{"id":17069,"date":"2024-10-21T15:34:36","date_gmt":"2024-10-21T07:34:36","guid":{"rendered":"http:\/\/192.168.10.115\/?p=17069"},"modified":"2024-10-21T15:34:36","modified_gmt":"2024-10-21T07:34:36","slug":"2024-10-21-%e5%90%8c%e6%b5%8e%e7%99%be%e5%ba%a6%e6%96%b0%e4%bd%9cmgmapnet%ef%bc%9a%e5%9c%a8%e7%ba%bf%e5%bb%ba%e5%9b%be%e4%b9%9f%e8%a6%81%e5%af%b9%e9%bd%90%e9%a2%97%e7%b2%92%e5%ba%a6%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/21\/17069\/","title":{"rendered":"2024-10-21 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"436\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-180-1024x436.png\" alt=\"\" class=\"wp-image-17070\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-180-1024x436.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-180-300x128.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-180-768x327.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-180.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-list\">\n<li>\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u9c81\u68d2\u7684\u591a\u7c92\u5ea6\u8868\u793a\uff0c\u901a\u8fc7\u5728\u4e00\u4e2a\u6846\u67b6\u4e2d\u4f7f\u7528\u7c97\u7c92\u5ea6\u5b9e\u4f8b\u7ea7\u548c\u7ec6\u7c92\u5ea6\u70b9\u7ea7\u67e5\u8be2\uff0c\u5b9e\u73b0\u4e86\u77e2\u91cf\u9ad8\u6e05\u5730\u56fe\u7684\u7aef\u5230\u7aef\u6784\u5efa\u3002<\/li>\n\n\n\n<li>\u591a\u7c92\u5ea6\u805a\u5408\u5668\u7ed3\u5408\u70b9\u5b9e\u4f8b\u4ea4\u4e92\uff0c\u4fc3\u8fdb\u4e86\u70b9\u7ea7\u548c\u5b9e\u4f8b\u7ea7\u67e5\u8be2\u4e4b\u95f4\u7684\u6709\u6548\u4ea4\u4e92\uff0c\u6709\u6548\u5730\u4ea4\u6362\u4e86\u7c7b\u522b\u548c\u51e0\u4f55\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u4f5c\u8005\u5c06\u51e0\u79cd\u7b56\u7565\u4f18\u5316\u7eb3\u5165\u8bad\u7ec3\u4e2d\uff0c\u4f7f\u5176\u63d0\u51fa\u7684MGMapNet\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u90fd\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\uff08SOTA\uff09\u5355\u5e27\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>\u5728\u7ebf\u9ad8\u6e05\u5730\u56fe\u6784\u5efa<\/strong><\/p>\n\n\n\n<p>\u4e0a\u9762\u7b14\u8005\u4e5f\u63d0\u5230\uff0c\u76ee\u524d\uff0c\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u53ef\u4ee5\u5206\u4e3a\u4e24\u79cd\u7c7b\u578b\uff1a\u57fa\u4e8e\u5149\u6805\u5730\u56fe\u7684\u65b9\u6cd5\u548c\u57fa\u4e8e\u77e2\u91cf\u5730\u56fe\u7684\u65b9\u6cd5\u3002\u5149\u6805\u65b9\u6cd5\uff0c\u5982HDMapNet\uff0c\u4f7f\u7528BEV\u7279\u5f81\u8fdb\u884c\u8bed\u4e49\u5206\u5272\uff0c\u7136\u540e\u901a\u8fc7\u540e\u5904\u7406\u6b65\u9aa4\u83b7\u5f97\u77e2\u91cf\u5316\u5730\u56fe\u5b9e\u4f8b\u3002\u540c\u6837\uff0cBEVLaneDet\u8f93\u51fa\u6bcf\u4e2a\u7f51\u683c\u7684\u7f6e\u4fe1\u5ea6\u5206\u6570\u3001\u805a\u7c7b\u5d4c\u5165\u3001y\u8f74\u504f\u79fb\u548c\u5e73\u5747\u9ad8\u5ea6\u3002\u867d\u7136\u5149\u6805\u5730\u56fe\u53ef\u4ee5\u63d0\u4f9b\u8be6\u7ec6\u7684\u9053\u8def\u4fe1\u606f\uff0c\u4f46\u540e\u5904\u7406\u7684\u9700\u6c42\u9650\u5236\u4e86\u5b83\u4eec\u7684\u5e94\u7528\u3002\u968f\u7740\u57fa\u4e8e\u77e2\u91cf\u7684DETR\u7c7b\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u51fa\u73b0\uff0c\u6d88\u9664\u4e86\u540e\u5904\u7406\u7684\u9700\u6c42\u3002VectorMapNet\u662f\u7b2c\u4e00\u4e2a\u5229\u7528\u53d8\u6362\u5668\u7684\u7