{"id":17030,"date":"2024-10-18T17:15:48","date_gmt":"2024-10-18T09:15:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=17030"},"modified":"2024-10-21T08:28:00","modified_gmt":"2024-10-21T00:28:00","slug":"2024-10-18-%e9%98%bf%e9%87%8c-%e8%a5%bf%e4%ba%a4%e6%8f%90%e5%87%ba-priordrive%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e5%bb%ba%e5%9b%be%e7%9a%84%e7%bb%9f%e4%b8%80%e5%90%91%e9%87%8f%e5%85%88","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/18\/17030\/","title":{"rendered":"2024-10-18 \u963f\u91cc &amp; \u897f\u4ea4\u63d0\u51fa PriorDrive\uff1a\u81ea\u52a8\u9a7e\u9a76\u5efa\u56fe\u7684\u7edf\u4e00\u5411\u91cf\u5148\u9a8c\u7f16\u7801"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"287\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-168-1024x287.png\" alt=\"\" class=\"wp-image-17031\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-168-1024x287.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-168-300x84.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-168-768x215.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-168.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u9ad8\u5206\u8fa8\u7387\u5730\u56fe\uff08HD maps\uff09\u5bf9\u4e8e\u81ea\u4e3b\u8f66\u8f86\u7684\u7cbe\u786e\u5b9a\u4f4d\u548c\u51b3\u7b56\u81f3\u5173\u91cd\u8981\uff0c\u4f46\u5176\u521b\u5efa\u548c\u7ef4\u62a4\u9762\u4e34\u7740\u4e25\u91cd\u7684\u6210\u672c\u548c\u65f6\u6548\u6311\u6218\u3002\u5229\u7528\u8f66\u8f7d\u4f20\u611f\u5668\u5728\u7ebf\u6784\u5efaHD\u5730\u56fe\u5df2\u6210\u4e3a\u4e00\u79cd\u6709\u524d\u666f\u7684\u89e3\u51b3\u65b9\u6848\uff1b<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u53ef\u80fd\u4f1a\u53d7\u5230\u906e\u6321\u548c\u6076\u52a3\u5929\u6c14\u7b49\u5bfc\u81f4\u7684\u6570\u636e\u4e0d\u5b8c\u6574\u7684\u5f71\u54cd\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3a_PriorDrive_\u7684\u6846\u67b6\uff0c\u901a\u8fc7\u5229\u7528\u5148\u9a8c\u5730\u56fe\u7684\u529b\u91cf\u6765\u514b\u670d\u8fd9\u4e9b\u9650\u5236\uff0c\u663e\u8457\u63d0\u9ad8\u5728\u7ebfHD\u5730\u56fe\u6784\u5efa\u7684\u9c81\u68d2\u6027\u548c\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u7684\u65b9\u6cd5\u5c06\u591a\u79cd\u5148\u9a8c\u5730\u56fe\uff08\u5982OpenStreetMap\u7684\u6807\u51c6\u5b9a\u4e49\u5730\u56fe\uff08SD maps\uff09\u3001\u4f9b\u5e94\u5546\u7684\u8fc7\u65f6HD\u5730\u56fe\u4ee5\u53ca\u57fa\u4e8e\u5386\u53f2\u8f66\u8f86\u6570\u636e\u7684\u672c\u5730\u6784\u5efa\u5730\u56fe\uff09\u96c6\u6210\u5728\u4e00\u8d77\u3002\u4e3a\u4e86\u6709\u6548\u5730\u5c06\u8fd9\u79cd\u5148\u9a8c\u4fe1\u606f\u7f16\u7801\u5230\u5728\u7ebf\u5730\u56fe\u6a21\u578b\u4e2d\uff0c\u4f5c\u8005 introduced \u4e00\u79cd\u6df7\u5408\u7684\u5148\u9a8c\u8868\u793a\uff08HPQuery\uff09\uff0c\u5b83\u5c06\u5404\u79cd\u5730\u56fe\u5143\u7d20\u7684\u8868\u793a\u6807\u51c6\u5316\u3002<\/p>\n\n\n\n<p>PriorDrive\u7684\u6838\u5fc3\u662f\u7edf\u4e00\u5411\u91cf\u7f16\u7801\u5668\uff08UVE\uff09\uff0c\u5b83\u91c7\u7528\u53cc\u91cd\u7f16\u7801\u673a\u5236\u5904\u7406\u5411\u91cf\u6570\u636e\u3002\u5411\u91cf\u7f16\u7801\u5668\u6355\u83b7\u4e86\u7ec6\u7c92\u5ea6\u7684\u5c40\u90e8\u7279\u5f81\uff0c\u800c\u5411\u91cf\u7f16\u7801\u5668\u96c6\u6210\u4e86\u5168\u5c40\u4e0a\u4e0b\u6587\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u5206\u6bb5\u548c\u70b9\u6bb5 Level \u7684\u9884\u8bad\u7ec3\u7b56\u7565\uff0c\u4f7f\u5f97UVE\u53ef\u4ee5\u5b66\u4e60\u5411\u91cf\u6570\u636e\u7684\u5148\u9a8c\u5206\u5e03\uff0c\u4ece\u800c\u63d0\u9ad8\u7f16\u7801\u5668\u7684\u6cdb\u5316\u80fd\u529b\u548c\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u5bf9nuscenes\u6570\u636e\u96c6\u7684\u5e7f\u6cdb\u6d4b\u8bd5\uff0c\u4f5c\u8005\u8bc1\u660e\u4e86PriorDrive\u4e0e\u5404\u79cd\u5728\u7ebf\u5730\u56fe\u6a21\u578b\u9ad8\u5ea6\u517c\u5bb9\uff0c\u5e76\u4e14\u663e\u8457\u63d0\u9ad8\u4e86\u5730\u56fe\u9884\u6d4b\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7PriorDrive\u6846\u67b6\u5c06\u5148\u9a8c\u5730\u56fe\u8fdb\u884c\u96c6\u6210\uff0c\u4e3a\u5355\u611f\u77e5\u6570\u636e\u9762\u4e34\u7684\u6311\u6218\u63d0\u4f9b\u4e86\u4e00\u79cd\u9c81\u68d2\u89e3\u51b3\u65b9\u6848\uff0c\u4e3a\u66f4\u53ef\u9760\u7684\u81ea\u4e3b\u8f66\u8f86\u5bfc\u822a\u94fa\u5e73\u4e86\u9053\u8def\u3002<\/p>\n<\/blockquote>\n\n\n\n<h2 