{"id":19787,"date":"2024-11-22T17:01:00","date_gmt":"2024-11-22T09:01:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=19787"},"modified":"2024-11-22T17:01:00","modified_gmt":"2024-11-22T09:01:00","slug":"2024-11-22-heightmapnet%ef%bc%9a%e6%98%be%e5%bc%8f%e9%ab%98%e5%ba%a6%e4%bf%a1%e6%81%af%e5%bc%95%e5%85%a5%e7%ab%af%e5%88%b0%e7%ab%af%e5%bb%ba%e5%9b%be%e9%a2%86%e5%9f%9f%ef%bc%8c%e5%b9%b3%e5%9d%87","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/22\/19787\/","title":{"rendered":"2024-11-22 HeightMapNet\uff1a\u663e\u5f0f\u9ad8\u5ea6\u4fe1\u606f\u5f15\u5165\u7aef\u5230\u7aef\u5efa\u56fe\u9886\u57df\uff0c\u5e73\u5747\u7cbe\u5ea6\u5168\u9762\u63d0\u5347"},"content":{"rendered":"\n

\u5f15\u8a00<\/strong><\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u5229\u7528\u73af\u89c6\u56fe\u50cf<\/a><\/p>\n\n\n\n

\u5efa\u7acb\u9ad8\u6e05\u5730\u56fe\u7684\u6280\u672f\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u7136\u800c\uff0c\u73b0\u6709\u6280\u672f\u5728\u51c6\u786e\u63d0\u53d6\u548c\u5229\u7528\u9053\u8def\u7279\u5f81\u53ca\u5b9e\u73b0\u89c6\u56fe\u8f6c\u6362\u65b9\u9762\u4ecd\u5b58\u5728\u4e0d\u8db3\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0cHeightMapNet\u901a\u8fc7\u52a8\u6001\u5efa\u7acb\u56fe\u50cf\u7279\u5f81\u4e0e\u9053\u8def\u8868\u9762\u9ad8\u5ea6\u5206\u5e03\u4e4b\u95f4\u7684\u8054\u7cfb\uff0c\u5e76\u5229\u7528\u591a\u5c3a\u5ea6\u7279\u5f81\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6a21\u578b\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86\u591a\u79cd\u516c\u8ba4\u7684\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n


\u8bba\u6587\u9898\u76ee\uff1aHeightMapNet: Explicit Height Modeling for End-to-End HD Map Learning<\/em>
\u8bba\u6587\u4f5c\u8005\uff1aWenzhao Qiu, Shanmin Pang, Hao Zhang, Jianwu Fang, Jianru Xue<\/em><\/p>\n\n\n\n


1 <\/em>\u80cc\u666f\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n

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2 <\/em>\u65b9\u6cd5\u5f15\u5165<\/strong><\/p>\n\n\n\n

\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u89c6\u56fe\u8f6c\u6362\u8303\u5f0f\uff0c\u7ec6\u81f4\u5730\u5efa\u7acb\u4e86\u56fe\u50cf\u7279\u5f81\u4e0e\u9053\u8def\u8868\u9762\u9ad8\u5ea6\u5206\u5e03\u4e4b\u95f4\u7684\u5173\u8054\uff0c\u5e76\u6574\u5408\u9ad8\u5ea6\u5148\u9a8c\u4ee5\u63d0\u5347BEV\u7279\u5f81\u7684\u51c6\u786e\u6027\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u5bf9\u590d\u6742\u73af\u5883\u7ec6\u8282\u7684\u63cf\u7ed8\u80fd\u529b\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u5f00\u53d1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u81ea\u76d1\u7763\u5b66\u4e60\u7684\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\uff0c\u4f18\u5316\u4e86\u9053\u8def\u7279\u5f81\u7684\u63d0\u53d6\u548c\u5229\u7528\uff0c\u6709\u6548\u51cf\u5c11\u4e86\u975e\u5173\u952e\u80cc\u666f\u5143\u7d20\uff0c\u4ece\u800c\u63d0\u5347\u4e86\u8f93\u5165\u7279\u5f81\u7684\u6e05\u6670\u5ea6\u548c\u8d28\u91cf\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u5728BEV\u7a7a\u95f4\u5185\u5b9e\u73b0\u4e86\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\uff0c\u589e\u5f3a\u4e86\u5730\u56fe\u6784\u5efa\u5728\u590d\u6742\u9053\u8def\u73af\u5883\u4e2d\u7684\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027<\/a><\/p>\n\n\n\n