aef\u5230\u7aef\u5730\u56fe\u91cd\u5efa\u6a21\u578b\u3002MapTR\u548cMapTRv2\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u9896\u4e14\u7edf\u4e00\u7684\u5730\u56fe\u5143\u7d20\u5efa\u6a21\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86\u6b67\u4e49\u5e76\u786e\u4fdd\u4e86\u7a33\u5b9a\u7684\u5b66\u4e60\u8fc7\u7a0b\u3002PivotNet\u91c7\u7528\u7edf\u4e00\u7684\u3001\u57fa\u4e8e\u652f\u70b9\u7684\u8868\u793a\u65b9\u6cd5\uff0c\u5e76\u88ab\u6784\u5efa\u4e3a\u76f4\u63a5\u7684\u96c6\u5408\u9884\u6d4b\u8303\u5f0f\u3002<\/p>\n\n\n\n<p><strong>\u8f66\u9053\u68c0\u6d4b<\/strong><\/p>\n\n\n\n<p>\u8f66\u9053\u68c0\u6d4b\u53ef\u4ee5\u88ab\u89c6\u4e3a\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u7684\u4e00\u4e2a\u5b50\u4efb\u52a1\uff0c\u4e13\u6ce8\u4e8e\u5728\u9053\u8def\u573a\u666f\u4e2d\u68c0\u6d4b\u8f66\u9053\u5143\u7d20\u3002\u5f53\u524d\u7684\u4e00\u4e9b\u65b9\u6cd5\u4e3b\u8981\u4ece\u5355\u4e00\u900f\u89c6\u56fe\uff08PV\uff09\u56fe\u50cf\u4e2d\u8fdb\u884c\u8f66\u9053\u68c0\u6d4b\uff0c\u5927\u591a\u6570\u8f66\u9053\u68c0\u6d4b\u6570\u636e\u96c6\u4ec5\u63d0\u4f9b\u5355\u4e00\u89c6\u89d2\u7684\u6ce8\u91ca\u3002LaneATT\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e\u951a\u70b9\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u8be5\u673a\u5236\u805a\u5408\u4e86\u5168\u5c40\u4fe1\u606f\u3002\u4e0e\u8f66\u9053\u68c0\u6d4b\u4e0d\u540c\uff0c\u77e2\u91cf\u5316\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u6d89\u53ca\u8f66\u8f86\u611f\u77e5\u8303\u56f4\u5185\u66f4\u590d\u6742\u7684\u5730\u56fe\u5143\u7d20\uff0c\u5305\u62ec\u8f66\u9053\u6807\u8bb0\u3001\u8def\u7f18\u548c\u4eba\u884c\u9053\u3002<\/p>\n\n\n\n<p><strong>\u8bba\u6587\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p><strong>\u603b\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>MGMapNet\u7684\u603b\u4f53\u7f51\u7edc\u67b6\u6784\u5982\u56fe2\uff08a\uff09\u6240\u793a\u3002\u4e0e\u5176\u4ed6\u57fa\u4e8eDETR\u7684\u7aef\u5230\u7aef\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u6a21\u578b\u7c7b\u4f3c\uff0cMGMapNet\u5305\u62ec\u4e00\u4e2aBEV\u7279\u5f81\u7f16\u7801\u5668\uff0c\u8d1f\u8d23\u4ece\u900f\u89c6\u56fe\u56fe\u50cf\u4e2d\u63d0\u53d6\u591a\u5c3a\u5ea6BEV\u7279\u5f81\uff0c\u4ee5\u53ca\u4e00\u4e2a\u53d8\u6362\u5668\u89e3\u7801\u5668\uff0c\u5b83\u5806\u53e0\u4e86\u591a\u5c42\u591a\u7c92\u5ea6\u6ce8\u610f\u529b\u6765\u751f\u6210\u5730\u56fe\u5143\u7d20\u7684\u9884\u6d4b\u3002\u6bcf\u4e00\u5c42\u7684\u9884\u6d4b\u90fd\u5305\u542b\u4e86\u611f\u77e5\u8303\u56f4\u5185\u7684\u7c7b\u522b\u548c\u51e0\u4f55\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"825\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-181-1024x825.png\" alt=\"\" class=\"wp-image-17071\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-181-1024x825.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-181-300x242.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-181-768x619.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-181.png 1062w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>BEV\u7279\u5f81\u7f16\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"176\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102101.png\" alt=\"\" class=\"wp-image-17072\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102101.