{"id":22126,"date":"2024-12-18T17:23:56","date_gmt":"2024-12-18T09:23:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=22126"},"modified":"2024-12-18T17:23:56","modified_gmt":"2024-12-18T09:23:56","slug":"2024-12-18-%e4%b8%87%e7%89%a9%e7%9a%86%e5%8f%af%e9%ab%98%e6%96%af%ef%bc%81%e6%b8%85%e5%8d%8e%e6%9c%80%e6%96%b0gaussianad%ef%bc%9a%e4%bb%a5%e9%ab%98%e6%96%af%e4%b8%ba%e4%b8%ad%e5%bf%83%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/18\/22126\/","title":{"rendered":"2024-12-18 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"430\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-808.png\" alt=\"\" class=\"wp-image-22127\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-808.png 430w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-808-254x300.png 254w\" sizes=\"(max-width: 430px) 100vw, 430px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2412.10371v1<\/li>\n<\/ul>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u4ee5\u9ad8\u65af\u4e3a\u4e2d\u5fc3\u7684\u81ea\u52a8\u9a7e\u9a76\uff08GaussianAD\uff09\u6846\u67b6\u4f5c\u4e3a\u80af\u5b9a\u7b54\u6848\uff0c\u5982\u56fe1\u6240\u793a\u3002\u6211\u4eec\u4f7f\u7528\u6765\u81ea2D\u56fe\u50cf\u7684\u7a00\u758f3D\u8bed\u4e49\u9ad8\u65af\u96c6\u4f5c\u4e3a\u573a\u666f\u8868\u793a\u3002\u5c3d\u7ba1\u5b58\u5728\u7a00\u758f\u6027\uff0c\u4f46\u5b83\u53d7\u76ca\u4e8e\u9ad8\u65af\u6df7\u5408\u7684\u901a\u7528\u8fd1\u4f3c\u548c\u663e\u5f0f3D\u7ed3\u6784\u5e26\u6765\u7684\u7ec6\u7c92\u5ea6\u5efa\u6a21\uff0c\u8fd9\u6709\u52a9\u4e8e\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u4ece3D\u9ad8\u65af\u8868\u793a\u4e2d\u63a2\u7d22\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u5bf9\u4e8e\u611f\u77e5\uff0c\u6211\u4eec\u5c063D\u9ad8\u65af\u89c6\u4e3a\u8bed\u4e49\u70b9\u4e91\uff0c\u5e76\u91c7\u7528\u7a00\u758f\u5377\u79ef\u548c\u7a00\u758f\u9884\u6d4b\u5934\u6765\u6709\u6548\u5730\u5904\u74063D\u573a\u666f\u3002\u6211\u4eec\u63d0\u51fa\u4e863D\u9ad8\u65af\u6d41\u6765\u5168\u9762\u660e\u786e\u5730\u4eff\u771f\u573a\u666f\u6f14\u53d8\uff0c\u6211\u4eec\u9884\u6d4b\u6bcf\u4e2a\u9ad8\u65af\u6d41\u7684\u672a\u6765\u4f4d\u79fb\u3002\u7136\u540e\uff0c\u6211\u4eec\u6574\u5408\u6240\u6709\u53ef\u7528\u4fe1\u606f\uff0c\u76f8\u5e94\u5730\u89c4\u5212\u81ea\u6211\u8f68\u8ff9\u3002\u7531\u4e8e3D\u9ad8\u65af\u8868\u793a\u7684\u660e\u786e\u6027\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u4eff\u5c04\u53d8\u6362\u76f4\u63a5\u8ba1\u7b97\u81ea\u8f66\u89c2\u5bdf\u5230\u7684\u9884\u6d4b\u672a\u6765\u573a\u666f\u3002\u6211\u4eec\u5c06\u9884\u6d4b\u573a\u666f\u4e0e\u5730\u9762\u5b9e\u51b5\u573a\u666f\u89c2\u6d4b\u8fdb\u884c\u6bd4\u8f83\uff0c\u4f5c\u4e3a\u9884\u6d4b\u548c\u89c4\u5212\u7684\u660e\u786e\u76d1\u7763\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0cGaussianAD\u662f\u7b2c\u4e00\u4e2a\u63a2\u7d22\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