\u3002<\/p>\n\n\n\n

\"\"
\u56fe1\uff1aHeightMapNet\u7684\u603b\u4f53\u67b6\u6784<\/figcaption><\/figure>\n\n\n\n

3<\/em> \u65b9\u6cd5\u7ec6\u8282<\/strong><\/h2>\n\n\n\n

3.1 \u6982\u8ff0<\/strong>

\u56fe1\u5c55\u793a\u4e86HeightMapNet\u7684\u7b97\u6cd5\u6d41\u7a0b\u3002\u9996\u5148\uff0c\u901a\u8fc7\u7279\u5f81\u7f16\u7801\u5668<\/a>\u4ece\u539f\u59cb\u56fe\u50cf\u4e2d\u63d0\u53d6\u591a\u5c3a\u5ea6PV\u7279\u5f81F = {F1, F2, \u2026\uff0cFs}\uff08\u5176\u4e2ds\u8868\u793a\u5c3a\u5ea6\u6570\uff09\u3002\u8fd9\u4e9bPV\u7279\u5f81\u5728\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\u4e2d\u88ab\u7ec6\u5316\uff0c\u6709\u6548\u533a\u5206\u9053\u8def\u5143\u7d20\u4e0e\u975e\u9053\u8def\u5143\u7d20\uff0c\u63d0\u5347\u4e86\u7279\u5f81\u4fe1\u606f\u7684\u7eaf\u5ea6\u3002\u63a5\u4e0b\u6765\uff0c\u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\u4fc3\u8fdb\u4e86\u4ece\u4f20\u7edfPV\u5230BEV\u7684\u7279\u5f81\u8f6c\u6362\u3002\u501f\u52a9\u5168\u9762\u7684\u7a7a\u95f4\u8868\u793a\uff0c\u8fd9\u4e00\u8f6c\u6362\u663e\u8457\u63d0\u5347\u4e86\u611f\u77e5\u7684\u51c6\u786e\u6027\u3002\u968f\u540e\uff0c\u901a\u8fc7\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u6280\u672f<\/a>\uff0c\u5c06\u4e0d\u540c\u5c3a\u5ea6\u4e0b\u6355\u83b7\u7684BEV\u7279\u5f81\u6574\u5408\u8d77\u6765\uff0c\u589e\u5f3a\u6a21\u578b\u5bf9\u590d\u6742\u573a\u666f\u7684\u9002\u5e94\u6027\u3002\u6700\u540e\uff0c\u7279\u5f81\u89e3\u7801\u5668<\/a><\/p>\n\n\n\n

\u5c06\u5904\u7406\u540e\u7684\u7279\u5f81\u8f6c\u6362\u4e3a\u77e2\u91cf\u5316\u573a\u666f\u8868\u793a\u3002\u8be5\u8868\u793a\u80fd\u591f\u8be6\u7ec6\u63cf\u8ff0\u5173\u952e\u7684\u9759\u6001\u9053\u8def\u5143\u7d20\uff0c\u5982\u8f66\u9053\u7ebf\u3001\u9053\u8def\u8fb9\u754c\u548c\u4eba\u884c\u6a2a\u9053\uff0c\u7cbe\u786e\u53cd\u6620\u5b9e\u9645\u9053\u8def\u72b6\u51b5\u3002<\/p>\n\n\n\n

3.2 \u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc<\/strong><\/p>\n\n\n\n