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102101-300x79.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u89e3\u7801\u5668<\/strong><\/p>\n\n\n\n<p>\u89e3\u7801\u5668\u6709 L\u5c42\u3002\u6bcf\u4e00\u5c42\u7531\u81ea\u6ce8\u610f\u529b\u3001\u591a\u7c92\u5ea6\u6ce8\u610f\u529b\u548c\u524d\u9988\u7f51\u7edc\u7ec4\u6210\uff0c\u5982\u56fe2\uff08b\uff09\u6240\u793a\u3002\u591a\u7c92\u5ea6\u6ce8\u610f\u529b\u7531\u4e24\u4e2a\u7ec4\u4ef6\u7ec4\u6210\uff1a\u591a\u7c92\u5ea6\u805a\u5408\u5668\u548c\u70b9\u5b9e\u4f8b\u4ea4\u4e92\u3002\u5b9e\u4f8b\u7ea7\u67e5\u8be2\u901a\u8fc7\u53ef\u5b66\u4e60\u53c2\u6570\u521d\u59cb\u5316\uff0c\u8fd9\u4e9b\u53c2\u6570\u901a\u8fc7\u5728BEV\u7279\u5f81\u4e0a\u67e5\u8be2\u8fdb\u884c\u66f4\u65b0\uff0c\u70b9\u67e5\u8be2\u662f\u901a\u8fc7\u805a\u5408BEV\u7279\u5f81\u52a8\u6001\u751f\u6210\u7684\u3002\u4e4b\u540e\uff0c\u91c7\u7528\u70b9\u5b9e\u4f8b\u4ea4\u4e92\u6765\u6267\u884c\u5c40\u90e8\u51e0\u4f55\u4fe1\u606f\u548c\u5168\u5c40\u7c7b\u522b\u4fe1\u606f\u4e4b\u95f4\u7684\u76f8\u4e92\u4ea4\u4e92\u3002<\/p>\n\n\n\n<p><strong>\u591a\u7c92\u5ea6\u6ce8\u610f\u529b<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\uff08b\uff09\u6240\u793a\uff0c\u591a\u7c92\u5ea6\u6ce8\u610f\u529b\u5305\u542b\u4e24\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a\u591a\u7c92\u5ea6\u805a\u5408\u5668(Multi-Granularity Aggregator)\u548c\u70b9\u5b9e\u4f8b\u4ea4\u4e92(Point Instance Interaction)\u3002<\/p>\n\n\n\n<p><strong>\u591a\u7c92\u5ea6\u805a\u5408\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"706\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102102.png\" alt=\"\" class=\"wp-image-17073\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102102.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102102-284x300.png 284w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"622\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102103.png\" alt=\"\" class=\"wp-image-17074\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102103.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102103-300x278.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u70b9\u5b9e\u4f8b\u4ea4\u4e92<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102104.png\" alt=\"\" class=\"wp-image-17075\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102104.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102104-300x128.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>P2P\u6ce8\u610f\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"265\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102105.png\" alt=\"\" class=\"wp-image-17076\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102105.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102105-300x119.