class=\"wp-block-heading\">Introduction<\/h2>\n\n\n\n<p>\u9ad8\u6e05\u5730\u56fe\uff08HD maps\uff09\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u7cbe\u51c6\u5bfc\u822a\u548c\u51b3\u7b56\u81f3\u5173\u91cd\u8981\uff0c\u5b83\u4eec\u63d0\u4f9b\u4e86\u8be6\u7ec6\u7684\u77e2\u91cf\u5316\u8868\u793a\uff0c\u5982\u8f66\u9053\u5206\u754c\u7ebf\u3001\u4eba\u884c\u6a2a\u9053\u548c\u9053\u8def\u8fb9\u754c\u7b49[14, 15]\u3002\u5c3d\u7ba1\u5b83\u4eec\u5177\u6709\u91cd\u8981\u610f\u4e49\uff0c\u4f46\u521b\u5efa\u548c\u7ef4\u62a4HD\u5730\u56fe\u7684\u4f20\u7edf\u65b9\u6cd5\u901a\u5e38\u6210\u672c\u9ad8\u6602\u4e14\u8017\u65f6\u8d39\u529b\u3002\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u80fd\u5bfc\u81f4\u65e0\u6cd5\u8ddf\u4e0a\u5feb\u901f\u53d8\u5316\u7684\u57ce\u4e61\u73af\u5883\u7684\u8fc7\u65f6\u5730\u56fe\u3002\u56e0\u6b64\uff0c\u5bf9\u5728\u7ebf\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u7684\u5174\u8da3\u65e5\u76ca\u589e\u52a0\uff0c\u5730\u56fe\u53ef\u4ee5\u901a\u8fc7\u8f66\u8f7d\u4f20\u611f\u5668\uff0c\u5982\u5168\u666f\u7ea2\u7eff\u8272\u6444\u50cf\u5934\u548c\u6fc0\u5149\u70b9\u4e91\u4ee5\u5b9e\u65f6\u65b9\u5f0f\u751f\u6210\u3002\u867d\u7136\u8fd9\u79cd\u65b9\u6cd5\u964d\u4f4e\u4e86\u6210\u672c\uff0c\u4f46\u4e5f\u5e26\u6765\u4e86\u65b0\u7684\u6311\u6218\uff0c\u7279\u522b\u662f\u7531\u4e8e\u73af\u5883\u906e\u6321\u6216\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u9020\u6210\u7684\u4e0d\u5b8c\u6574\u548c\u9519\u8bef\u7684\u6570\u636e\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u7bc7\u8bba\u6587\u4e2d\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86PriorDrive\uff0c\u4e00\u79cd\u4e13\u4e3a\u514b\u670d\u8fd9\u4e9b\u6311\u6218\u800c\u8bbe\u8ba1\u7684\u521b\u65b0\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5229\u7528\u5148\u9a8c\u5730\u56fe\u3002\u5177\u4f53\u800c\u8a00\uff0cPriorDrive\u5305\u62ec\u4e09\u79cd\u5148\u9a8c\u5730\u56fe\uff1a\u6807\u51c6\u5b9a\u4e49\u5730\u56fe\uff08SD maps\uff09\u3001\u73b0\u6709\u4f46\u8fc7\u65f6\u7684HD\u5730\u56fe\u548c\u5728\u7ebf\u5386\u53f2\u9884\u6d4b\u5730\u56fe\uff0c\u5982\u56fe1\u6240\u793a\u3002SD\u5730\u56fe\u63d0\u4f9b\u4e86\u7ef4\u62a4\u9053\u8def Level \u8fde\u901a\u6027\u7684 essential \u957f\u5411\u4e2d\u5fc3\u7ebf\u9aa8\u67b6\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u73b0\u6709HD\u5730\u56fe\uff08HD map-EX\uff09\u5177\u6709\u5f88\u9ad8\u7684\u51c6\u786e\u6027\uff0c\u4f46\u7531\u4e8e\u66f4\u65b0\u4e0d\u9891\u7e41\uff0c\u5b83\u4eec\u901a\u5e38\u65e0\u6cd5\u53cd\u6620\u73b0\u6709\u7684\u9053\u8def\u6761\u4ef6\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u5730\u56fe\u5bf9\u4e8eHD\u5730\u56fe\u7684\u6784\u5efa\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u5386\u53f2\u9884\u6d4b\u5730\u56fe\uff08\u5e38\u5e38\u88ab\u5ffd\u89c6\uff09\u53ef\u4ee5\u901a\u8fc7\u53cd\u6620\u5148\u524d\u7684\u611f\u77e5\u89c2\u6d4b\u6d1e\u5bdf\u5f53\u524d\u7684\u9053\u8def\u72b6\u51b5\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u8f66\u8f86\u5728\u76f8\u540c\u7684\u5730\u70b9\u591a\u6b21\u884c\u9a76\uff0c\u5728\u5404\u79cd\u6761\u4ef6\u4e0b\u79ef\u7d2f\u7684\u4fe1\u606f\u53ef\u4ee5\u901a\u8fc7\u8fed\u4ee3\u4f18\u5316\u63d0\u9ad8\u5f53\u524d\u5c40\u90e8\u5730\u56fe\u7684\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"541\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-169-1024x541.png\" alt=\"\" class=\"wp-image-17032\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-169-1024x541.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-169-300x159.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-169-768x406.