\u5728\u56fe\u50cf\u7279\u5f81\u5904\u7406\u4e2d\uff0c\u5927\u591a\u6570\u73b0\u6709\u7814\u7a76\u672a\u80fd\u5145\u5206\u533a\u5206\u524d\u666f\u9053\u8def\u5143\u7d20\u4e0e\u975e\u5fc5\u8981\u80cc\u666f\u5143\u7d20\u3002\u8fd9\u79cd\u80cc\u666f\u4fe1\u606f\u7684\u5b58\u5728\u4f7f\u6a21\u578b\u5bb9\u6613\u53d7\u5230\u65e0\u5173\u6570\u636e\u7684\u5e72\u6270\uff0c\u4ece\u800c\u964d\u4f4e\u5904\u7406\u6548\u7387\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f5c\u8005\u5f00\u53d1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u81ea\u76d1\u7763\u5b66\u4e60\u7684\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\uff0c\u901a\u8fc7\u6295\u5f71\u5173\u7cfb\u5f3a\u5316\u6a21\u578b\u5bf9\u76f8\u5173\u9053\u8def\u5143\u7d20\u7684\u5173\u6ce8\u3002\u8be5\u7f51\u7edc\u65e8\u5728\u751f\u6210\u7cbe\u786e\u7684\u524d\u666f\u63a9\u7801\uff0c\u6709\u6548\u51cf\u5c11\u4e0e\u9053\u8def\u65e0\u5173\u7684\u80cc\u666f\u4fe1\u606f\u3002\u5982\u56fe1\u6240\u793a\uff0c\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\u63a5\u6536\u591a\u5c3a\u5ea6PV\u7279\u5f81Fi\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u901a\u8fc7\u7b80\u5316\u7684\u591a\u5c42\u611f\u77e5\u5668<\/a>\uff08MLP\uff09\u8fdb\u884c\u5904\u7406\u3002\u8be5MLP\u751f\u6210\u76f8\u5e94\u7684\u524d\u666f\u63a9\u7801Fi^mask\uff0c\u7136\u540e\u901a\u8fc7\u6b8b\u5dee\u8fde\u63a5<\/a>\u5c06\u5176\u4e0e\u539f\u59cbPV\u7279\u5f81\u7ed3\u5408\u3002\u7ed3\u5408\u8fc7\u7a0b\u91c7\u7528\u54c8\u8fbe\u739b\u79ef<\/a><\/p>\n\n\n\n

\u6765\u7ec6\u81f4\u8c03\u6574\u7279\u5f81\u56fe\u7684\u4f4d\u7f6e\u5f3a\u5ea6\uff0c\u5904\u7406\u540e\u7684\u6570\u636e\u968f\u540e\u88ab\u52a0\u56de\u5230\u539f\u59cbPV\u7279\u5f81\u4e2d\uff0c\u4ee5\u4e30\u5bcc\u5176\u7f6e\u4fe1\u4fe1\u606f\u3002\u8fd9\u79cd\u7b56\u7565\u663e\u8457\u589e\u5f3a\u4e86\u7279\u5f81\u96c6\u7684\u6297\u5e72\u6270\u80fd\u529b\u3002\u5177\u4f53\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u6b64\u5916\uff0c\u4f5c\u8005\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u51e0\u4f55\u6295\u5f71\u5173\u7cfb\u7684\u81ea\u76d1\u7763\u65b9\u6cd5\u6765\u751f\u6210\u771f\u5b9e\u503c\uff0c\u4ee5\u51c6\u786e\u5b9a\u4e49\u524d\u666f\u63a9\u7801\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9996\u5148\u5728BEV\u7a7a\u95f4<\/a>\u4e2d\u5efa\u7acb\u4e00\u4e2a\u5728[-2.0m, 2.0m]\u8303\u56f4\u5185\u5747\u5300\u5206\u5e03\u7684\u53c2\u8003\u70b9\u3002\u5229\u7528\u76f8\u673a\u7684\u5185\u53c2\u548c\u5916\u53c2\u77e9\u9635<\/a><\/p>\n\n\n\n