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>P2I\u6ce8\u610f\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"658\" height=\"264\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102106.png\" alt=\"\" class=\"wp-image-17077\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102106.png 658w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102106-300x120.png 300w\" sizes=\"(max-width: 658px) 100vw, 658px\" \/><\/figure>\n\n\n\n<p><strong>\u8f93\u51fa<\/strong><\/p>\n\n\n\n<p>\u6700\u7ec8\uff0c\u70b9\u7c92\u5ea6\u67e5\u8be2\u7528\u4e8e\u901a\u8fc7MLP\u4f5c\u4e3a\u56de\u5f52\u5934\u6765\u9884\u6d4b\u70b9\u4f4d\u7f6e\uff0c\u800c\u5b9e\u4f8b\u7c92\u5ea6\u67e5\u8be2\u7528\u4e8e\u4f7f\u7528\u53e6\u4e00\u4e2aMLP\u6765\u9884\u6d4b\u5730\u56fe\u5143\u7d20\u7684\u7c7b\u522b\u3002\u603b\u4e4b\uff0c\u901a\u8fc7\u5229\u7528\u591a\u7c92\u5ea6\u805a\u5408\u5668\u548c\u70b9\u5b9e\u4f8b\u4ea4\u4e92\uff0c\u591a\u7c92\u5ea6\u67e5\u8be2\u88ab\u751f\u6210\u548c\u66f4\u65b0\u3002\u540c\u65f6\uff0c\u6bcf\u4e2a\u5730\u56fe\u5143\u7d20\u7684\u51e0\u4f55\u5f62\u72b6\u548c\u7c7b\u522b\u53ef\u4ee5\u88ab\u6709\u6548\u5730\u611f\u77e5\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u5728 nuScenes \u548c Argoverse2 \u505a\u8bad\u7ec3\u548c\u6d4b\u8bd5<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e0eMapTR\u4e00\u81f4\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u57fa\u4e8eChamfer\u8ddd\u79bb\u7684\u5e7f\u6cdb\u63a5\u53d7\u7684\u5747\u503c\u5e73\u5747\u7cbe\u5ea6\uff08mAP\uff09\u6307\u6807\uff0c\u8fd9\u662f\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u4e2d\u5e38\u7528\u7684\u5ea6\u91cf\u3002\u8bc4\u4f30\u9608\u503c\u8bbe\u7f6e\u4e3a0.5m\u30011.0m\u548c1.5m\u3002<\/p>\n\n\n\n<p><strong>\u8f85\u52a9\u635f\u5931<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"323\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102107.png\" alt=\"\" class=\"wp-image-17078\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102107.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102107-300x145.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"203\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102108.png\" alt=\"\" class=\"wp-image-17079\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102108.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102108-300x91.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0eSOTA\u7684\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p><strong>\u5728nuScenes\u4e0a\u7684\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u77e2\u91cf\u5316\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u7684\u9ed8\u8ba4\u8bc4\u4f30\u6307\u6807\u662fChamfer Distance Average Precision (AP)\u3002\u88681\u5c55\u793a\u4e86\u5728nuScenes\u9a8c\u8bc1\u6570\u636e\u96c6\u4e0a\u7684\u7ed3\u679c\uff0c\u4f7f\u7528\u591a\u89c6\u56feRGB\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\u3002\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5MapTRv2\u76f8\u6bd4\uff0c\u4f5c\u8005\u7684MGMapNet\u8fbe\u5230\u4e8666.8\u7684mAP\uff0c\u8d85\u8fc7\u4e86\u5b835.3 mAP\uff0c\u8bad\u7ec3\u5468\u671f\u4e3a24\u4e2a\u5468\u671f\u3002\u7ecf\u8fc7\u5ef6\u957f\u7684\u8bad\u7ec3\u5468\u671f110\u4e2a\u5468\u671f\u540e\uff0cMGMapNet\u5b9e\u73b0\u4e8673.6 mAP\uff0c\u4ecd\u7136\u663e\u8457\u9ad8\u4e8eMapTRv2\u768468.7 mAP\u548cMapQR\u768472.6 mAP\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1011\" height=\"511\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-182.png\" alt=\"\" class=\"wp-image-17080\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-182.png 1011w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-182-300x152.