{"id":20055,"date":"2024-11-27T15:34:51","date_gmt":"2024-11-27T07:34:51","guid":{"rendered":"http:\/\/192.168.10.115\/?p=20055"},"modified":"2024-11-27T15:34:51","modified_gmt":"2024-11-27T07:34:51","slug":"2024-11-27-%e5%ad%97%e8%8a%82%e6%b8%85%e5%8d%8e%e5%8c%97%e4%ba%ac%e4%ba%a4%e9%80%9a%e5%a4%a7%e5%ad%a6%e5%8f%91%e5%b8%83v2x-radar-%e4%b8%80%e4%b8%aa%e7%94%a8%e4%ba%8e%e5%8d%8f%e5%90%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/27\/20055\/","title":{"rendered":"2024-11-27 \u5b57\u8282&amp;\u6e05\u534e&amp;\u5317\u4eac\u4ea4\u901a\u5927\u5b66\u53d1\u5e03V2X-Radar: \u4e00\u4e2a\u7528\u4e8e\u534f\u540c\u611f\u77e5\u76844D\u96f7\u8fbe\u591a\u6a21\u6001\u6570\u636e\u96c6"},"content":{"rendered":"\n<p>Abstract<\/p>\n\n\n\n<p>\u73b0\u4ee3\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u611f\u77e5\u7cfb\u7edf\u901a\u5e38\u5728\u5e94\u5bf9\u906e\u6321\u548c\u6709\u9650\u611f\u77e5\u8303\u56f4\u65b9\u9762\u9762\u4e34\u56f0\u96be\u3002\u5148\u524d\u7684\u7814\u7a76\u5df2\u7ecf\u8bc1\u660e\uff0c\u534f\u540c\u611f\u77e5\u5728\u6269\u5c55\u611f\u77e5\u8303\u56f4\u548c\u514b\u670d\u906e\u6321\u65b9\u9762\u662f\u6709\u6548\u7684\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u3002\u8fd1\u5e74\u6765\uff0c\u4e00\u7cfb\u5217\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\u76f8\u7ee7\u51fa\u73b0\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u4ec5\u5173\u6ce8\u6444\u50cf\u5934\u548cLiDAR\uff0c\u5ffd\u7565\u4e864D\u96f7\u8fbe\u8fd9\u4e00\u5728\u5355\u8f66\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7528\u4e8e\u5e94\u5bf9\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u7684\u4f20\u611f\u5668\u3002\u4e3a\u5f25\u8865\u534f\u540c\u611f\u77e5\u4e2d\u7f3a\u5c114D\u96f7\u8fbe\u6570\u636e\u96c6\u7684\u7a7a\u767d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86V2X-Radar\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u5305\u542b4D\u96f7\u8fbe\u7684\u771f\u5b9e\u5927\u89c4\u6a21\u591a\u6a21\u6001\u6570\u636e\u96c6\u3002\u6211\u4eec\u7684V2X-Radar\u6570\u636e\u96c6\u662f\u901a\u8fc7\u4e00\u4e2a\u8fde\u63a5\u8f66\u8f86\u5e73\u53f0\u548c\u4e00\u4e2a\u914d\u59074D\u96f7\u8fbe\u3001LiDAR\u548c\u591a\u89c6\u89d2\u6444\u50cf\u5934\u7684\u667a\u80fd\u8def\u4fa7\u5355\u5143\u6536\u96c6\u7684\u3002\u6536\u96c6\u7684\u6570\u636e\u6db5\u76d6\u4e86\u6674\u5929\u548c\u96e8\u5929\u7684\u5929\u6c14\u6761\u4ef6\uff0c\u8de8\u8d8a\u767d\u5929\u3001\u9ec4\u660f\u548c\u591c\u665a\uff0c\u4ee5\u53ca\u5178\u578b\u7684\u6311\u6218\u6027\u573a\u666f\u3002\u6570\u636e\u96c6\u5305\u62ec20K\u7684LiDAR\u5e27\u300140K\u7684\u6444\u50cf\u5934\u56fe\u50cf\u548c20K\u76844D\u96f7\u8fbe\u6570\u636e\uff0c\u4ee5\u53ca\u8de8\u8d8a\u4e94\u4e2a\u7c7b\u522b\u7684350K\u6807\u6ce8\u6846\u3002\u4e3a\u4e86\u4fc3\u8fdb\u591a\u6837\u5316\u7684\u7814\u7a76\u9886\u57df\uff0c\u6211\u4eec\u5efa\u7acb\u4e86\u7528\u4e8e\u534f\u540c\u611f\u77e5\u7684V2X-Radar-C\uff0c\u7528\u4e8e\u8def\u4fa7\u611f\u77e5\u7684V2X-Radar-I\uff0c\u4ee5\u53ca\u7528\u4e8e\u5355\u8f66\u611f\u77e5\u7684V2X-Radar-V\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u5bf9\u4e0a\u8ff0\u4e09\u4e2a\u5b50\u6570\u636e\u96c6\u7684\u6700\u65b0\u611f\u77e5\u7b97\u6cd5\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u57fa\u51c6\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<p>\u4ee3\u7801\u83b7\u53d6\uff1ahttp:\/\/openmpd.com\/column\/V2X-Radar<\/p>\n\n\n\n<p>Introduction<\/p>\n\n\n\n<p>\u611f\u77e5\u662f\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5173\u952e\u73af\u8282\uff0c\u5c3d\u7ba1\u5df2\u7ecf\u51fa\u73b0\u4e86\u5927\u91cf\u7684\u5355\u8f66\u611f\u77e5\u65b9\u6cd5\uff0c\u4f46\u4ecd\u7136\u9762\u4e34\u7531\u906e\u6321\u548c\u6709\u9650\u611f\u77e5\u8303\u56f4\u5f15\u8d77\u7684\u91cd\u5927\u5b89\u5