\uff0c\u8fd9\u4e9b\u70b9\u4ece3D\u7a7a\u95f4\u6295\u5f71\u52302D\u56fe\u50cf\u5e73\u9762\u3002\u6295\u5f71\u8303\u56f4\u5185\u7684\u7279\u5f81\u88ab\u5206\u7c7b\u4e3a\u524d\u666f\uff0c\u5305\u62ec\u9053\u8def\u53ca\u5176\u5468\u56f4\u7684\u5173\u952e\u5143\u7d20\uff1b\u800c\u6295\u5f71\u8303\u56f4\u5916\u7684\u533a\u57df\u5219\u88ab\u89c6\u4e3a\u80cc\u666f\uff0c\u901a\u5e38\u5305\u62ec\u5929\u7a7a\u7b49\u975e\u9053\u8def\u5143\u7d20\u3002\u7ecf\u8fc7\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\u5904\u7406\u540e\uff0c\u7ec6\u5316\u7684\u56fe\u50cf\u7279\u5f81\u5b9e\u73b0\u4e86\u5bf9\u9053\u8def\u53ca\u5176\u90bb\u8fd1\u5173\u952e\u524d\u666f\u5143\u7d20\u7684\u9ad8\u5ea6\u5173\u6ce8\u3002\u968f\u540e\uff0c\u8fd9\u4e9b\u7ec6\u5316\u7684\u524d\u666f\u7279\u5f81\u88ab\u7528\u4e8e\u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u900f\u89c6\u8f6c\u6362\u8fc7\u7a0b\u7684\u6548\u679c\u3002<\/p>\n\n\n\n

\"\"
\u56fe2. \u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\u793a\u610f\u56fe<\/figcaption><\/figure>\n\n\n\n


3.3 \u9ad8\u5ea6\u9884\u6d4b\u673a\u5236<\/strong><\/p>\n\n\n\n

\u5728\u57fa\u4e8eBEV\u7684\u6846\u67b6\u4e2d\uff0c\u900f\u89c6\u8f6c\u6362\u4f20\u7edf\u4e0a\u88ab\u8ba4\u4e3a\u662f\u75c5\u6001\u95ee\u9898\uff0c\u901a\u5e38\u901a\u8fc7\u590d\u6742\u7684\u6df1\u5ea6\u6216\u6ce8\u610f\u529b\u673a\u5236<\/a>\u76f4\u63a5\u751f\u6210\u8f6c\u6362\u540e\u7684BEV\u7279\u5f81\u6765\u89e3\u51b3\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u6709\u6548\uff0c\u4f46\u5b83\u4eec\u589e\u52a0\u4e86\u6a21\u578b\u7684\u590d\u6742\u6027\uff0c\u5e76\u964d\u4f4e\u4e86\u5176\u53ef\u89e3\u91ca\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\uff0c\u8be5\u673a\u5236\u5229\u7528\u9ad8\u5ea6\u5206\u5e03\u7684\u5148\u9a8c\u77e5\u8bc6<\/a>\uff0c\u5c06\u4efb\u52a1\u4ece\u76f4\u63a5\u751f\u6210BEV\u7279\u5f81\u8f6c\u53d8\u4e3a\u9ad8\u5ea6\u5206\u5e03\u6982\u7387\u7684\u4f30\u8ba1\uff0c\u4ece\u800c\u663e\u8457\u964d\u4f4e\u4e86\u6a21\u578b\u5728\u900f\u89c6\u8f6c\u6362\u4e2d\u7684\u5b66\u4e60\u590d\u6742\u6027\u3002\u5982\u56fe2\u6240\u793a\uff0c\u5728HeightMapNet\u4e2d\uff0c\u63a9\u7801PV\u7279\u5f81\u9996\u5148\u7ecf\u8fc7\u4f4d\u7f6e\u7f16\u7801<\/a>\uff08PE\uff09\u548c\u5e73\u5747\u6c60\u5316\uff08AP\uff09\u8fdb\u884c\u521d\u6b65\u5904\u7406\u3002\u8fd9\u4e9b\u6b65\u9aa4\u65e8\u5728\u63d0\u53d6\u5168\u5c40\u56fe\u50cf\u7279\u5f81\uff0c\u4e3a\u540e\u7eed\u7684\u9ad8\u5ea6\u5206\u5e03\u6982\u7387\u5efa\u6a21<\/a><\/p>\n\n\n\n