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-182-768x388.png 768w\" sizes=\"(max-width: 1011px) 100vw, 1011px\" \/><\/figure>\n\n\n\n<p>\u6700\u65b0\u7684\u6a21\u578b\u8fd8\u4f7f\u7528\u5149\u6805\u5316\u7ed3\u679c\uff0c\u5e76\u91c7\u7528\u57fa\u4e8eIoU\u7684\u5e73\u5747\u7cbe\u5ea6\uff08AP\uff09\u6765\u8bc4\u4f30\u91cd\u5efa\u6027\u80fd\u3002\u5982\u56fe2\u6240\u793a\u3002\u4f5c\u8005\u8bc4\u4f30\u4e86MGMapNet\uff0c\u5176\u5b9e\u73b0\u4e8646.9\u7684mAP\uff0c\u8d85\u8fc7\u4e86MapVR\u548cMGMap\u5728\u57fa\u4e8eIoU\u7684AP\u65b9\u9762\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"266\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-183-1024x266.png\" alt=\"\" class=\"wp-image-17081\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-183-1024x266.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-183-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-183-768x200.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-183.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u5b9e\u4e86\u6240\u63d0\u51fa\u7684\u591a\u7c92\u5ea6\u8868\u793a\uff0c\u901a\u8fc7\u6a21\u62df\u5c40\u90e8\u70b9\u4fe1\u606f\u548c\u5168\u5c40\u5b9e\u4f8b\u4fe1\u606f\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u5149\u6805\u5316\u548c\u77e2\u91cf\u5316\u8bc4\u4f30\u6307\u6807\u7684\u9884\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5b9a\u6027\u7ed3\u679c\u5982\u56fe3\u6240\u793a\u3002\u4f5c\u8005\u9009\u62e9\u4e86\u4e09\u4e2a\u590d\u6742\u573a\u666f\uff1a\u767d\u5929\u8f66\u8f86\u906e\u6321\u3001\u591c\u95f4\u4f4e\u5149\u7167\u6761\u4ef6\u548c\u591c\u95f4\u4f4e\u5149\u7167\u6761\u4ef6\u4e0b\u7684\u906e\u6321\u3002\u5728\u7b2c\u4e00\u4e2a\u6848\u4f8b\u4e2d\uff0cMGMapNet\u5c55\u793a\u4e86\u6bd4StreamMapNet\u66f4\u7cbe\u786e\u7684\u5750\u6807\u9884\u6d4b\uff0c\u5e76\u4e0eMapTRv2\u76f8\u6bd4\u4fdd\u7559\u4e86\u6240\u6709\u9053\u8def\u5143\u7d20\u3002\u5728\u7b2c\u4e8c\u4e2a\u591c\u95f4\u4f4e\u5149\u7167\u6761\u4ef6\u7684\u6848\u4f8b\u4e2d\uff0cMapTRv2\u7531\u4e8e\u7f3a\u4e4f\u5b9e\u4f8b\u7ea7\u611f\u77e5\uff0c\u96be\u4ee5\u9884\u6d4b\u8f66\u8f86\u53f3\u4fa7\u7684\u5206\u9694\u7ebf\u3002\u800cStreamMapNet\u5229\u7528\u5b9e\u4f8b\u7ea7\u67e5\u8be2\u8bc6\u522b\u4e86\u5206\u9694\u7ebf\uff0c\u4f46\u5176\u6574\u4f53\u5b9e\u4f8b\u5b9a\u4f4d\u7cbe\u5ea6\u4ecd\u7136\u4e0d\u8db3\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u53ea\u6709MGMapNet\u5728\u8fd9\u4e9b\u5177\u6709\u6311\u6218\u6027\u7684\u6761\u4ef6\u4e2d\u51c6\u786e\u4e14\u5b8c\u6574\u5730\u68c0\u6d4b\u5230\u4e86\u8fb9\u754c\u3002\u7b2c\u4e09\u4e2a\u591c\u95f4\u5bc6\u96c6\u8f66\u8f86\u4ea4\u901a\u548c\u906e\u6321\u7684\u6848\u4f8b\u7a81\u51fa\u4e86StreamMapNet\u7684\u68c0\u6d4b\u6027\u80fd\u4e0d\u4f73\u3002MapTRv2\u9047\u5230\u4e86\u4e24\u4e2a\u4e3b\u8981\u95ee\u9898\uff1a\u9519\u8bef\u5730\u5c06\u8f66\u8f86\u53f3\u524d\u65b9\u7684\u4eba\u884c\u9053\u5b9a\u4f4d\u4e3a\u8fb9\u754c\uff0c\u5e76\u5c06\u540e\u9762\u7684\u5206\u9694\u7ebf\u8bef\u5206\u7c7b\u4e3a\u8fb9\u754c\uff0c\u8868\u660e\u5176\u5728\u5b9e\u4f8b\u7ea7\u611f\u77e5\u65b9\u9762\u7684\u5c40\u9650\u6027\u3002\u76f8\u53cd\uff0cMGMapNet\u8868\u73b0\u51fa\u663e\u8457\u7684\u9c81\u68d2\u6027\uff0c\u5373\u4f7f\u5728\u4f4e\u5149\u7167\u6761\u4ef6\u548c\u5927\u91cf\u591c\u95f4\u906e\u6321\u4e0b\uff0c\u4e5f\u80fd\u51c6\u786e\u9884\u6d4b\u7c7b\u522b\u548c\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"807\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-184-1024x807.png\" alt=\"\" class=\"wp-image-17082\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-184-1024x807.