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-169.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u4e00\u4e9b\u7814\u7a76\u8bd5\u56fe\u5229\u7528\u5148\u9a8c\u5730\u56fe\u8865\u5145\u611f\u77e5\u6570\u636e\uff0c\u4f46\u5b83\u4eec\u9762\u4e34\u7740\u8bb8\u591a\u9650\u5236\u3002\u4f8b\u5982\uff0cNMP [13]\u4f9d\u8d56\u4e8e\u4e00\u4e2a\u65e0\u6cd5\u5229\u7528\u73b0\u6709\u79bb\u7ebf\u5730\u56fe\u7684\u795e\u7ecf\u5148\u9a8c\u6a21\u578b\uff0c\u53ea\u80fd\u901a\u8fc7\u6a21\u578b\u8bad\u7ec3\u8fdb\u884c\u66f4\u65b0\uff0c\u5bfc\u81f4\u5728\u65b0\u73af\u5883\u4e2d\u8fc1\u79fb\u80fd\u529b\u8f83\u5dee\u3002P-MapNet [17]\u901a\u8fc7\u5c06\u5411\u91cf\u5730\u56fe\u8f6c\u6362\u4e3a\u6805\u683c\u8868\u793a\uff0c\u5982\u5c06\u5411\u91cf\u5730\u56fe\u8f6c\u6362\u4e3a\u6805\u683c\u8868\u793a\uff0c\u4ece\u800c\u5c06\u5176\u7eb3\u5165 Pipeline \uff0c\u8be5\u65b9\u6cd5\u662f\u635f\u5931\u7684\u4e14\u5197\u4f59\u7684\uff0c\u7f3a\u4e4f\u6355\u6349\u5411\u91cf\u5316\u5b9e\u4f8b\u7ea7\u4fe1\u606f\u5e76\u6709\u6548\u8868\u793a\u5730\u56fe\u5143\u7d20\u7c7b\u578b\u548c\u65b9\u5411\u6240\u9700\u7684\u8be6\u7ec6\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>MapEX [16]\uff0c\u53e6\u4e00\u65b9\u9762\uff0c\u4e13\u6ce8\u4e8e\u73b0\u6709HD\u5730\u56fe\uff0c\u5e76\u901a\u8fc7\u5f15\u5165\u4eba\u5de5\u504f\u79fb\u548c\u5220\u9664\u5730\u56fe\u5143\u7d20\u6765\u6a21\u62df\u8fc7\u65f6\u7684\u5730\u56fe\uff0c\u8fd9\u79cd\u65b9\u6cd5\u53ef\u80fd\u5bfc\u81f4\u6cc4\u9732\u771f\u5b9e\u6570\u636e\uff0c\u5e76\u65e0\u6cd5\u51c6\u786e\u5730\u8868\u793a\u6a21\u62df\u548c\u5b9e\u9645\u8fc7\u65f6HD\u5730\u56fe\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u7531\u4e8e\u8fd9\u4e9b\u5b9e\u9645\u8fc7\u65f6\u7684\u5730\u56fe\u7684\u66f4\u65b0\u9891\u7387\u8f83\u4f4e\uff0c\u5b83\u4eec\u5728\u53cd\u6620\u9053\u8def\u4ea4\u901a\u7ed3\u6784\u5b9e\u65f6\u53d8\u5316\u65b9\u9762\u5b58\u5728\u95ee\u9898\uff0c\u4f7f\u5f97\u5b83\u4eec\u5728\u5f53\u524d\u5bfc\u822a\u9700\u6c42\u65b9\u9762\u4e0d\u53ef\u9760\u3002<\/p>\n\n\n\n<p>\u9274\u4e8e\u5404\u79cd\u5730\u56fe\u901a\u5e38\u4ee5\u5411\u91cf\u5f62\u5f0f\u5b58\u50a8\uff0c due to their low redundancy \u548c universal applicability\uff0c\u56e0\u6b64\u5f00\u53d1\u4e00\u4e2a\u5f3a\u5927\u7684\u5411\u91cf\u7f16\u7801\u6a21\u578b\u81f3\u5173\u91cd\u8981\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5411\u91cf\u6570\u636e\u7684\u53d8\u957f\u3001\u7a00\u758f\u6027\u548c\u79bb\u6563\u6027\uff0c\u8bbe\u8ba1\u6b64\u7c7b\u6a21\u578b\u5177\u6709\u6311\u6218\u6027\u3002\u4e3a\u4e86\u901a\u8fc7\u5c06\u5404\u79cd\u77e2\u91cf\u5148\u9a8c\u5730\u56fe\u96c6\u6210\u5230\u5404\u79cd\u6620\u5c04\u6a21\u578b\u4e2d\u5e76\u589e\u5f3a\u5f53\u524d\u611f\u77e5\u7ed3\u679c\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u5411\u91cf\u7f16\u7801\u5668\uff08UVE\uff09\u3002<\/p>\n\n\n\n<p>UVE\u53ef\u4ee5\u7f16\u7801\u5404\u79cd\u5411\u91cf\u6570\u636e\u7c7b\u578b\uff0c\u5e76\u4e14\u4f5c\u8005\u5f15\u5165\u4e86\u9884\u8bad\u7ec3\u8303\u5f0f\uff0c\u5141\u8bb8\u6a21\u578b\u901a\u8fc7\u5728\u6bb5\u548c\u70b9 Level \u6dfb\u52a0\u9ad8\u65af\u566a\u58f0\u6216 Mask \u6765\u5b66\u4e60\u5411\u91cf\u6570\u636e\u7684\u5148\u9a8c\u5206\u5e03\uff0c\u5e76\u91cd\u6784\u6574\u4e2a\u5411\u91cf\u5730\u56fe\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cPriorDrive\u53ef\u4ee5\u65e0\u7f1d\u5e94\u7528\u4e8e\u5404\u79cd\u5728\u7ebf\u6620\u5c04\u6a21\u578b\uff0c\u4ece\u800c\u663e\u8457\u63d0\u9ad8\u6027\u80fd\uff0c\u5305\u62ec\u4e3aHDMapNet\u5e26\u6765+2.2 mIoU\u548c\u4e3aMapTRv2\u5e26\u6765+4.2 mAP\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0c\u4f5c\u8005\u7684\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>\u5f15\u5165\u4e86\u4e00\u4e2a\u7edf\u4e00\u5411\u91cf\u7f16\u7801\u5668\uff08UVE\uff09\u901a\u8fc7\u53cc\u7f16\u7801\u673a\u5236\uff1a<\/p>\n\n\n\n<p>\u5411\u91cf\u7f16\u7801\u5668 capture fine local