\u51c6\u5907\u3002\u7ecf\u8fc7\u5904\u7406\u540e\uff0c\u6a21\u578b\u5c06\u5168\u5c40\u4fe1\u606f\u6574\u5408\u5230\u9884\u5b9a\u4e49\u7684\u67e5\u8be2\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u52a8\u6001\u521d\u59cb\u5316\u3002\u6700\u7ec8\u7684\u9ad8\u5ea6\u5206\u5e03\u6982\u7387\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684MLP\u8ba1\u7b97\u5f97\u51fa\u3002\u5728\u5b9e\u73b0\u4e2d\uff0c\u6700\u9ad8\u5c42\u7684\u56fe\u50cf\u7279\u5f81\u5171\u4eab\u9ad8\u5ea6\u5206\u5e03\u6982\u7387\u4ee5\u7b80\u5316\u6a21\u578b\u7ed3\u6784\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u6b64\u5916\uff0c\u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\u91c7\u7528\u4e86\u4e0e\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\u76f8\u4f3c\u7684\u7a7a\u95f4\u91c7\u6837\u7b56\u7565\u3002\u8be5\u7b56\u7565\u4f7f\u7528\u9884\u5b9a\u4e49\u7684\u53c2\u8003\u70b9\uff0c\u5728\u9760\u8fd1\u9053\u8def\u7684BEV\u7a7a\u95f4\u4e2d\u8fdb\u884c\u89c2\u6d4b\u3002\u901a\u8fc7\u76f8\u673a\u7684\u5185\u53c2I\u548c\u5916\u53c2K\u5c06\u8fd9\u4e9b\u70b9\u6295\u5f71\u5230PV\u7a7a\u95f4\uff0c\u6709\u6548\u6355\u83b7\u4e86\u591a\u5c3a\u5ea6\u7279\u5f81\uff0c\u8bb0\u4e3a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u6839\u636e\u9ad8\u5ea6\u5206\u5e03\u6982\u7387\u6355\u83b7\u7684\u8fd9\u4e9b\u56fe\u50cf\u7279\u5f81\u968f\u540e\u6cbfZ\u8f74\u8fdb\u884c\u52a0\u6743\u6c60\u5316\uff0c\u7ec6\u5316\u4e86\u4e0e\u9053\u8def\u63a5\u8fd1\u7684\u7279\u5f81\uff0c\u6700\u7ec8\u751f\u6210\u591a\u5c3a\u5ea6BEV\u7279\u5f81\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u603b\u7ed3\u800c\u8a00\uff0c\u9ad8\u5ea6\u9884\u6d4b\u673a\u5236\u7684\u67b6\u6784\u548c\u5b9e\u73b0\u4e0d\u4ec5\u7b80\u5316\u5e76\u6307\u5bfc\u4e86\u900f\u89c6\u8f6c\u6362\u8fc7\u7a0b\uff0c\u8fd8\u786e\u4fdd\u4e86\u7ed3\u679c\u4e2d\u591a\u5c3a\u5ea6BEV\u7279\u5f81\u5bf9\u9053\u8def\u5143\u7d20\u7684\u7cbe\u786e\u805a\u7126\u3002\u8fd9\u79cd\u805a\u7126\u63d0\u4f9b\u4e86\u5bf9\u5468\u56f4\u9053\u8def\u5143\u7d20\u7684\u8be6\u7ec6\u548c\u5168\u9762\u8868\u793a\uff0c\u4ece\u800c\u4e3a\u540e\u7eed\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u6a21\u5757\u5960\u5b9a\u4e86\u575a\u5b9e\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n