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-184-300x236.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-184-768x605.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-184.png 1069w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9a\u6027\u7ed3\u679c\u8868\u660e\uff0c\u6240\u63d0\u51fa\u7684MGMapNet\u6709\u6548\u5730\u5f25\u8865\u4e86\u5b9e\u4f8b\u7ea7\u548c\u70b9\u7ea7\u67e5\u8be2\u7684\u4e0d\u8db3\uff0c\u5728\u590d\u6742\u6761\u4ef6\u4e0b\u7684\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u4e2d\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p><strong>\u5728Argoverse2\u4e0a\u7684\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u66f4\u590d\u6742\u7684Argoverse2\u6570\u636e\u96c6\u4e0a\uff0cMGMapNet\u7684\u6027\u80fd\u4ecd\u7136\u5177\u6709\u7ade\u4e89\u529b\u3002\u88683\u5c55\u793a\u4e86\u4f5c\u8005\u5728Argoverse2\u9a8c\u8bc1\u6570\u636e\u96c6\u4e0a\u76846\u4e2a\u5468\u671f\u7684\u7ed3\u679c\u3002Argoverse2\u6570\u636e\u96c6\u63d0\u4f9b\u4e86\u4e24\u79cd\u914d\u7f6e\u7684\u70b9\u8868\u793a\uff1a2D\u548c3D\u70b9\u5750\u6807\u3002\u4f5c\u8005\u5728\u4e24\u79cd\u914d\u7f6e\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u5206\u522b\u57286\u4e2a\u5468\u671f\u5185\u5b9e\u73b0\u4e8671.2\u548c69.1 mAP\u7684mAP\u5206\u6570\uff0c\u4e0eMapTRv2\u76f8\u6bd4\u5206\u522b\u63d0\u9ad8\u4e863.8\u548c4.4 mAP\u3002\u4e0e\u6700\u65b0\u7684HIMap\u76f8\u6bd4\uff0c\u5b83\u57282D\u548c3D\u914d\u7f6e\u4e2d\u5206\u522b\u5b9e\u73b0\u4e8669.6\u548c68.4 mAP\uff0cMGMapNet\u4ecd\u7136\u8d85\u8fc7\u4e861.6\u548c0.7 mAP\u3002\u5176\u4ed6\u65b9\u6cd5\u7684\u7ed3\u679c\u6765\u6e90\u4e8e\u539f\u8bba\u6587\uff0c\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86MGMapNet\u7684\u7ade\u4e89\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"594\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-185-1024x594.png\" alt=\"\" class=\"wp-image-17083\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-185-1024x594.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-185-300x174.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-185-768x446.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-185.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6548\u7387\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u4f5c\u8005\u5bf9\u51e0\u4e2a\u5f00\u6e90\u6a21\u578b\u8fdb\u884c\u4e86\u5168\u9762\u7684\u6548\u7387\u5206\u6790\uff0c\u4e3b\u8981\u5173\u6ce8\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u548c\u6a21\u578b\u53c2\u6570\uff0c\u4ee5\u8bc1\u660e\u6a21\u578b\u7684\u6709\u6548\u6027\u3002\u5982\u88681\u7684\u6700\u540e\u4e24\u5217\u6240\u793a\uff0c\u4f5c\u8005\u7684\u6a21\u578b\u5b9e\u73b0\u4e8611.7\u7684FPS\uff0c\u4e0e\u6700\u65b0\u6a21\u578bMapQR\u548cMGMap\u76f8\u5f53\u3002\u5b83\u7565\u4f4e\u4e8eMapTRv2\uff0c\u4f46\u4f18\u4e8ePivotNet\u7b49\u65b9\u6cd5\u3002\u6a21\u578b\u53c2\u6570\u4e3a70.1 MB\uff0c\u4f4e\u4e8eMapQR\u7684120.3 MB\uff0c\u4f46\u7565\u9ad8\u4e8eMGMap\u768455.9 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