168\u6311\u6218\u3002\u8fd9\u4e9b\u95ee\u9898\u6e90\u4e8e\u8f66\u8f86\u53ea\u80fd\u4ece\u5355\u4e00\u89c6\u89d2\u770b\u5230\u5176\u5468\u56f4\u73af\u5883\uff0c\u5bfc\u81f4\u573a\u666f\u611f\u77e5\u7684\u4e0d\u5b8c\u6574\u3002\u8fd9\u79cd\u5c40\u9650\u6027\u59a8\u788d\u4e86\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5b9e\u73b0\u5b89\u5168\u5bfc\u822a\u548c\u6700\u4f73\u51b3\u7b56\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u6700\u8fd1\u7684\u7814\u7a76\u81f4\u529b\u4e8e\u8f66\u8f86\u5230\u4e07\u7269\uff08V2X\uff09\u534f\u540c\u611f\u77e5\uff0c\u5176\u4e2d\u81ea\u8f66\u901a\u8fc7\u65e0\u7ebf\u901a\u4fe1\u5229\u7528\u6765\u81ea\u5176\u4ed6\u4ee3\u7406\u7684\u4fe1\u606f\u6269\u5c55\u611f\u77e5\u8303\u56f4\u5e76\u514b\u670d\u906e\u6321\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u534f\u540c\u611f\u77e5\u5f15\u8d77\u4e86\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\uff0c\u5e76\u53d1\u5e03\u4e86\u82e5\u5e72\u5f00\u521b\u6027\u6570\u636e\u96c6\u4ee5\u652f\u6301\u8fd9\u4e00\u7814\u7a76\u3002\u4f8b\u5982\uff0c\u50cfOpenV2V \u3001V2X-Sim \u548cV2XSet \u8fd9\u6837\u7684\u6570\u636e\u96c6\u662f\u901a\u8fc7\u4f7f\u7528CARLA\u548cSUMO\u8fdb\u884c\u4eff\u771f\u751f\u6210\u7684\u3002\u800c\u50cfDAIR-V2X\u3001V2X-Seq\u3001V2V4Real\u548cV2X-Real\u8fd9\u6837\u7684\u6570\u636e\u96c6\u5219\u6765\u6e90\u4e8e\u771f\u5b9e\u573a\u666f\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u7684\u4e00\u4e2a\u5171\u540c\u5c40\u9650\u662f\u4ec5\u5173\u6ce8\u6444\u50cf\u5934\u548cLiDAR\u4f20\u611f\u5668\uff0c\u5ffd\u7565\u4e864D\u96f7\u8fbe\u7684\u6f5c\u529b\u3002\u8be5\u4f20\u611f\u5668\u56e0\u5176\u5728\u6076\u52a3\u5929\u6c14\u4e0b\u7684\u5353\u8d8a\u9002\u5e94\u6027\u88ab\u8ba4\u4e3a\u5bf9\u7a33\u5065\u611f\u77e5\u6709\u5e2e\u52a9\uff0c\u8fd9\u4e00\u70b9\u5728\u5355\u8f66\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u5982K-Radar\u548cDual-Radar \u4e2d\u5f97\u5230\u4e86\u9a8c\u8bc1\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5f25\u8865\u534f\u540c\u611f\u77e5\u9886\u57df\u4e2d\u7f3a\u4e4f4D\u96f7\u8fbe\u6570\u636e\u96c6\u7684\u7a7a\u767d\u5e76\u4fc3\u8fdb\u76f8\u5173\u7814\u7a76\uff0c\u6211\u4eec\u63d0\u51fa\u4e86V2X-Radar\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u5305\u542b4D\u96f7\u8fbe\u7684\u771f\u5b9e\u5927\u89c4\u6a21\u591a\u6a21\u6001\u6570\u636e\u96c6\u3002\u8be5\u6570\u636e\u96c6\u6db5\u76d6\u4e86\u5404\u79cd\u573a\u666f\uff0c\u5305\u62ec\u9633\u5149\u3001\u96e8\u5929\u548c\u96ea\u5929\u7b49\u5929\u6c14\u6761\u4ef6\uff0c\u8de8\u8d8a\u5305\u62ec\u767d\u5929\u3001\u9ec4\u660f\u548c\u591c\u665a\u5728\u5185\u7684\u4e00\u5929\u4e2d\u7684\u4e0d\u540c\u65f6\u95f4\u70b9\u3002\u6570\u636e\u662f\u901a\u8fc7\u4e00\u4e2a\u8fde\u63a5\u8f66\u8f86\u5e73\u53f0\u548c\u4e00\u4e2a\u667a\u80fd\u8def\u4fa7\u5355\u5143\u6536\u96c6\u7684\uff0c\u4e24\u8005\u90fd\u914d\u5907\u4e864D\u96f7\u8fbe\u3001LiDAR\u548c\u591a\u89c6\u89d2\u6444\u50cf\u5934\uff08\u5982\u56fe1\u6240\u793a\uff09\u3002\u4ece\u8d85\u8fc715\u5c0f\u65f6\u7684\u9a7e\u9a76\u65e5\u5fd7\u4e2d\uff0c\u6211\u4eec\u7cbe\u5fc3\u9009\u62e9\u4e8650\u4e2a\u5177\u6709\u4ee3\u8868\u6027\u7684\u573a\u666f\u7528\u4e8e\u6700\u7ec8\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"646\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-811-1024x646.png\" alt=\"\" class=\"wp-image-20056\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-811-1024x646.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-811-300x189.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-811-768x484.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-811.