\"\"
\u56fe3. \u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u793a\u610f\u56fe<\/figcaption><\/figure>\n\n\n\n


3.4 \u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408<\/strong><\/p>\n\n\n\n

\u4e3a\u4e86\u89e3\u51b3\u73b0\u6709BEV\u65b9\u6cd5\u4f9d\u8d56\u5355\u5c42\u56fe\u50cf\u7279\u5f81\u7684\u9650\u5236\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u6a21\u5757\uff0c\u4ee5\u4f18\u5316\u9ad8\u6e05\u5730\u56fe\u4e2d\u4e0d\u540c\u5143\u7d20\u7684\u8868\u793a\u3002\u4f20\u7edf\u65b9\u6cd5\u867d\u7136\u5728\u8ba1\u7b97\u6548\u7387\u4e0a\u8868\u73b0\u826f\u597d\uff0c\u4f46\u672a\u80fd\u5145\u5206\u5229\u7528\u4e0d\u540c\u5c42\u6b21\u7279\u5f81\u5bf9\u8fdc\u8fd1\u4e0d\u540c\u5143\u7d20\u7684\u9002\u5e94\u6027\u3002\u4f8b\u5982\uff0c\u8fdc\u8ddd\u79bb\u5143\u7d20\u7531\u4e8e\u6355\u83b7\u96be\u5ea6\u8f83\u5927\uff0c\u5f80\u5f80\u9700\u8981\u6765\u81ea\u4f4e\u5c42\u7684\u5927\u5206\u8fa8\u7387\u7279\u5f81\uff0c\u800c\u66f4\u5927\u7684\u8fd1\u5904\u5143\u7d20\u5219\u66f4\u9002\u5408\u7531\u9ad8\u5c42\u7279\u5f81\u8fdb\u884c\u6355\u83b7\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u591a\u5c3a\u5ea6\u7279\u5f81\u878d\u5408\u6a21\u5757\uff0c\u5728BEV\u9636\u6bb5\u534f\u8c03\u5e76\u6574\u5408\u4e0d\u540c\u5c3a\u5ea6\u7684\u7279\u5f81\uff0c\u5982\u56fe3\u6240\u793a\u3002\u5728\u672c\u6a21\u578b\u4e2d\uff0c\u591a\u5c3a\u5ea6BEV\u7279\u5f81\u9996\u5148\u901a\u8fc7\u7279\u5f81\u8fde\u63a5\u8fdb\u884c\u7c97\u7565\u6574\u5408\uff0c\u4e3a\u540e\u7eed\u7684\u7279\u5f81\u5904\u7406\u63d0\u4f9b\u57fa\u7840\u3002\u63a5\u4e0b\u6765\uff0c\u4e00\u4e2a\u7279\u522b\u5b9a\u5236\u7684\u5377\u79ef\u795e\u7ecf\u7f51\u7edc<\/a>\uff08CNN\uff09\u88ab\u7528\u4e8e\u5904\u7406\u8fd9\u4e9b\u521d\u6b65\u6574\u5408\u7684\u7279\u5f81\uff0c\u4ee5\u63d0\u5347\u7279\u5f81\u7684\u8868\u793a\u80fd\u529b\uff0c\u5e76\u52a0\u6df1\u6a21\u578b\u5bf9\u7a7a\u95f4\u52a8\u6001\u7684\u7406\u89e3\uff0c\u4ece\u800c\u66f4\u52a0\u7ec6\u81f4\u5730\u89e3\u91ca\u9053\u8def\u73af\u5883\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u5728\u878d\u5408\u6a21\u5757\u4e2d\u96c6\u6210\u4e86\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u52a8\u6001\u9009\u62e9\u6027\u5730\u589e\u5f3a\u5173\u952e\u7279\u5f81\u533a\u57df\u7684\u8868\u793a\u3002\u8be5\u673a\u5236\u8d4b\u4e88\u6a21\u578b\u81ea\u9002\u5e94\u80fd\u529b\uff0c\u786e\u4fdd\u6a21\u578b\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u66f4\u52a0\u4e13\u6ce8\u4e8e\u5bf9\u7ed3\u679c\u81f3\u5173\u91cd\u8981\u7684\u533a\u57df\uff0c\u63d0\u5347\u7279\u5f81\u878d\u5408\u7684\u6709\u6548\u6027\u548c\u6548\u7387\u3002\u878d\u5408\u8fc7\u7a0b\u4e4b\u540e\uff0c\u4f5c\u8005\u4f7f\u7528MLP\u5bf9\u6574\u5408\u540e\u7684\u7279\u5f81\u8fdb\u884c\u7ec6\u81f4\u4f18\u5316\u3002MLP\u7531\u4e00\u7cfb\u5217\u7ebf\u6027\u5c42<\/a><\/p>\n\n\n\n