u663e\u5f0f\u7a00\u758f\u70b9\u67b6\u6784\u7684\u516c\u53f8\u3002\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u4ee5\u8bc4\u4f30\u6240\u63d0\u51fa\u7684\u9ad8\u65af\u4e2d\u5fc3\u6846\u67b6\u7684\u6709\u6548\u6027\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684GaussianAD\u5728\u9ad8\u6548\u7684\u7aef\u5230\u7aef\u8fd0\u52a8\u89c4\u5212\u65b9\u9762\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5<\/strong>\u3002\u4ece\u4f20\u611f\u5668\u8f93\u5165\u4e2d\u51c6\u786e\u611f\u77e5\u5468\u56f4\u73af\u5883\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u57fa\u672c\u6b65\u9aa4\u3002\u4f5c\u4e3a\u4e24\u4e2a\u4e3b\u8981\u7684\u4f20\u7edf\u611f\u77e5\u4efb\u52a1\uff0c3D\u76ee\u6807\u68c0\u6d4b\u65e8\u5728\u83b7\u5f97\u5468\u56f4\u573a\u666f\u4e2d\u6bcf\u4e2a\u4ee3\u7406\u76843D\u4f4d\u7f6e\u3001\u59ff\u6001\u548c\u7c7b\u522b\uff0c\u8fd9\u5bf9\u8f68\u8ff9\u9884\u6d4b\u548c\u89c4\u5212\u975e\u5e38\u91cd\u8981\u3002\u8bed\u4e49\u56fe\u91cd\u5efa\u65e8\u5728\u6062\u590d\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e2d\u7684\u9759\u6001\u56fe\u5143\u7d20\uff0c\u4e3a\u8fdb\u4e00\u6b65\u63a8\u7406\u63d0\u4f9b\u989d\u5916\u4fe1\u606f\u3002\u8fd9\u4e24\u4e2a\u4efb\u52a1\u90fd\u53ef\u4ee5\u5728BEV\u7a7a\u95f4\u4e2d\u6709\u6548\u5730\u6267\u884c\uff0c\u4f46\u5b83\u4eec\u65e0\u6cd5\u63cf\u8ff0\u5468\u56f4\u573a\u666f\u548c\u4efb\u610f\u5f62\u72b6\u5bf9\u8c61\u7684\u7ec6\u7c92\u5ea63D\u7ed3\u6784\u3002\u8fd9\u4fc3\u4f7f\u6700\u8fd1\u7684\u65b9\u6cd5\u63a2\u7d22\u5176\u4ed63D\u8868\u793a\uff0c\u5982\u4f53\u7d20\u548c\u4e09\u89c6\u89d2\u89c6\u56fe\uff08TPV\uff09\uff0c\u4ee5\u6267\u884c3D\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u30023D\u5360\u7528\u63d0\u4f9b\u4e86\u5bf9\u5468\u56f4\u573a\u666f\u7684\u66f4\u5168\u9762\u7684\u63cf\u8ff0\uff0c\u5305\u62ec\u52a8\u6001\u548c\u9759\u6001\u5143\u7d20\uff0c\u53ef\u4ee5\u4ece\u7a00\u758f\u7684\u6fc0\u5149\u96f7\u8fbe\u6216\u89c6\u9891\u5e8f\u5217\u4e2d\u6709\u6548\u5730\u5b66\u4e60\u3002Gaussianformer\u63d0\u51fa\u4f7f\u75283D\u8bed\u4e49\u9ad8\u65af\u6765\u7a00\u758f\u5730\u8868\u793a3D\u5360\u7528\u573a\u666f\u3002\u7136\u800c\uff0c\u76ee\u524d\u5c1a\u4e0d\u6e05\u695a3D\u9ad8\u65af\u8868\u793a\u662f\u5426\u53ef\u7528\u4e8e\u4e00\u822c\u7684\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p><strong>\u81ea\u52a8\u9a7e\u9a76\u9884\u6d4b<\/strong>\u3002\u9884\u6d4b\u573a\u666f\u6f14\u53d8\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5b89\u5168\u6027\u4e5f\u81f3\u5173\u91cd\u8981\u3002\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u6839\u636e\u4ea4\u901a\u4ee3\u7406\u7684\u8fc7\u53bb\u4f4d\u7f6e\u548c\u8bed\u4e49\u5730\u56fe\u4fe1\u606f\u9884\u6d4b\u5176\u79fb\u52a8\u3002\u65e9\u671f\u7684\u65b9\u6cd5\u5c06\u667a\u80fd\u4f53\u548c\u8be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Scene Representation Matters for