features\uff0c\u800c\u5411\u91cf\u95f4\u7684\u7f16\u7801\u5668 fuse global context information\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u5411\u91cf\u6570\u636e\u7684\u9884\u8bad\u7ec3\u8303\u5f0f\uff0c\u8be5\u8303\u5f0f\u901a\u8fc7\u5728\u6bb5\u548c\u70b9 Level \u6dfb\u52a0\u9ad8\u65af\u566a\u58f0\u6216 Mask \u5e76\u5411\u91cf\u5730\u56fe\u6dfb\u52a0\u6765\u5b66\u4e60\u5411\u91cf\u6570\u636e\u7684\u5148\u9a8c\u5206\u5e03\uff0c\u5e76\u91cd\u6784\u6574\u4e2a\u5411\u91cf\u5730\u56fe\u3002\u4f5c\u8005\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u6df7\u5408\u5148\u9a8c\u8868\u793a\uff08HPQuery\uff09\uff0c\u4ee5\u8868\u793a\u6240\u6709\u5143\u7d20\u548c\u4e00\u4e2aPriorDrive\u6846\u67b6\uff0c\u5176\u4e2d\u5305\u542b\u5411\u91cf\u5148\u9a8c\u5730\u56fe\uff0c\u4ee5\u89e3\u51b3\u5355\u611f\u77e5\u5c40\u9650\u6027\u3002<\/p>\n\n\n\n<p>\u4f5c\u8005\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u7efc\u5408\u8bc4\u4f30\u8868\u660e\uff0cPriorDrive\u663e\u8457\u589e\u5f3a\u4e86\u5728\u7ebf\u6620\u5c04\u6a21\u578b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>Related Work<\/p>\n\n\n\n<p>Online Vectorized HD Map Construction<\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u9ad8\u5206\u8fa8\u7387\u5730\u56fe\uff08HD map\uff09\u6784\u5efa\u6280\u672f\u5df2\u7ecf\u4ece\u57fa\u4e8eSLAM\uff08\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5efa\u56fe\uff09\u6280\u672f\u7684\u4f20\u7edf\u79bb\u7ebf\u65b9\u6cd5\u8f6c\u53d8\u5230\u66f4\u591a\u7684\u52a8\u6001\u65b9\u6cd5\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5229\u7528\u8f66\u8f7d\u4f20\u611f\u5668\u8fdb\u884c\u5728\u7ebfHD\u5730\u56fe\u751f\u6210 \u3002\u8fd9\u79cd\u8f6c\u53d8\u4e0d\u4ec5\u964d\u4f4e\u4e86\u6210\u672c\uff0c\u8fd8\u786e\u4fdd\u4e86\u5730\u56fe\u53cd\u6620\u6700\u65b0\u7684\u8def\u9762\u72b6\u51b5\u3002\u4e00\u4e9b\u65b9\u6cd5 [13, 16] \u5c06HD\u5730\u56fe\u6784\u5efa\u89c6\u4e3a\u4e00\u4e2a\u5206\u5272\u4efb\u52a1\uff0c\u9884\u6d4b\u9700\u8981\u590d\u6742\u540e\u5904\u7406\u624d\u80fd\u77e2\u5316\u7684\u50cf\u7d20\u7ea7\u6805\u683c\u5730\u56fe\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e00\u9650\u5236\uff0c\u8fd1\u5e74\u6765\u7684\u4e00\u9879\u5de5\u4f5c\u4e13\u6ce8\u4e8e\u5f00\u53d1\u7aef\u5230\u7aef\u6846\u67b6\u8fdb\u884c\u77e2\u91cf\u5316\u5730\u56fe\u5b66\u4e60\u3002<\/p>\n\n\n\n<p>VectorMapNet [13] \u5f15\u5165\u4e86\u4e00\u4e2a\u4ece\u7c97\u7c92\u5ea6\u5230\u7ec6\u7c92\u5ea6\u7684\u4e24\u9636\u6bb5\u7f51\u7edc\uff0c\u5229\u7528\u5173\u952e\u70b9\u8868\u793a\u3002MapTR [19] \u901a\u8fc7\u4f7f\u7528\u7c7b\u4f3c\u4e8eDETR\uff08Deep Example Aggregation Test\uff09\u7684[19]\u4e00\u9636\u6bb5\u7f51\u7edc\u5c06\u8fd9\u4e00\u6982\u5ff5\u63d0\u5347\u5230\u4e00\u4e2a\u65b0\u7684\u6c34\u5e73\u3002<\/p>\n\n\n\n<p>HIMap [17] \u63d0\u51fa\u4e86\u4e00\u79cd\u6df7\u5408\u8868\u793a\u5b66\u4e60 Pipeline \uff0c\u4ee5\u6355\u6349\u70b9 Level \u548c\u5143\u7d20 Level \u7684\u4fe1\u606f\u3002MapQR [13] \u5f15\u5165\u4e86\u4e00\u79cd\u6563\u5217\u5e76\u6536\u96c6 Query \u673a\u5236\uff0c\u7528\u4e8e\u7cbe\u786e\u68c0\u6d4b\u5185\u5bb9\u4e0e\u4f4d\u7f6e\u4fe1\u606f\uff0c\u800cMGMap [13] \u5219\u4f7f\u7528 Mask \u5f15\u5bfc\u7279\u5f81\uff0c\u4ee5\u589e\u5f3a\u8f66\u9053\u5f62\u72b6\u8868\u793a\u7684\u7ec6\u8282\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ec5\u4f9d\u8d56\u4e8e\u8f66\u8f7d\u4f20\u611f\u5668\u63d0\u4f9b\u7684\u5355\u4e00\u6765\u6e90\u611f\u77e5\u6570\u636e\uff0c\u8fd9\u5728\u906e\u6321\u6216\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u4e0b\u9650\u5236\u4e86\u5176\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>Online Mapping Based on Prior Maps<\/p>\n\n\n\n<p>\u8fd1\u671f\u7814\u7a76\u53d1\u73b0\uff0c\u5229\u7528\u5148\u9a8c\u56fe\u589e\u5f3a\u5728\u7ebf\u5730\u56fe\u6a21\u578b\u7684\u6027\u80fd\u662f\u4e00\u4e2a\u7814\u7a76\u65b9\u5411\u3002P-MapNet [12] \u5c06\u6807\u51c6\u5b9a\u4e49\u56fe\uff08SD\u56fe\uff09\u7f16\u7801\u4e3a\u989d\u5916\u6761\u4ef6\u5206\u652f\uff0c\u5e76\u4f7f\u7528 Mask \u81ea\u7f16\u7801\u5668\u6355\u83b7\u9ad8\u5206\u8fa8\u7387\uff08HD\uff09\u56fe\u7684\u5148\u9a8c\u5206\u5e03\u3002NMP [13] \u5f15\u5165\u4e86\u4e00\u4e2a\u5168\u7403\u795e\u7ecf\u56fe\u5148\u9a8c\uff0c\u53ef\u4ee5\u81ea\u6211\u66f4\u65b0\uff0c\u4ece\u800c\u63d0\u9ad8\u5c40\u90e8\u56fe\u63a8\u7406\u6027\u80fd\u3002<\/p>\n\n\n\n<p>MapEX [23] \u5c06\u73b0\u6709\u5730\u56fe\u5206\u4e3a\u4e09\u7c7b\uff0c\u5e76\u4f18\u5316\u57fa\u4e8e Query \u7684\u5730\u56fe\u4f30\u8ba1\u6a21\u578b\u5339\u914d\u7b97\u6cd5\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u8fdb\u5c55\u5df2\u7ecf\u5b58\u5728\uff0c\u4f46\u8bb8\u591a\u7814\u7a76\u5ffd\u89c6\u4e86\u5728\u7ebf\u5386\u53f2\u9884\u6d4b\u56fe\u4f5c\u4e3a\u5148\u9a8c\u4fe1\u606f\u6765\u6e90\u7684\u6f5c\u529b\u3002\u4f5c\u8005\u7684\u5de5\u4f5c\u901a\u8fc7\u5229\u7528\u5404\u79cd\u73b0\u6709\u5148\u9a8c\u56fe\u4ee5\u5176\u539f\u59cb\u5411\u91cf\u5f62\u5f0f\u8fdb\u884c\u589e\u5f3a\uff0c\u6765\u63d0\u9ad8\u5f53\u524d\u611f\u77e5\u6570\u636e\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>Pretrained Methods Based on Mask Modeling<\/p>\n\n\n\n<p>\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\uff0c Mask \u9884\u8bad\u7ec3\u5df2\u88ab\u8bc1\u660e\u662f\u4e00\u79cd\u6709\u6548\u7684\u81ea\u76d1\u7763\u8868\u793a\u5b66\u4e60\u7b56\u7565\u3002\u5728\u81ea\u7136\u8bed\u8a00\u5904\u7406\u4e2d\uff0c\u50cfBERT [14, 15, 16]\u8fd9\u6837\u7684\u6a21\u578b\u4f7f\u7528 Mask \u8bed\u8a00\u5efa\u6a21\u6765\u9884\u6d4b\u53cc\u5411\u6587\u672c\u4e0a\u4e0b\u6587\u4e2d\u968f\u673a Mask \u7684\u6807\u8bb0\u3002<\/p>\n\n\n\n<p>\u540c\u6837\u5730\uff0c\u50cfMAE [13, 14, 15]\u8fd9\u6837\u7684\u65b9\u6cd5\u4f1a Mask \u8f93\u5165\u56fe\u50cf\u7684\u968f\u673a\u533a\u57df\uff0c\u7136\u540e\u6839\u636e\u5269\u4f59\u672a Mask \u7684\u533a\u57df\u8fdb\u884c\u91cd\u5efa\u3002\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u4e0d\u540c\uff0c\u5b83\u4eec\u4e3b\u8981\u9488\u5bf9\u6587\u672c\u548c\u56fe\u50cf\u6570\u636e\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u4e13\u95e8\u4e3a\u5411\u91cf\u6570\u636e\u8bbe\u8ba1\u7684\u9884\u8bad\u7ec3\u8303\u5f0f\u3002\u4f5c\u8005\u7684\u65b9\u6cd5\u65e8\u5728\u5b66\u4e60\u5411\u91cf\u8868\u793a\u7684\u5148\u524d\u5206\u5e03\uff0c\u4e3a\u57fa\u4e8e\u5411\u91cf\u5316\u7684\u5730\u56fe\u6570\u636e\u9884\u8bad\u7ec3\u63d0\u4f9b\u4e86\u4e00\u6761\u65b0\u7684\u9014\u5f84\u3002<\/p>\n\n\n\n<p>Formulation of Online Mapping<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101801.png\" alt=\"\" class=\"wp-image-17033\" style=\"width:896px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101801.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101801-300x162.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<p>Extraction of Prior Map Features.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"160\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101802.png\" alt=\"\" class=\"wp-image-17034\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101802.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101802-300x70.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<p>Online Mapping Based on Prior Maps.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"682\" height=\"87\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101803.png\" alt=\"\" class=\"wp-image-17035\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101803.png 682w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101803-300x38.png 300w\" sizes=\"(max-width: 682px) 100vw, 682px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"780\" height=\"654\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-170.png\" alt=\"\" class=\"wp-image-17036\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-170.png 780w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-170-300x252.