\u7ec4\u6210\uff0c\u5e76\u5728\u6218\u7565\u4f4d\u7f6e\u5f15\u5165\u6b8b\u5dee\u8fde\u63a5\uff0c\u4ee5\u786e\u4fdd\u751f\u6210\u7684BEV\u7279\u5f81\u65e2\u4e30\u5bcc\u53c8\u7a33\u5b9a\u3002\u878d\u5408\u548c\u4f18\u5316\u7684\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\u6240\u793a\uff0c\u5176\u4e2dDA\u4ee3\u8868\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u901a\u8fc7\u8fd9\u4e00\u67b6\u6784\uff0c\u6709\u6548\u63d0\u5347\u4e86BEV\u7279\u5f81\u7684\u8868\u8fbe\u80fd\u529b\uff0c\u4f7f\u5176\u66f4\u5168\u9762\u5730\u53cd\u6620\u9053\u8def\u53ca\u5176\u5468\u56f4\u73af\u5883\u7684\u590d\u6742\u6027\u3002

3.5 \u8bad\u7ec3\u635f\u5931<\/strong>

HeightMapNet\u91c7\u7528\u4e86\u7aef\u5230\u7aef\u7684\u8bad\u7ec3\u65b9\u6cd5\uff0c\u901a\u8fc7\u5b9e\u4f8b\u7ea7\u548c\u70b9\u7ea7\u5206\u914d\u8fdb\u884c\u5fae\u8c03\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u7684\u573a\u666f\u7406\u89e3\u3002\u8bad\u7ec3\u6846\u67b6\u7531\u56db\u4e2a\u5173\u952e\u635f\u5931\u7ec4\u4ef6\u652f\u6491\uff0c\u5206\u522b\u4e3a\u5206\u7c7b\u635f\u5931Lcls\u3001\u70b9\u5bf9\u70b9\u635f\u5931Lpos\u3001\u8fb9\u7f18\u65b9\u5411\u635f\u5931Ldir\u548c\u63a9\u7801\u635f\u5931Lmask\u3002\u6574\u4f53\u635f\u5931\u51fd\u6570\u7684\u8868\u8fbe\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5176\u4e2d\uff0cLcls\u3001Lpos\u548cLdir\u7684\u914d\u7f6e\u4e0eMapTR\u7684\u6807\u51c6\u534f\u8bae\u4fdd\u6301\u4e00\u81f4\uff0c\u786e\u4fdd\u4e86\u6a21\u578b\u5728\u53d7\u8ba4\u53ef\u7684\u57fa\u51c6\u4e0a\u7684\u4e00\u81f4\u6027\u548c\u53ef\u6bd4\u6027\u3002\u63a9\u7801\u635f\u5931Lmask\u4e13\u4e3a\u589e\u5f3a\u524d\u666f-\u80cc\u666f\u5206\u79bb\u7f51\u7edc\u5bf9\u9053\u8def\u53ca\u5173\u952e\u5143\u7d20\u7684\u5173\u6ce8\u800c\u8bbe\u8ba1\u3002\u6b64\u635f\u5931\u4f7f\u7528\u66fc\u54c8\u987f\u8ddd\u79bb<\/a><\/p>\n\n\n\n