Driving<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u65e8\u5728\u6839\u636e\u4e00\u7cfb\u5217\u573a\u666f\u89c2\u5bdf{o}\u4ea7\u751f\u5b89\u5168\u4e00\u81f4\u7684\u63a7\u5236\u4fe1\u53f7\uff08\u4f8b\u5982\u52a0\u901f\u5668\u3001\u5236\u52a8\u5668\u3001\u8f6c\u5411\uff09\u3002\u867d\u7136\u573a\u666f\u89c2\u6d4b\u53ef\u4ee5\u4ece\u591a\u4e2a\u4f20\u611f\u5668\uff08\u5982\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\uff09\u83b7\u5f97\uff0c\u4f46\u7531\u4e8e\u5176\u9ad8\u4fe1\u606f\u5bc6\u5ea6\u548c\u4f4e\u4f20\u611f\u5668\u6210\u672c\uff0c\u6211\u4eec\u4e3b\u8981\u9488\u5bf9\u5468\u56f4\u6444\u50cf\u5934\u7684\u57fa\u4e8e\u89c6\u89c9\u7684\u81ea\u52a8\u9a7e\u9a76\u3002<\/p>\n\n\n\n<p>\u5047\u8bbe\u63a7\u5236\u5668\u6027\u80fd\u826f\u597d\uff0c\u5927\u591a\u6570\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u4e3b\u8981\u4fa7\u91cd\u4e8e\u5b66\u4e60\u4ece\u5f53\u524d\u548c\u5386\u53f2\u89c2\u6d4b\u503c{o}\u5230\u672a\u6765\u81ea\u8f66\u8f68\u8ff9{w}\u7684\u6620\u5c04f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"273\" height=\"25\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-809.png\" alt=\"\" class=\"wp-image-22128\"\/><\/figure>\n\n\n\n<p>\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u5c06f\u5206\u89e3\u4e3a\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6a21\u5757\uff0c\u5e76\u5728\u8fde\u63a5\u4e4b\u524d\u5206\u522b\u5bf9\u5176\u8fdb\u884c\u8bad\u7ec3\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"299\" height=\"59\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-810.png\" alt=\"\" class=\"wp-image-22129\"\/><\/figure>\n\n\n\n<p>\u8fd9\u4e9b\u6a21\u5757\u7684\u5355\u72ec\u8bad\u7ec3\u8fdb\u4e00\u6b65\u52a0\u5267\u4e86\u8fd9\u4e2a\u95ee\u9898\uff0c\u56e0\u4e3a\u4e0d\u540c\u7684\u4efb\u52a1\u4fa7\u91cd\u4e8e\u63d0\u53d6\u4e0d\u540c\u7684\u4fe1\u606f\u3002\u63d0\u4f9b\u7ed9\u89c4\u5212\u6a21\u5757\u7684\u4e0d\u5168\u9762\u4fe1\u606f\u53ef\u80fd\u4f1a\u5f71\u54cd\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u51b3\u7b56\u8fc7\u7a0b\u3002\u8fd9\u63a8\u52a8\u4e86\u4ece\u6a21\u5757\u5316\u6846\u67b6\u5230\u7aef\u5230\u7aef\u6846\u67b6\u5de5\u4f5c\u7684\u8f6c\u53d8\uff0c\u8be5\u6846\u67b6\u53ef\u533a\u5206\u5730\u8fde\u63a5\u5e76\u5171\u540c\u5b66\u4e60\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6a21\u5757\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"301\" height=\"50\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-811.png\" alt=\"\" class=\"wp-image-22130\"\/><\/figure>\n\n\n\n<p>\u573a\u666f\u8868\u793ar\u5728\u6574\u4e2a\u6a21\u578b\u4e2d\u4f20\u9012\u4fe1\u606f\uff0c\u56e0\u6b64r\u7684\u9009\u62e9\u5bf9\u7aef\u5230\u7aef\u7cfb\u7edf\u7684\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002\u7531\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u57283D\u7a7a\u95f4\u4e2d\u505a\u51fa\u51b3\u7b56\uff0c\u573a\u666f\u8868\u