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8be5\u6570\u636e\u96c6\u5305\u62ec20K\u7684LiDAR\u5e27\u300140K\u7684\u6444\u50cf\u5934\u56fe\u50cf\u548c20K\u76844D\u96f7\u8fbe\u6570\u636e\uff0c\u62e5\u6709\u4e94\u4e2a\u5bf9\u8c61\u7c7b\u522b\u7684350K\u6807\u6ce8\u6846\u3002\u4e3a\u4e86\u652f\u6301\u591a\u79cd\u7814\u7a76\u9886\u57df\uff0cV2X-Radar\u8fdb\u4e00\u6b65\u88ab\u5212\u5206\u4e3a\u4e09\u4e2a\u4e13\u95e8\u7684\u5b50\u6570\u636e\u96c6\uff1a\u7528\u4e8e\u534f\u540c\u611f\u77e5\u7684V2X-Radar-C\uff0c\u7528\u4e8e\u8def\u4fa7\u611f\u77e5\u7684V2X-Radar-I\uff0c\u4ee5\u53ca\u7528\u4e8e\u5355\u8f66\u611f\u77e5\u7684V2X-Radar-V\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5bf9\u8fd9\u4e09\u4e2a\u5b50\u6570\u636e\u96c6\u4e2d\u7684\u6700\u65b0\u611f\u77e5\u7b97\u6cd5\u8fdb\u884c\u4e86\u5168\u9762\u7684\u57fa\u51c6\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<p>\u4e0e\u73b0\u6709\u7684\u771f\u5b9e\u534f\u540c\u6570\u636e\u96c6\u76f8\u6bd4\uff0c\u6211\u4eec\u7684V2X-Radar\u5c55\u73b0\u4e86\u4ee5\u4e0b\u4e24\u4e2a\u4f18\u52bf\uff1a<br>(1) \u66f4\u591a\u6a21\u6001\uff1a\u6240\u63d0\u51fa\u7684V2X-Radar\u6570\u636e\u96c6\u5305\u62ec\u4e09\u79cd\u7c7b\u578b\u7684\u4f20\u611f\u5668\uff1aLiDAR\u3001\u6444\u50cf\u5934\u548c4D\u96f7\u8fbe\uff0c\u4f7f\u5f97\u8fdb\u4e00\u6b65\u63a2\u7d22\u4e0e4D\u96f7\u8fbe\u76f8\u5173\u7684\u534f\u540c\u611f\u77e5\u7814\u7a76\u6210\u4e3a\u53ef\u80fd\u3002<br>(2) \u591a\u6837\u5316\u573a\u666f\uff1a\u6211\u4eec\u7684\u6570\u636e\u6536\u96c6\u6db5\u76d6\u4e86\u5404\u79cd\u5929\u6c14\u6761\u4ef6\u548c\u4e00\u5929\u4e2d\u7684\u4e0d\u540c\u65f6\u95f4\uff0c\u540c\u65f6\u4e5f\u4e13\u6ce8\u4e8e\u5bf9\u5355\u8f66\u81ea\u52a8\u9a7e\u9a76\u5177\u6709\u6311\u6218\u6027\u7684\u4ea4\u53c9\u8def\u53e3\u3002\u8fd9\u4e9b\u4ea4\u53c9\u8def\u53e3\u5b58\u5728\u906e\u6321\u7684\u76f2\u70b9\uff0c\u5bf9\u8f66\u8f86\u5b89\u5168\u6709\u663e\u8457\u5f71\u54cd\uff0c\u4e3a\u534f\u540c\u611f\u77e5\u7814\u7a76\u63d0\u4f9b\u4e86\u591a\u6837\u5316\u7684\u6781\u7aef\u6848\u4f8b\u3002<\/p>\n\n\n\n<p>3. V2X-Radar \u6570\u636e\u96c6<\/p>\n\n\n\n<p>\u4e3a\u4e86\u4fc3\u8fdb\u57fa\u4e8e4D Radar\u7684\u534f\u540c\u611f\u77e5\u7814\u7a76\uff0c\u6211\u4eec\u63d0\u51fa\u4e86V2X-Radar\uff0c\u8fd9\u662f\u9996\u4e2a\u5305\u542b4D Radar\u7684\u771f\u5b9e\u591a\u6a21\u6001\u6570\u636e\u96c6\u3002\u672c\u8282\u9996\u5148\u5728\u7b2c3.1\u8282\u8be6\u7ec6\u4ecb\u7ecd\u6570\u636e\u91c7\u96c6\u8fc7\u7a0b\uff0c\u7136\u540e\u5728\u7b2c3.2\u8282\u63cf\u8ff0\u6570\u636e\u6807\u6ce8\uff0c\u6700\u540e\u5728\u7b2c3.3\u8282\u6df1\u5165\u63a2\u8ba8\u591a\u6837\u5316\u7684\u6570\u636e\u5206\u5e03\u548c\u6570\u636e\u96c6\u5206\u6790\u3002<\/p>\n\n\n\n<p>3.1 \u6570\u636e\u91c7\u96c6<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"477\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-812-1024x477.png\" alt=\"\" class=\"wp-image-20057\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-812-1024x477.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-812-300x140.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-812-768x358.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-812.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4f20\u611f\u5668\u914d\u7f6e\u3002\u6570\u636e\u96c6\u901a\u8fc7\u4e00\u4e2a\u8fde\u63a5\u7684\u8f66\u8f7d\u5e73\u53f0\uff08\u5982\u56fe2(a)\u6240\u793a\uff09\u548c\u4e00\u4e2a\u667a\u80fd\u8def\u4fa7\u5355\u5143\uff08\u5982\u56fe2(b)\u6240\u793a\uff09\u91c7\u96c6\u3002\u4e24\u8005\u5747\u914d\u5907\u4e864D Radar\u3001LiDAR\u548c\u591a\u89c6\u89d2\u6444\u50cf\u5934\u7b49\u4f20\u611f\u5668\u3002\u6b64\u5916\uff0c\u8fd8\u4f7f\u7528\u4e86GPS\/IMU\u7cfb\u7edf\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\uff0c\u7528\u4e8e\u8f66\u8f7d\u548c\u8def\u4fa7\u5e73\u53f0\u4e4b\u95f4\u7684\u521d\u59cb\u70b9\u4e91\u914d\u51c6\u3002\u540c\u65f6\u96c6\u6210\u4e86C-V2X\u5355\u5143\u4ee5\u5b9e\u73b0\u65e0\u7ebf\u6570\u636e\u4f20\u8f93\u3002\u4f20\u611f\u5668\u7684\u5e03\u5c40\u914d\u7f6e\u89c1\u56fe2\uff0c\u8be6\u7ec6\u89c4\u683c\u5217\u4e8e\u88682\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"327\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-813-1024x327.png\" alt=\"\" class=\"wp-image-20058\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-813-1024x327.