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-170-768x644.png 768w\" sizes=\"(max-width: 780px) 100vw, 780px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"243\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101804.png\" alt=\"\" class=\"wp-image-17037\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101804.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101804-300x107.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p>\u4f5c\u8005\u5c06\u8be6\u7ec6\u8bf4\u660e\u8fd9\u4e9b\u7279\u5f81\u878d\u5408\u65b9\u6cd5\u7684\u6709\u6548\u6027\u5728\u5b9e\u9a8c\u90e8\u5206\u3002<\/p>\n\n\n\n<p>Architecture of UVE<\/p>\n\n\n\n<p>\u53d7\u5230BERT\u5728\u6587\u672c\u76f8\u5173\u4efb\u52a1\u4e0a\u7684\u542f\u53d1\uff0c\u4f5c\u8005\u63d0\u51fa\u4e00\u79cd\u7edf\u4e00\u7684\u5411\u91cf\u7f16\u7801\u5668\uff08UVE\uff09\uff0c\u901a\u8fc7\u7c7b\u6bd4\u5411\u91cf\u70b9\u548c\u5411\u91cf\u6620\u5c04\u5143\u7d20\u4e3a\u8bcd\u5411\u91cf\u548c\u53e5\u5b50\uff08\u53c2\u89c1\u56fe3\uff09\u3002\u5e76\u4e14\uff0c\u4f5c\u8005\u63d0\u4f9b\u4e86\u4e00\u79cd\u9884\u8bad\u7ec3\u7b56\u7565\u6765\u63d0\u9ad8UVE\u7684\u7f16\u7801\u548c\u964d\u566a\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"783\" height=\"813\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-171.png\" alt=\"\" class=\"wp-image-17038\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-171.png 783w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-171-289x300.png 289w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-171-768x797.png 768w\" sizes=\"(max-width: 783px) 100vw, 783px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"373\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101805.png\" alt=\"\" class=\"wp-image-17039\" style=\"width:897px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101805.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101805-300x162.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p>Pre-training UVE: Position Modeling<\/p>\n\n\n\n<p>\u7531\u4e8e\u5728\u7ebf\u6620\u5c04\u6a21\u578b\u7684\u63a8\u7406\u80fd\u529b\u6709\u9650\uff0c\u5bfc\u81f4\u5386\u53f2\u9884\u6d4b\u5730\u56fe\u5b58\u5728\u9519\u8bef\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u5229\u7528\u4f4d\u7f6e\u5efa\u6a21\u9884\u8bad\u7ec3\u7d2b\u5916\u7ebf\uff08UVE\uff09\u6765\u63d0\u9ad8\u5176\u7f16\u7801\u548c\u566a\u58f0\u964d\u4f4e\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u6709\u4e24\u79cd\u65b9\u6cd5\uff1a\u968f\u673a\u566a\u58f0\u548c Mask \uff08\u89c1\u56fe4\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"773\" height=\"554\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-172.png\" alt=\"\" class=\"wp-image-17040\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-172.png 773w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-172-300x215.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-172-768x550.png 768w\" sizes=\"(max-width: 773px) 100vw, 773px\" \/><\/figure>\n\n\n\n<p>\u566a\u58f0\u751f\u6210\u5668\u3002\u566a\u58f0\u4e3b\u8981\u5206\u4e3a\u6bb5\u7ea7\u548c\u70b9\u7ea7\u3002\u5728\u70b9\u7ea7\u566a\u58f0\u4e2d\uff0c\u968f\u673a\u566a\u58f0\u6dfb\u52a0\u5230\u6574\u4e2a\u56fe\u76845%\u7684\u5411\u91cf\u70b9\u4e0a\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6bb5\u7ea7\u566a\u58f0\uff0c\u5728\u968f\u673a\u9009\u62e9\u56fe\u5143\u7d20\u7684\u4e00\u5c0f\u90e8\u5206\uff08\u536010%\uff09\u540e\uff0c\u5c06\u6240\u6709\u5411\u91cf\u70b9\u4e2d\u7684\u6240\u6709\u968f\u673a\u566a\u58f0\u6dfb\u52a0\u5230\u8be5\u5c0f\u6bb5\u7684\u5411\u91cf\u70b9\u4e0a\u3002<\/p>\n\n\n\n<p>Experiments<\/p>\n\n\n\n<p>Experimental Settings<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"695\" height=\"751\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/101806.png\" alt=\"\" class=\"wp-image-17041\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101806.png 695w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/101806-278x300.png 