793a\u5e94\u8be5\u662f3D\u7ed3\u6784\u7684\uff0c\u5e76\u5305\u542b\u4ece\u8f93\u5165\u56fe\u50cf\u63a8\u65ad\u51fa\u76843D\u7ed3\u6784\u4fe1\u606f\u3002\u53e6\u4e00\u65b9\u9762\uff0c3D\u7a7a\u95f4\u901a\u5e38\u662f\u7a00\u758f\u7684\uff0c\u5bfc\u81f4\u5728\u8bbe\u8ba1r\u65f6\u5728\u5168\u9762\u6027\u548c\u6548\u7387\u4e4b\u95f4\u8fdb\u884c\u6743\u8861\u3002\u4e3a\u4e86\u5168\u9762\u6027\uff0c\u4f20\u7edf\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u5728\u5730\u56fe\u89c6\u56fe\u4e2d\u4f7f\u7528\u5bc6\u96c6\u7684\u7f51\u683c\u7279\u5f81\uff0c\u5e76\u538b\u7f29\u9ad8\u5ea6\u7ef4\u5ea6\u4ee5\u51cf\u5c11\u5197\u4f59\u3002\u540e\u7eed\u65b9\u6cd5\u8fdb\u4e00\u6b65\u63a2\u7d22\u66f4\u5bc6\u96c6\u7684\u8868\u793a\uff0c\u5982\u4f53\u7d20\u6216\u4e09\u89c6\u89d2\u89c6\u56fe\uff08TPV\uff09\uff0c\u4ee5\u6355\u83b7\u66f4\u8be6\u7ec6\u548c\u7ec6\u7c92\u5ea6\u76843D\u4fe1\u606f\u3002\u4e3a\u4e86\u63d0\u9ad8\u6548\u7387\uff0c\u6700\u8fd1\u7684\u65b9\u6cd5\u91c7\u7528\u4e86\u7a00\u758f\u67e5\u8be2\uff0c\u5e76\u4e13\u6ce8\u4e8e\u5bf9\u5b9e\u4f8b\u6846\u548c\u6620\u5c04\u5143\u7d20\u8fdb\u884c\u5efa\u6a21\uff0c\u8fd9\u662f\u51b3\u7b56\u4e2d\u6700\u91cd\u8981\u7684\u56e0\u7d20\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u88ab\u4e22\u5f03\u7684\u4fe1\u606f\u4ecd\u7136\u5f88\u91cd\u8981\uff08\u4f8b\u5982\uff0c\u4e0d\u89c4\u5219\u7684\u969c\u788d\u7269\u3001\u4ea4\u901a\u706f\u3001\u4eba\u4f53\u59ff\u52bf\uff09\uff0c\u5e76\u4e14\u4e0e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u7406\u5ff5\uff08\u5373\u5168\u9762\u7684\u4fe1\u606f\u6d41\uff09\u76f8\u77db\u76fe\u3002\u672c\u6587\u63a2\u8ba8\u4e863D\u9ad8\u65af\u5206\u5e03\u4f5c\u4e3a\u4e00\u79cd\u5168\u9762\u800c\u7a00\u758f\u7684\u573a\u666f\u8868\u793a\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u7528\u4e8e\u7aef\u5230\u7aef\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7684\u5b8c\u5168\u7a00\u758f\u6846\u67b6\uff0c\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"642\" height=\"395\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-812.png\" alt=\"\" class=\"wp-image-22131\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-812.png 642w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-812-300x185.png 300w\" sizes=\"(max-width: 642px) 100vw, 642px\" \/><\/figure>\n\n\n\n<p><strong>Gaussian-Centric Autonomous Driving<\/strong><\/p>\n\n\n\n<p>3D\u9ad8\u65af\u8868\u793a**\u3002\u73b0\u6709\u7684\u65b9\u6cd5\u901a\u5e38\u6784\u5efa\u4e00\u4e2a\u5bc6\u96c6\u76843D\u7279\u5f81\u6765\u8868\u793a\u5468\u56f4\u73af\u5883\uff0c\u5e76\u7528\u76f8\u7b49\u7684\u5b58\u50a8\u548c\u8ba1\u7b97\u8d44\u6e90\u5904\u7406\u6bcf\u4e2a3D\u4f53\u7d20\uff0c\u8fd9\u901a\u5e38\u4f1a\u5bfc\u81f4\u96be\u4ee5\u5904\u7406\u7684\u5f00\u9500\uff0c\u56e0\u4e3a\u8d44\u6e90\u5206\u914d\u4e0d\u5408\u7406\u3002\u540c\u65f6\uff0c\u8fd9\u79cd\u5bc6\u96c6\u76843D\u4f53\