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-813-300x96.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-813-768x245.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-813.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u540c\u6b65\u3002\u5bf9\u4e8e\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\u800c\u8a00\uff0c\u4f7f\u7528\u7edf\u4e00\u7684\u65f6\u95f4\u6233\u6807\u51c6\u540c\u6b65\u8f66\u8f7d\u5e73\u53f0\u548c\u8def\u4fa7\u5e73\u53f0\u7684\u4f20\u611f\u5668\u81f3\u5173\u91cd\u8981\u3002\u4e3a\u786e\u4fdd\u4e00\u81f4\u6027\uff0c\u9996\u5148\u5c06\u6240\u6709\u8ba1\u7b97\u673a\u65f6\u949f\u4e0eGPS\u65f6\u95f4\u5bf9\u9f50\u3002\u968f\u540e\uff0c\u901a\u8fc7\u7cbe\u786e\u65f6\u95f4\u534f\u8bae\uff08PTP\uff09\u548c\u6bcf\u79d2\u8109\u51b2\uff08PPS\uff09\u4fe1\u53f7\uff0c\u5b9e\u73b0LiDAR\u3001\u6444\u50cf\u5934\u548c4D Radar\u7684\u786c\u4ef6\u89e6\u53d1\u540c\u6b65\u3002\u63a5\u7740\uff0c\u5339\u914d\u8f66\u8f7d\u548c\u8def\u4fa7\u5e73\u53f0\u7684\u6700\u63a5\u8fd1LiDAR\u5e27\uff0c\u5e76\u5c06\u6444\u50cf\u5934\u548c4D Radar\u6570\u636e\u4e0e\u6bcf\u4e2a\u5bf9\u5e94\u7684LiDAR\u5e27\u5bf9\u9f50\uff0c\u751f\u6210\u7edf\u4e00\u7684\u591a\u6a21\u6001\u6570\u636e\u5e27\u3002\u6700\u7ec8\uff0c\u8de8\u5e73\u53f0\u7684\u4f20\u611f\u5668\u65f6\u95f4\u5dee\u5728\u6bcf\u4e2a\u6837\u672c\u4e2d\u5747\u4fdd\u6301\u572850\u6beb\u79d2\u4ee5\u4e0b\u3002<\/p>\n\n\n\n<p>\u4f20\u611f\u5668\u6807\u5b9a\u548c\u914d\u51c6\u3002\u901a\u8fc7\u4f20\u611f\u5668\u6807\u5b9a\u8fc7\u7a0b\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86\u6444\u50cf\u5934\u3001LiDAR\u548c4D Radar\u7684\u7a7a\u95f4\u540c\u6b65\u3002\u6444\u50cf\u5934\u7684\u5185\u53c2\u901a\u8fc7\u68cb\u76d8\u683c\u56fe\u6848\u8fdb\u884c\u6807\u5b9a\uff0c\u800cLiDAR\u76f8\u5bf9\u4e8e\u6444\u50cf\u5934\u7684\u6807\u5b9a\u662f\u901a\u8fc7\u5229\u7528\u70b9\u4e91\u548c\u76f8\u5e94\u6444\u50cf\u5934\u56fe\u50cf\u4e2d\u63d0\u53d6\u7684100\u5bf9\u70b9\u5bf9\u5b9e\u73b0\u7684\u3002\u5916\u53c2\u901a\u8fc7\u6700\u5c0f\u5316\u4e8c\u7ef4\u548c\u4e09\u7ef4\u70b9\u5bf9\u5e94\u5173\u7cfb\u7684\u91cd\u6295\u5f71\u8bef\u5dee\u83b7\u5f97\u3002LiDAR\u4e0e4D Radar\u7684\u6807\u5b9a\u901a\u8fc7\u9009\u62e9\u4f4d\u4e8e\u89d2\u53cd\u5c04\u5668\u4e0a\u7684100\u4e2a\u9ad8\u5f3a\u5ea6\u70b9\u5bf9\u5b8c\u6210\u3002\u6807\u5b9a\u7ed3\u679c\u5728\u56fe3\u4e2d\u4ee5\u53ef\u89c6\u5316\u5f62\u5f0f\u5448\u73b0\u3002<br>\u901a\u8fc7RTK\u5b9a\u4f4d\u521d\u6b65\u8ba1\u7b97\u5e76\u968f\u540e\u901a\u8fc7CBM [21]\u548c\u4eba\u5de5\u8c03\u6574\u7cbe\u70bc\uff0c\u5b8c\u6210\u8f66\u8f7dLiDAR\u4e0e\u8def\u4fa7LiDAR\u7684\u70b9\u4e91\u914d\u51c6\u3002\u70b9\u4e91\u914d\u51c6\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"470\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-814-1024x470.png\" alt=\"\" class=\"wp-image-20059\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-814-1024x470.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-814-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-814-768x353.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-814.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-815-1024x507.png\" alt=\"\" class=\"wp-image-20060\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-815-1024x507.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-815-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-815-768x380.