\u6765\u5ea6\u91cf\u9884\u6d4b\u7684\u524d\u666f\u63a9\u7801\u4e0e\u771f\u5b9e\u524d\u666f\u63a9\u7801\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5176\u4e2d\uff0cFi^mask\u635f\u5931\u548cFi^mask_GT\u5206\u522b\u8868\u793aPV\u7279\u5f81\u4e2d\u9884\u6d4b\u7684\u524d\u666f\u63a9\u7801\u548c\u5730\u9762\u771f\u5b9e\u7684\u524d\u666f\u63a9\u7801\u3002\u901a\u8fc7\u8fd9\u4e9b\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u635f\u5931\u51fd\u6570\uff0cHeightMapNet\u5b9e\u73b0\u4e86\u5bf9\u9053\u8def\u53ca\u5176\u5468\u56f4\u91cd\u8981\u5143\u7d20\u7684\u66f4\u51c6\u786e\u548c\u6709\u6548\u7684\u5efa\u6a21\uff0c\u4ece\u800c\u5728\u590d\u6742\u573a\u666f\u4e0b\u63d0\u9ad8\u4e86\u6a21\u578b\u7684\u53ef\u9760\u6027\u548c\u6cdb\u5316\u80fd\u529b<\/a><\/p>\n\n\n\n

\u3002<\/p>\n\n\n\n

4 <\/em>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n

\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cHeightMapNet\u5728nuScenes\u548cArgoverse 2\u7b49\u5177\u6709\u6311\u6218\u6027\u7684\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u5353\u8d8a\uff0c\u8d85\u8d8a\u4e86\u591a\u79cd\u516c\u8ba4\u7684\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n

\"\"
\u88681. \u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88682. \u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u66f4\u4e25\u683c\u7684\u8bc4\u4ef7\u6807\u51c6\u4e0b\u7684\u6027\u80fd\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88683. \u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88684. \u5728Argoverse 2\u6d4b\u8bd5\u96c6\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88685. \u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88686. \u4e0d\u540c\u6570\u91cf\u9ad8\u5ea6\u503c\u91c7\u6837\u70b9\u7684\u6d88\u878d\u5b9e\u9a8c<\/figcaption><\/figure>\n\n\n\n
\"\"
\u56fe4. \u4e0d\u540c\u6570\u91cf\u9ad8\u5ea6\u503c\u91c7\u6837\u70b9\u7684\u6d88\u878d\u5b9e\u9a8c<\/figcaption><\/figure>\n\n\n\n
\"\"
\u88687. \u4e0d\u540c\u81ea\u76d1\u7763\u635f\u5931\u6743\u91cd\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c<\/figcaption><\/figure>\n\n\n\n

5 <\/em>\u7ed3\u8bba<\/strong><\/h2>\n\n\n\n

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Ref\uff1a<\/em><\/strong>
HeightMapNet: Explicit Height Modeling for End-to-End HD Map Learning<\/em><\/p>\n","protected":false},"excerpt":{"rendered":"

\u5f15\u8a00 \u8fd1\u5e74\u6765\uff0c\u5229\u7528\u73af\u89c6\u56fe\u50cf \u5efa\u7acb\u9ad8\u6e05\u5730\u56fe\u7684\u6280\u672f […]<\/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-19787","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\/19787"}],"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=19787"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19787\/revisions"}],"predecessor-version":[{"id":19807,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19787\/revisions\/19807"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=19787"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=19787"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=19787"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}