u7d20\u8868\u793a\u65e0\u6cd5\u533a\u5206\u4e0d\u540c\u5c3a\u5ea6\u7684\u5bf9\u8c61\u3002\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u9075\u5faaGaussianFormer\uff0c\u5b83\u8868\u793a\u4e00\u4e2a\u5177\u6709\u8bb8\u591a\u7a00\u758f3D\u8bed\u4e49Gaussian\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u3002\u6bcf\u4e2a\u9ad8\u65af\u5206\u5e03\u90fd\u5b9e\u4f8b\u5316\u4e86\u4e00\u4e2a\u8bed\u4e49\u9ad8\u65af\u5206\u5e03\uff0c\u5176\u7279\u5f81\u662f\u5747\u503c\u3001\u534f\u65b9\u5dee\u548c\u8bed\u4e49\u903b\u8f91\u3002\u8fd9\u79cd\u7a00\u758f\u663e\u5f0f\u7279\u5f81\u8868\u793a\u5bf9\u4e0b\u6e38\u4efb\u52a1\u66f4\u6709\u5229\u3002<\/p>\n\n\n\n<p><strong>\u56fe\u50cf\u4e2d\u7684Gaussians<\/strong>\u3002\u6211\u4eec\u9996\u5148\u5c063D\u9ad8\u65af\u5206\u5e03\u53ca\u5176\u9ad8\u7ef4\u67e5\u8be2\u8868\u793a\u4e3a\u53ef\u5b66\u4e60\u5411\u91cf\u3002\u7136\u540e\u4f7f\u7528\u9ad8\u65af\u7f16\u7801\u5668\u8fed\u4ee3\u5730\u589e\u5f3a\u8fd9\u4e9b\u8868\u793a\u3002\u6bcf\u4e2a\u9ad8\u65af\u7f16\u7801\u5668\u5757\u7531\u4e09\u4e2a\u6a21\u5757\u7ec4\u6210\uff1a\u4e00\u4e2a\u4fc3\u8fdb\u9ad8\u65af\u4eba\u4e4b\u95f4\u4ea4\u4e92\u7684\u81ea\u7f16\u7801\u6a21\u5757\uff0c\u4e00\u4e2a\u7528\u4e8e\u805a\u5408\u89c6\u89c9\u4fe1\u606f\u7684\u56fe\u50cf\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u4ee5\u53ca\u4e00\u4e2a\u7528\u4e8e\u5fae\u8c03\u9ad8\u65af\u5c5e\u6027\u7684\u7ec6\u5316\u6a21\u5757\u3002\u4e0eGaussianFormer\u4e0d\u540c\uff0c\u6211\u4eec\u5229\u7528\u75314D\u7a00\u758f\u5377\u79ef\u7ec4\u6210\u7684\u65f6\u95f4\u7f16\u7801\u5668\u5c06\u524d\u4e00\u5e27\u7684\u9ad8\u65af\u7279\u5f81\u4e0e\u5f53\u524d\u5e27\u4e2d\u7684\u76f8\u5e94\u7279\u5f81\u8fdb\u884c\u6574\u5408\u3002<\/p>\n\n\n\n<p><strong>\u9ad8\u65af\u7a00\u758f3D\u68c0\u6d4b<\/strong>\u3002\u7531\u4e8e3D\u9ad8\u65af\u8868\u793a\u662f\u4e00\u79cd\u7a00\u758f\u573a\u666f\u8868\u793a\uff0c\u6211\u4eec\u9075\u5faaVoxelNeXt\uff0c\u5b83\u76f4\u63a5\u57fa\u4e8e\u7a00\u758f\u4f53\u7d20\u7279\u5f81\u9884\u6d4b3D\u5bf9\u8c61\u3002\u7279\u522b\u5730\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u4e00\u4e2a3D\u7a00\u758fCNN\u7f51\u7edcV\u6765\u7f16\u78013D\u9ad8\u65af\u8868\u793ar\u3002\u6839\u636eGenAD\uff0c\u6211\u4eec\u4f7f\u7528V\uff08r\uff09\u4e0a\u7684\u4e00\u7ec4\u4ee3\u7406\u4ee4\u724cD\u6765\u89e3\u78013D\u5bf9\u8c61a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"213\" height=\"24\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-813.png\" alt=\"\" class=\"wp-image-22132\"\/><\/figure>\n\n\n\n<p><strong>Gaussians\u7684\u7a00\u758f\u5730\u56fe\u6784\u5efa<\/strong>\u3002\u4e0e\u9ad8\u65af\u76843D\u68c0\u6d4b\u8868\u793a\u7c7b\u4f3c\uff0c\u6211\u4eec\u91c7\u7528\u4e00\u7ec4\u6620\u5c04\u6807\u8bb0M\u6765\u8868\u793a\u8bed\u4e49\u5efa\u56fe\u3002\u6211\u4eec\u5173\u6ce8\u4e09\u7c7b\u5730\u56fe\u5143\u7d20\uff08\u5373\u8f66\u9053\u