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-815.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6570\u636e\u6536\u96c6\u3002\u6211\u4eec\u6536\u96c6\u4e8615\u5c0f\u65f6\u7684\u9a7e\u9a76\u6570\u636e\uff0c\u5305\u542b540K\u5e27\uff0c\u8986\u76d6\u6674\u5929\u548c\u96e8\u5929\u7b49\u5404\u79cd\u5929\u6c14\u6761\u4ef6\uff0c\u65f6\u95f4\u8303\u56f4\u6db5\u76d6\u767d\u5929\u3001\u9ec4\u660f\u548c\u591c\u665a\uff0c\u4ee5\u53ca\u5178\u578b\u7684\u590d\u6742\u4ea4\u53c9\u8def\u53e3\u573a\u666f\u3002\u66f4\u591a\u7ec6\u8282\u89c1\u8865\u5145\u6750\u6599\u3002\u4ece\u4e2d\u6211\u4eec\u624b\u52a8\u9009\u62e9\u6700\u5177\u4ee3\u8868\u6027\u768440\u4e2a\u5e8f\u5217\u6784\u6210V2X-Radar-C\uff1b\u6bcf\u4e2a\u5e8f\u5217\u957f\u5ea6\u4e3a10\u81f325\u79d2\uff0c\u91c7\u6837\u9891\u7387\u4e3a10Hz\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u989d\u5916\u91c7\u683710\u4e2a\u4ec5\u9650\u8f66\u8f7d\u7684\u5e8f\u5217\u6784\u6210V2X-Radar-V\uff0c\u5e76\u91c7\u683710\u4e2a\u4ec5\u9650\u57fa\u7840\u8bbe\u65bd\u7684\u5e8f\u5217\u5f62\u6210V2X-Radar-I\u3002\u4e0eV2X-Radar-C\u4e2d\u7684\u5355\u89c6\u89d2\u6570\u636e\u76f8\u6bd4\uff0cV2X-Radar-V\u548cV2X-Radar-I\u5305\u542b\u4e86\u66f4\u591a\u6837\u5316\u7684\u573a\u666f\u3002\u56e0\u6b64\uff0c\u4e0a\u8ff0\u4e09\u4e2a\u5b50\u6570\u636e\u96c6\u5171\u540c\u5305\u542b\u4e8620K\u7684LiDAR\u5e27\u300140K\u7684\u6444\u50cf\u5934\u56fe\u50cf\u4ee5\u53ca20K\u76844D Radar\u6570\u636e\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">3.2 \u6570\u636e\u6807\u6ce8<\/h4>\n\n\n\n<p>\u5750\u6807\u7cfb\u3002\u6211\u4eec\u7684\u6570\u636e\u96c6\u5305\u542b\u56db\u79cd\u7c7b\u578b\u7684\u5750\u6807\u7cfb\uff1a<br>(1) LiDAR \u5750\u6807\u7cfb\uff0c\u5176\u4e2dX\u3001Y\u548cZ\u8f74\u5206\u522b\u5bf9\u5e94LiDAR\u7684\u524d\u3001\u5de6\u548c\u4e0a\u65b9\u5411\u3002<br>(2) \u6444\u50cf\u5934\u5750\u6807\u7cfb\uff0c\u5176\u4e2dZ\u8f74\u8868\u793a\u6df1\u5ea6\u65b9\u5411\u3002<br>(3) 4D Radar \u5750\u6807\u7cfb\uff0c\u5176\u4e2dX\u3001Y\u548cZ\u8f74\u5206\u522b\u6307\u5411\u53f3\u3001\u524d\u548c\u4e0a\u65b9\u5411\u3002<br>(4) \u5168\u5c40\u5750\u6807\u7cfb\uff0c\u4e0e\u8def\u4fa7\u5e73\u53f0\u7684LiDAR\u5e27\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<p>3D \u8fb9\u754c\u6846\u6807\u6ce8\u3002\u6570\u636e\u6807\u6ce8\u5305\u62ec\u8f66\u8f86\u3001\u8def\u4fa7\u4ee5\u53ca\u534f\u540c\u90e8\u5206\u7684\u6807\u6ce8\u3002\u8f66\u8f86\u548c\u8def\u4fa7\u6807\u6ce8\u662f\u5728\u5404\u81ea\u7684LiDAR\u5750\u6807\u7cfb\u4e2d\u624b\u52a8\u5b8c\u6210\u7684\u3002\u5bf9\u4e8e\u534f\u540c\u6807\u6ce8\uff0c\u6211\u4eec\u9996\u5148\u5728\u7edf\u4e00\u7684\u8def\u4fa7LiDAR\u5750\u6807\u7cfb\u4e2d\u5bf9\u9f50\u8f66\u8f7d\u548c\u8def\u4fa7\u6807\u6ce8\uff0c\u7136\u540e\u4f7f\u7528\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u5ea6\u91cf\u8fdb\u884c\u5339\u914d\uff0c\u4ee5\u6d88\u9664\u91cd\u590d\u3002\u6807\u6ce8\u8fc7\u7a0b\u5305\u62ec\u4e94\u7c7b\u5bf9\u8c61\uff1a\u884c\u4eba\u3001\u81ea\u884c\u8f66\u3001\u6c7d\u8f66\u3001\u516c\u4ea4\u8f66\u548c\u5361\u8f66\u3002\u6bcf\u4e2a\u5bf9\u8c61\u6807\u6ce8\u5305\u542b\u906e\u6321\uff08occlusion\uff09\u548c\u622a\u65ad\uff08truncation\uff09\u7b49\u5c5e\u6027\uff0c\u4ee5\u53ca3D\u8fb9\u754c\u6846\u7684\u51e0\u4f55\u7279\u6027\uff0c\u8868\u793a\u4e3a(x, y, z, w, h, l, \u03b8)\uff0c\u5176\u4e2d(l, w, h)\u8868\u793a\u5bf9\u8c61\u7684\u5c3a\u5bf8\uff0c(x, y, z)\u8868\u793a\u5176\u4f4d\u7f6e\uff0c\u03b8\u8868\u793a\u5176\u65b9\u5411\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">3.3 \u6570\u636e\u5206\u6790<\/h4>\n\n\n\n<p>\u56fe5(a)\u5c55\u793a\u4e86\u5728\u767d\u5929\u548c\u591c\u665a\u6761\u4ef6\u4e0b\u4e94\u7c7b\u5bf9\u8c61\u7684\u5206\u5e03\u60c5\u51b5\uff0c\u5176\u4e2d\u6c7d\u8f66\u5728V2X-Radar\u4e2d\u6700\u4e3a\u5e38\u89c1\uff0c\u5176\u6b21\u662f\u9a91\u884c\u8005\u548c\u884c\u4eba\uff0c\u800c\u5361\u8f66\u548c\u516c\u4ea4\u8f66\u6700\u5c11\u3002<\/p>\n\n\n\n<p>\u56fe5(b)\u663e\u793a\u4e86\u6bcf\u7c7b\u5bf9\u8c61\u76843D\u8fb9\u754c\u6846\u5185LiDAR\u70b9\u4e91\u7684\u6700\u5927\u548c\u5e73\u5747\u6570\u91cf\uff0c\u8868\u660e\u8f83\u5927\u7684\u8f66\u8f86\u6bd4\u8f83\u5c0f\u7684\u884c\u4eba\u6216\u9a91\u884c\u8005\u62e5\u6709\u66f4\u591a\u76843D\u70b9\u4e91\u3002<\/p>\n\n\n\n<p>\u56fe5(c)\u63ed\u793a\u4e86\u4e0d\u540c\u5bf9\u8c61\u8fb9\u754c\u6846\u51854D Radar\u70b9\u4e91\u7684\u5bc6\u5ea6\u5206\u5e03\uff0c\u5176\u8d8b\u52bf\u4e0e\u56fe5(b)\u7c7b\u4f3c\u3002<br>\u6700\u540e\uff0c\u56fe5(d)\u8868\u660e\u6bcf\u4e2a\u534f\u540c\u6837\u672c\u7684\u6807\u6ce8\u6570\u91cf\u6700\u9ad8\u53ef\u8fbe90\u4e2a\uff0c\u663e\u8457\u9ad8\u4e8e\u5355\u8f66\u6570\u636e\u96c6\uff08\u5982KITTI\u6216nuScenes\uff09\uff0c\u7a81\u51fa\u4e86\u7ed3\u5408\u8f66\u8f7d\u548c\u8def\u4fa7\u6570\u636e\u5728\u589e\u5f3a\u73af\u5883\u611f\u77e5\u5168\u9762\u6027\u65b9\u9762\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"369\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-816-1024x369.png\" alt=\"\" class=\"wp-image-20061\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-816-1024x369.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-816-300x108.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-816-768x277.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-816.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>4. \u4efb\u52a1<\/p>\n\n\n\n<p>\u6211\u4eec\u7684V2X-Radar\u6570\u636e\u96c6\u7531\u4e09\u4e2a\u5b50\u96c6\u7ec4\u6210\uff1aV2X-Radar-I\u3001V2X-Radar-V\u548cV2X-Radar-C\uff0c\u65e8\u5728\u652f\u6301\u8def\u4fa73D\u76ee\u6807\u68c0\u6d4b\u3001\u5355\u8f663D\u76ee\u6807\u68c0\u6d4b\u548c\u534f\u540c3D\u76ee\u6807\u68c0\u6d4b\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">4.1 \u5355\u4f533D\u76ee\u6807\u68c0\u6d4b<\/h4>\n\n\n\n<p>\u4efb\u52a1\u5b9a\u4e49\u3002\u5355\u4f533D\u76ee\u6807\u68c0\u6d4b\u5305\u62ec\u4e24\u4e2a\u4efb\u52a1\uff1a\u4f7f\u7528V2X-Radar-I\u5b50\u6570\u636e\u96c6\u8fdb\u884c\u8def\u4fa73D\u76ee\u6807\u68c0\u6d4b\uff0c\u4ee5\u53ca\u4f7f\u7528V2X-Radar-V\u5b50\u6570\u636e\u96c6\u8fdb\u884c\u8f66\u8f7d3D\u76ee\u6807\u68c0\u6d4b\u3002\u8fd9\u4e9b\u4efb\u52a1\u4f9d\u8d56\u4e8e\u667a\u80fd\u8def\u4fa7\u5355\u5143\u6216\u8f66\u8f7d\u5e73\u53f0\u7684\u4f20\u611f\u5668\u6765\u68c0\u6d4b3D\u76ee\u6807\uff0c\u9762\u4e34\u4ee5\u4e0b\u6311\u6218\uff1a<\/p>\n\n\n\n<p>\u5355\u6a21\u6001\u7f16\u7801\uff1a\u9700\u8981\u5c06\u6444\u50cf\u5934\u76842D\u56fe\u50cf\u3001LiDAR\u7684\u7a20\u5bc63D\u70b9\u4e91\u3001\u4ee5\u53ca\u5305\u542b\u591a\u666e\u52d2\u4fe1\u606f\u7684\u7a00\u758f4D Radar\u70b9\u4e91\u7f16\u7801\u4e3a3D\u7a7a\u95f4\u8868\u793a\uff0c\u4ee5\u5b9e\u73b0\u7cbe\u786e\u7684\u5355\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u3002<br>\u591a\u6a21\u6001\u878d\u5408\uff1a\u5728\u878d\u5408\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u591a\u6a21\u6001\u4fe1\u606f\u65f6\uff0c\u9700\u8981\u89e3\u51b3(1) \u7a7a\u95f4\u9519\u4f4d\u3001(2) \u65f6\u95f4\u9519\u4f4d\u3001(3) \u4f20\u611f\u5668\u5931\u6548\u7b49\u95ee\u9898\uff0c\u4ece\u800c\u5b9e\u73b0\u9c81\u68d2\u7684\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u3002<\/p>\n\n\n\n<p>\u8bc4\u4f30\u6307\u6807\u3002\u8bc4\u4f30\u8303\u56f4\u8986\u76d6\u81ea\u81ea\u8f66\u6216\u8def\u4fa7\u5355\u5143\u7684x\u65b9\u5411[-100, 100]\u548cy\u65b9\u5411[0, 