88689\uff1a<\/strong>\u00a0\u5e26\u566a\u58f0\u96f7\u8fbe\u8f93\u5165\u7684\u96f7\u8fbe-\u6444\u50cf\u5934\u591a\u6a21\u6001\u5bf9\u9f50\u3002BEVDepth\uff0c\u5206\u522b\u3002\u5bf9\u4e8e\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\uff0cRCBEVDet++\u5728NDS\u65b9\u9762\u83b7\u5f97\u76f8\u4f3c\u7684\u6027\u80fd\u6539\u8fdb\uff0c\u5373\u5206\u522b\u63d0\u9ad8\u4e86StreamPETR\u548cSparseBEV\u76845.6 NDS\u548c5.9 NDS\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e0e\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\u5f97\u5230\u7684mAP\u6539\u8fdb\u66f4\u591a\u3002\u539f\u56e0\u662f\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\u901a\u5e38\u4f7f\u7528LiDAR\u70b9\u63d0\u4f9b\u7684\u6df1\u5ea6\u76d1\u7763\u8fdb\u884c\u66f4\u51c6\u786e\u76843D\u4f4d\u7f6e\u9884\u6d4b\uff0c\u800c\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\u53ef\u4ee5\u9690\u5f0f\u5730\u5b66\u4e603D\u4f4d\u7f6e\u3002\u56e0\u6b64\uff0c\u57fa\u4e8e Transformer \u7684\u65b9\u6cd5\u53ef\u4ee5\u4ece\u96f7\u8fbe\u7279\u5f81\u4e2d\u83b7\u5f97\u66f4\u591a\u7684\u6df1\u5ea6\u4fe1\u606f\u3002\u603b\u4f53\u800c\u8a00\uff0c\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e\u4f5c\u8005\u7684\u65b9\u6cd5\u5728\u5404\u79cd3D\u76ee\u6807\u68c0\u6d4b\u5668\u4e0a\u7684\u68c0\u6d4b\u5668\u67b6\u6784\u901a\u7528\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"258\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-359-1024x258.png\" alt=\"\" class=\"wp-image-16407\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-359-1024x258.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-359-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-359-768x193.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-359.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>6 Conclusion<\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u4f5c\u8005\u9996\u5148\u4ecb\u7ecd\u4e86RCBEVDet\uff0c\u8fd9\u662f\u4e00\u4e2a\u96f7\u8fbe-\u6444\u50cf\u5934\u878d\u54083D\u68c0\u6d4b\u5668\u3002<\/p>\n\n\n\n<p>\u5b83\u5305\u62ec\u4e00\u4e2a\u73b0\u6709\u7684\u57fa\u4e8e\u6444\u50cf\u5934\u76843D\u68c0\u6d4b\u6a21\u578b\uff0c\u4e00\u4e2a\u4e13\u95e8\u8bbe\u8ba1\u7684\u96f7\u8fbe\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u4ee5\u53caCAMF\u6a21\u5757\uff0c\u7528\u4e8e\u5bf9\u9f50\u548c\u878d\u5408\u96f7\u8fbe-\u6444\u50cf\u591a\u6a21\u6001\u7279\u5f81\u3002RCBEVDet\u5728\u591a\u4e2abackbone\u4e0a\u6539\u5584\u4e86\u5404\u79cd\u57fa\u4e8e\u6444\u50cf\u5934\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u6027\u80fd\uff0c\u5e76\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5c55\u793a\u4e86\u5bf9\u6297\u4f20\u611f\u5668\u6545\u969c\u60c5\u51b5\u7684\u5f3a\u5927\u9c81\u68d2\u6027\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u53d1\u6325RCBEVDet\u7684\u6f5c\u529b\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86RCBEVDet++\uff0c\u5b83\u5c06CAMF\u6a21\u5757\u6269\u5c55\u5230\u652f\u6301\u57fa\u4e8e Query \u7684\u591a\u89c6\u76f8\u673a\u611f\u77e5\u6a21\u578b\uff0c\u5b9e\u73b0\u7a00\u758f\u878d\u5408\uff0c\u5e76\u9002\u5e94\u66f4\u591a\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u5305\u62ec3D\u76ee\u6807\u68c0\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u548c3D\u591a\u76ee\u6807\u8ddf\u8e2a\u3002<\/p>\n\n\n\n<p>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cRCBEVDet++\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u57fa\u4e8e\u76f8\u673a\u7684\u611f\u77e5\u6a21\u578b\u6027\u80fd\uff0c\u5e76\u5728\u8fd9\u4e09\u4e2a\u611f\u77e5\u4efb\u52a1\u4e0a\u5b9e\u73b0\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u7684\u96f7\u8fbe-\u6444\u50cf\u5934\u591a\u6a21\u6001\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u65e0\u9700\u4f7f\u7528\u6d4b\u8bd5\u65f6\u589e\u5f3a\u6216\u6a21\u578b\u96c6\u6210\uff0cRCBEVDet++\u53d6\u5f97\u4e86ViT-L\u56fe\u50cfbackbone\u76843D\u76ee\u6807\u68c0\u6d4b72.73 NDS\u548c67.34 mAP\u3002<\/p>\n\n\n\n<p>\u53c2\u8003<\/p>\n\n\n\n<p>[1].RGEVDet++: Toward High-accuracy Radar-Camera Fusion 3D Perception Network.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u611f\u77e5\u5468\u56f4\u73af\u5883\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u57fa\u672c\u4efb\u52a1\u3002\u4e3a\u4e86\u83b7\u5f97\u9ad8\u5ea6 [&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-16377","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\/16377"}],"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=16377"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16377\/revisions"}],"predecessor-version":[{"id":16408,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16377\/revisions\/16408"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16377"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16377"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16377"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}