278w\" sizes=\"(max-width: 695px) 100vw, 695px\" \/><\/figure>\n\n\n\n<p>&#8220;<strong>\u9884\u8bad\u7ec3\u7684\u5f71\u54cd<\/strong>\u3002\u4e3a\u4e86\u6709\u6548\u5730\u6355\u83b7\u5411\u91cf\u56fe\u7684\u5148\u9a8c\u4fe1\u606f\uff0c\u4f5c\u8005\u91c7\u7528\u4e0d\u540c\u7684\u7b56\u7565\u9884\u8bad\u7ec3UVE\uff0c\u5982\u88683\u6240\u793a\u3002\u5f53\u4f5c\u8005\u76f4\u63a5\u5c06\u539f\u59cb\u5411\u91cf\u56fe\u8f93\u5165\u7ed9UVE\uff0c\u800c\u6ca1\u6709\u4efb\u4f55\u566a\u58f0\u65f6\uff0cUVE\u6536\u655b\u5230\u6700\u5c0f\u8bef\u5dee\u4e3a0.09\u7c73\u3002\u7136\u800c\uff0c\u4efb\u52a1\u7684\u7b80\u5355\u6027\u53ef\u80fd\u9650\u5236\u4e86\u6a21\u578b\u5b8c\u5168\u5b66\u4e60\u5148\u9a8c\u5206\u5e03\u7684\u80fd\u529b\uff0c\u5bfc\u81f4\u4ec5\u63d0\u9ad8\u4e860.3 mAP\u3002\u4f5c\u8005\u572820%\u7684\u5730\u56fe\u5143\u7d20\u4e2d\u968f\u673a\u6dfb\u52a0\u4e863\u7c73\u6807\u51c6\u5dee\u7684\u677f\u5757\u7ea7\u9ad8\u65af\u566a\u58f0\u3002UVE\u5728\u91cd\u6784\u6574\u4e2a\u5730\u56fe\u7684\u5e73\u5747\u6b27\u51e0\u91cc\u5f97\u8ddd\u79bb\u8bef\u5dee\u4e3a0.46\u7c73\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5bfc\u81f4\u4e86mAP\u7684\u8f7b\u5fae\u964d\u4f4e\uff0c\u53ef\u80fd\u56e0\u4e3aUVE\u5c1a\u672a\u5b8c\u5168\u6536\u655b\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u4f5c\u8005\u5bf910%\u7684\u5730\u56fe\u5143\u7d20\u968f\u673a\u5e94\u7528\u4e861\u7c73\u677f\u5757\u7ea7\u566a\u58f0\uff0c\u7ed3\u679c\u5bfc\u81f4UVE\u548c\u6a21\u578b\u65e0\u9884\u8bad\u7ec3\u65f6\u7684\u8bef\u5dee\u51cf\u5c0f\u52300.15\u7c73\uff0c\u5e76\u53d6\u5f97\u4e860.2 mAP\u7684\u6539\u8fdb\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u4f5c\u8005\u5bf95%\u7684\u5411\u91cf\u70b9\u8fdb\u884c\u4e861\u7c73\u70b9\u7ea7\u566a\u58f0\u7684\u5f15\u5165\uff0c\u5c3d\u7ba1\u8fd9\u5c06UVE\u7684\u8bef\u5dee\u63d0\u9ad8\u81f30.18\u7c73\uff0c\u4f46\u5b9e\u73b0\u4e860.6\u7684mAP\u663e\u8457\u6539\u8fdb\u3002<\/p>\n\n\n\n<p>\u8fd9\u8868\u660e\uff0c\u7ed3\u5408\u4e86\u677f\u5757\u7ea7\u548c\u70b9\u7ea7\u566a\u58f0\u7684\u9884\u8bad\u7ec3\u7b56\u7565\u66f4\u6709\u6548\u5730\u5b66\u4e60\u4e86\u5411\u91cf\u56fe\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u4f5c\u8005\u8fd8\u5c1d\u8bd5\u4e86\u7528 Mask \u53d6\u4ee3\u566a\u58f0\uff0c\u8fd9\u589e\u52a0\u4e86UVE\u7684\u8bef\u5dee\u81f30.43\u7c73\uff0c\u4f46\u4ecd\u5b9e\u73b0\u4e860.4 mAP\u7684\u6539\u8fdb\u3002<\/p>\n\n\n\n<p>\u8fd9\u8868\u660e\uff0c\u5c3d\u7ba1\u57fa\u4e8e Mask \u7684\u56f0\u96be\u4efb\u52a1\u53ef\u4ee5\u6709\u6548\u5730\u9884\u8bad\u7ec3UVE\uff0c\u4f46\u5b83\u4eec\u7684\u5f71\u54cd\u53ef\u80fd\u53d7\u5230\u9884\u8bad\u7ec3\u6570\u636e\u91cf\u7684\u9650\u5236\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"385\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-173-1024x385.png\" alt=\"\" class=\"wp-image-17042\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-173-1024x385.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-173-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-173-768x289.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-173.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u88682\uff1a\u5728HDMapNet\u548cSD\u5730\u56fe\u5148\u9a8c\u4e0a\u7684UVE\u7ed3\u6784\u7684\u6d88\u878d\u5b9e\u9a8c\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"780\" height=\"454\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-174.png\" alt=\"\" class=\"wp-image-17043\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-174.png 780w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-174-300x175.