100]\u3002\u6309\u7167Rope3D\u548cKITTI\u6570\u636e\u96c6\u4e2d\u7684\u6307\u6807\uff0c\u6211\u4eec\u5229\u7528\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u9608\u503c\u4e3a0.5\u548c0.7\u7684\u5e73\u5747\u7cbe\u5ea6\uff08AP\uff09\u6765\u8bc4\u4f30\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u57fa\u51c6\u65b9\u6cd5\u3002\u6211\u4eec\u5e7f\u6cdb\u8bc4\u4f30\u4e86\u57fa\u4e8e\u4e0d\u540c\u4f20\u611f\u5668\u8f93\u5165\u7684\u591a\u79cd\u9886\u5148\u5355\u4f533D\u76ee\u6807\u68c0\u6d4b\u5668\u3002\u7279\u522b\u5730\uff0c\u6211\u4eec\u7684\u8bc4\u4f30\u6db5\u76d6\u4e86\u4ee5\u4e0b\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<p>LiDAR\u4e3a\u4e2d\u5fc3\u7684\u6280\u672f\uff0c\u4f8b\u5982PointPillars\u3001SECOND \u3001CenterPoint \u548cPV-RCNN\u3002<br>\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u65b9\u6cd5\uff0c\u5305\u62ecSMOKE\u3001BVDepth\u3001BEVHeight \u548cBEVHeight++ \u3002<br>\u57fa\u4e8e4D Radar\u7684\u65b9\u6cd5\uff0c\u5982RPFA-Net \u548cRDIoU\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">4.2 \u534f\u540c3D\u76ee\u6807\u68c0\u6d4b<\/h4>\n\n\n\n<p>\u4efb\u52a1\u5b9a\u4e49\u3002\u5229\u7528V2X-Radar-C\u5b50\u6570\u636e\u96c6\u8fdb\u884c\u534f\u540c3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u7684\u76ee\u6807\u662f\u7ed3\u5408\u8f66\u8f7d\u548c\u667a\u80fd\u8def\u4fa7\u5355\u5143\u7684\u4f20\u611f\u5668\uff0c\u5b9e\u73b0\u81ea\u8f66\u76843D\u76ee\u6807\u68c0\u6d4b\u3002\u4e0e\u4ee5\u5f80\u7684\u5355\u4f53\u611f\u77e5\u4e0d\u540c\uff0c\u534f\u540c\u611f\u77e5\u63d0\u51fa\u4e86\u4e00\u4e9b\u72ec\u7279\u7684\u9886\u57df\u7279\u5b9a\u6311\u6218\uff1a<\/p>\n\n\n\n<p>\u7a7a\u95f4\u4e0d\u540c\u6b65\uff1a\u5b9a\u4f4d\u8bef\u5dee\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5355\u8f66\u5e73\u53f0\u4e0e\u667a\u80fd\u8def\u4fa7\u5355\u5143\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u5b58\u5728\u5dee\u5f02\uff0c\u8fd9\u53ef\u80fd\u5728\u5c06\u8def\u4fa7\u5355\u5143\u6570\u636e\u8f6c\u6362\u5230\u81ea\u8f66\u5750\u6807\u7cfb\u65f6\u5f15\u53d1\u5168\u5c40\u9519\u4f4d\u3002<\/p>\n\n\n\n<p>\u65f6\u95f4\u4e0d\u540c\u6b65\uff1a\u6570\u636e\u4f20\u8f93\u4e2d\u7684\u901a\u4fe1\u5ef6\u8fdf\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5355\u8f66\u5e73\u53f0\u4e0e\u667a\u80fd\u8def\u4fa7\u5355\u5143\u7684\u4f20\u611f\u5668\u6570\u636e\u4e4b\u95f4\u7684\u65f6\u95f4\u6233\u4e0d\u4e00\u81f4\u3002\u8fd9\u53ef\u80fd\u5728\u540c\u4e00\u5750\u6807\u7cfb\u5185\u8f6c\u6362\u6570\u636e\u65f6\uff0c\u5bfc\u81f4\u52a8\u6001\u76ee\u6807\u7684\u5c40\u90e8\u9519\u4f4d\u3002<\/p>\n\n\n\n<p>\u8bc4\u4f30\u6307\u6807\u3002\u8bc4\u4f30\u8303\u56f4\u8986\u76d6\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684x\u548cy\u65b9\u5411\u5404[-100, 100]\u7c73\u3002\u4e0eDAIR-V2X \u548cV2V4Real\u7c7b\u4f3c\uff0c\u6211\u4eec\u5c06\u5404\u79cd\u8f66\u8f86\u7c7b\u578b\u5f52\u4e3a\u540c\u4e00\u7c7b\u522b\uff0c\u4ec5\u5173\u6ce8\u8f66\u8f86\u68c0\u6d4b\u3002\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u901a\u8fc7\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u9608\u503c\u4e3a0.5\u548c0.7\u7684\u5e73\u5747\u7cbe\u5ea6\uff08AP\uff09\u8fdb\u884c\u8bc4\u4f30\u3002\u4f20\u8f93\u6210\u672c\u901a\u8fc7\u5e73\u5747\u5146\u5b57\u8282\uff08AM\uff09\u6d4b\u91cf\u3002\u6839\u636e\u4e4b\u524d\u7684\u7814\u7a76\uff0c\u6211\u4eec\u5728\u4ee5\u4e0b\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u6bd4\u8f83\u65b9\u6cd5\uff1a<\/p>\n\n\n\n<p>\u540c\u6b65\uff1a\u5ffd\u7565\u901a\u4fe1\u5ef6\u8fdf\u3002<br>\u5f02\u6b65\uff1a\u6a21\u62df100\u6beb\u79d2\u7684\u5ef6\u8fdf\uff0c\u901a\u8fc7\u83b7\u53d6\u4e0a\u4e00\u65f6\u95f4\u6233\u7684\u8def\u4fa7\u4f20\u611f\u5668\u6570\u636e\u5b9e\u73b0\u3002<\/p>\n\n\n\n<p>\u57fa\u51c6\u65b9\u6cd5\u3002\u6211\u4eec\u9488\u5bf9\u534f\u540c3D\u76ee\u6807\u68c0\u6d4b\u4e2d\u7684\u4ee5\u4e0b\u4e09\u79cd\u878d\u5408\u7b56\u7565\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u57fa\u51c6\uff1a<\/p>\n\n\n\n<p>\u540e\