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-174-768x447.png 768w\" sizes=\"(max-width: 780px) 100vw, 780px\" \/><\/figure>\n\n\n\n<p><strong>\u5148\u9a8c\u5730\u56fe\u6570\u91cf\u7684\u5f71\u54cd<\/strong>\u3002\u4f5c\u8005\u8fdb\u884c\u4e86\u4e00\u6b21\u6d88\u878d\u5b9e\u9a8c\uff0c\u8bc4\u4f30\u4e86\u6539\u53d8\u9884\u5148\u5730\u56fe\u6570\u91cf\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\uff08\u89c1\u88684\uff09\u3002\u7ed3\u679c\u8868\u660e\uff0c\u4f7f\u7528\u5355\u4e00\u5148\u9a8c\u5730\u56fe\u5bfc\u81f4\u4e860.9 mAP\u7684\u6539\u8fdb\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u589e\u5f3a\u73b0\u6709\u611f\u77e5\u4e0a\u7684\u6709\u6548\u6027\u3002&#8221;<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"789\" height=\"396\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-175.png\" alt=\"\" class=\"wp-image-17044\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-175.png 789w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-175-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-175-768x385.png 768w\" sizes=\"(max-width: 789px) 100vw, 789px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0d\u540c\u5148\u9a8c\u5730\u56fe\u641c\u7d22\u8303\u56f4\u7684\u5f71\u54cd<\/strong>\u3002\u4f5c\u8005\u5728\u88685\u4e2d\u8fdb\u884c\u4e86\u5148\u9a8c\u5730\u56fe\u641c\u7d22\u8303\u56f4\u5f71\u54cd\u7684\u6d88\u878d\u5b9e\u9a8c\u3002\u7ed3\u679c\u8868\u660e\uff0c\u589e\u52a0\u641c\u7d22\u8303\u56f4\u4f1a\u5bfc\u81f4\u6539\u8fdb\u7684\u7565\u5fae\u964d\u4f4e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"794\" height=\"399\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-176.png\" alt=\"\" class=\"wp-image-17045\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-176.png 794w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-176-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-176-768x386.png 768w\" sizes=\"(max-width: 794px) 100vw, 794px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u7684\u65b9\u6cd5\u96c6\u6210\u5148\u9a8c\u56fe\u3002\u4e3a\u4e86\u8bc4\u4f30\u4f5c\u8005\u65b9\u6cd5\u7684\u53ef\u53d8\u6027\uff0c\u4f5c\u8005\u5728\u88686\u4e2d\u6d4b\u8bd5\u4e86\u5404\u79cd\u96c6\u6210\u65b9\u6cd5\u3002\u4e0eMapTRv2\u76f8\u6bd4\uff0c\u66ff\u6362\u548c\u6dfb\u52a0\u7684HPQuery\u65b9\u6cd5\u5206\u522b\u63d0\u9ad8\u4e862.1\u548c1.6 mAP\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u80fd\u4f1a\u5f71\u54cd\u539f\u59cb Query \u7684\u6027\u80fd\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c ConCat \u65b9\u6cd5\u5b9e\u73b0\u4e864.2 mAP\u7684\u663e\u8457\u6539\u8fdb\u3002\u8fd9\u79cd\u65b9\u6cd5\u6709\u6548\u4fdd\u7559\u4e86\u539f\u59cb Query \u7684\u6574\u4f53\u5b8c\u6574\u6027\uff0c\u540c\u65f6\u5229\u7528\u4e86UVE\u5b66\u4e60\u5230\u7684\u5b9e\u4f8b\u7ea7\u548c\u70b9\u7ea7\u5148\u9a8c\u7279\u5f81\uff0c\u4f7f\u5176\u6210\u4e3a\u6700\u6709\u6548\u7684\u96c6\u6210\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"784\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-177.png\" alt=\"\" class=\"wp-image-17046\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-177.png 784w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-177-300x177.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-177-768x453.png 768w\" sizes=\"(max-width: 784px) 100vw, 784px\" \/><\/figure>\n\n\n\n<p>\u63a8\u7406\u901f\u5ea6\uff0c\u5185\u5b58\uff0c\u6a21\u578b\u5927\u5c0f\uff0c\u548c\u8be6\u7ec6\u8fd0\u884c\u65f6\u95f4\u3002\u88687 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with Prior Maps:<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u9ad8\u5206\u8fa8\u7387\u5730\u56fe\uff08HD maps\uff09\u5bf9\u4e8e\u81ea\u4e3b\u8f66\u8f86\u7684\u7cbe [&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-17030","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17030"}],"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=17030"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17030\/revisions"}],"predecessor-version":[{"id":17049,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/17030\/revisions\/17049"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=17030"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=17030"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=17030"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}