u878d\u5408\uff1a\u6bcf\u4e2a\u4ee3\u7406\u5229\u7528\u5176\u4f20\u611f\u5668\u68c0\u6d4b3D\u76ee\u6807\u5e76\u5171\u4eab\u68c0\u6d4b\u7ed3\u679c\u3002\u63a5\u6536\u65b9\u4ee3\u7406\u968f\u540e\u5e94\u7528\u975e\u6781\u5927\u503c\u6291\u5236\uff08NMS\uff09\u751f\u6210\u6700\u7ec8\u8f93\u51fa\u3002<br>\u524d\u878d\u5408\uff1a\u81ea\u8f66\u5c06\u81ea\u8eab\u548c\u5176\u4ed6\u4ee3\u7406\u7684\u6240\u6709\u70b9\u4e91\u805a\u5408\u5230\u81ea\u8f66\u5750\u6807\u7cfb\u4e2d\uff0c\u7136\u540e\u8fdb\u884c\u68c0\u6d4b\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u4e2d\u95f4\u878d\u5408\uff1a\u6bcf\u4e2a\u4ee3\u7406\u4f7f\u7528\u795e\u7ecf\u7279\u5f81\u63d0\u53d6\u5668\u83b7\u5f97\u4e2d\u95f4\u7279\u5f81\uff0c\u8fd9\u4e9b\u7279\u5f81\u88ab\u538b\u7f29\u5e76\u53d1\u9001\u5230\u81ea\u8f66\u8fdb\u884c\u534f\u540c\u7279\u5f81\u878d\u5408\u3002\u6211\u4eec\u8bc4\u4f30\u4e86\u591a\u79cd\u9886\u5148\u65b9\u6cd5\uff0c\u5305\u62ecF-Cooper\u3001V2XVIT \u3001CoAlign\u548cHEAL\uff0c\u4ee5\u5728\u8be5\u9886\u57df\u5efa\u7acb\u57fa\u51c6\u3002<\/p>\n\n\n\n<p>5.Experiment<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">5.1 \u57fa\u51c6\u7ed3\u679c<\/h4>\n\n\n\n<p>\u5355\u4f533D\u76ee\u6807\u68c0\u6d4b\u3002\u5728\u7edf\u4e00\u5206\u5272\u4e0b\uff0cV2X-Radar-I\u548cV2X-Radar-V\u5b50\u6570\u636e\u96c6\u7684\u57fa\u51c6\u7ed3\u679c\u5206\u522b\u5c55\u793a\u5728\u88683\u548c\u88684\u4e2d\u3002\u66f4\u591a\u5728\u5f02\u6784\u5206\u5272\u4e0b\u7684\u7ed3\u679c\u53ef\u89c1\u4e8e\u8865\u5145\u6750\u6599\u4e2d\u3002\u8fd9\u4e9b\u8868\u683c\u4e2d\u7684\u5b9e\u9a8c\u7ed3\u679c\u6e05\u695a\u5730\u8868\u660e\uff0c\u57fa\u4e8eLiDAR\u7684\u65b9\u6cd5\u53d6\u5f97\u4e86\u6700\u4f18\u7684\u6027\u80fd\u3002\u5c3d\u7ba14D\u96f7\u8fbe\u5904\u7406\u7684\u662f\u76f8\u5bf9\u7a00\u758f\u7684\u70b9\u4e91\uff0c\u4f46\u5176\u6027\u80fd\u4ecd\u4f18\u4e8e\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u65b9\u6cd5\u3002\u57fa\u4e8e\u6444\u50cf\u5934\u7684\u65b9\u6cd5\uff0c\u7531\u4e8e\u65e0\u6cd5\u5229\u7528\u6df1\u5ea6\u4fe1\u606f\uff0c\u8868\u73b0\u4e0d\u5982\u57fa\u4e8eLiDAR\u548c4D\u96f7\u8fbe\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"346\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-817-1024x346.png\" alt=\"\" class=\"wp-image-20062\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-817-1024x346.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-817-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-817-768x260.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-817.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"351\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-818-1024x351.png\" alt=\"\" class=\"wp-image-20063\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-818-1024x351.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-818-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-818-768x263.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-818.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u534f\u540c3D\u76ee\u6807\u68c0\u6d4b\u3002\u88685\u5c55\u793a\u4e86\u5728V2X-Radar-C\u6570\u636e\u96c6\u4e0a\u591a\u79cd\u65b9\u6cd5\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002\u6211\u4eec\u53ef\u4ee5\u89c2\u5bdf\u5230\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"481\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-819-1024x481.png\" alt=\"\" class=\"wp-image-20064\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-819-1024x481.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-819-300x141.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-819-768x361.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-819.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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