5206\u9694\u7ebf\u3001\u9053\u8def\u8fb9\u754c\u548c\u4eba\u884c\u6a2a\u9053\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"223\" height=\"26\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-814.png\" alt=\"\" class=\"wp-image-22133\"\/><\/figure>\n\n\n\n<p><strong>\u8fd0\u52a8\u9884\u6d4b<\/strong>\u3002\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\u901a\u8fc7\u9884\u6d4b\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u672a\u6765\u8f68\u8ff9\u6765\u8f85\u52a9\u81ea\u8f66\u8f68\u8ff9\u89c4\u5212\u3002\u6211\u4eec\u901a\u8fc7\u4f7f\u4ee3\u7406\u4ee4\u724cD\u901a\u8fc7\u4ea4\u53c9\u5173\u6ce8\u5c42CA\u4e0e\u5730\u56fe\u4ee4\u724cM\u4ea4\u4e92\u6765\u83b7\u5f97\u8fd0\u52a8\u4ee4\u724cMo\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"216\" height=\"21\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-815.png\" alt=\"\" class=\"wp-image-22134\"\/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u6d41\u7528\u4e8e\u573a\u666f\u9884\u6d4b<\/strong>\u3002\u6b64\u5916\uff0c\u5b83\u8868\u660e\u4e2d\u95f4\u8868\u793ar\u7684\u573a\u666f\u9884\u6d4b\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u8d77\u7740\u91cd\u8981\u4f5c\u7528\u3002\u6211\u4eec\u6839\u636e\u5f53\u524d\u7684\u9ad8\u65af\u8868\u793a$r^T$\u548c\u9884\u6d4b\u7684\u81ea\u8f66\u8f68\u8ff9$w^{T+N}$\uff0c\u5c06\u672a\u6765\u7684\u9ad8\u65af\u8868\u793a\u9884\u6d4b\u4e3a\u9ad8\u65af\u6d41$r^{T+N}$\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"233\" height=\"26\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-816.png\" alt=\"\" class=\"wp-image-22135\"\/><\/figure>\n\n\n\n<p>\u5bf9\u4e2d\u95f4\u9ad8\u65af\u8868\u793a\u7684\u672a\u6765\u5360\u7528\u7684\u76d1\u7763\u4fdd\u8bc1\u4e86\u573a\u666f\u9884\u6d4b\u80fd\u529b\uff0c\u6700\u7ec8\u63d0\u9ad8\u4e86\u81ea\u8f66\u8f68\u8ff9\u9884\u6d4b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>End-to-End GaussianAD Framework<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u4ecb\u7ecdGaussianAD\u7684\u6574\u4f53\u7aef\u5230\u7aef\u6846\u67b6\u3002\u6211\u4eec\u9996\u5148\u7528\u4e00\u7ec4\u5747\u5300\u5206\u5e03\u76843D\u9ad8\u65afG0\u521d\u59cb\u5316\u573a\u666f\uff0c\u7136\u540e\u901a\u8fc7\u5408\u5e76\u5468\u56f4\u89c6\u56fe\u56fe\u50cfo\u7684\u4fe1\u606f\u6765\u9010\u6b65\u7ec6\u5316\u5b83\u4eec\uff0c\u4ee5\u83b7\u5f97\u9ad8\u65af\u573a\u666f\u8868\u793ar\u3002\u7136\u540e\uff0c\u5982\u679c\u76f8\u5e94\u7684\u6807\u6ce8\u53ef\u7528\uff0c\u6211\u4eec\u53ef\u4ee5\u4ecer\u4e2d\u63d0\u53d6\u5404\u79cd\u573a\u666f\u63cf\u8ff0d\u4f5c\u4e3a\u8f85\u52a9\u4efb\u52a1\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u7528\u9ad8\u65af\u5230\u4f53\u7d20\u98de\u6e85\u6765\u83b7\u5f97\u5bc6\u96c6\u63cf\u8ff0\u7684\u5bc6\u96c6\u4f53\u7d20\u7279\u5f81\uff08\u4f8b\u5982\uff0c3D\u5360\u7528\u9884\u6d4b\uff09\uff0c\u5e76\u4f7f\u7528\u5b8c\u5168\u7a00\u758f\u5377\u79ef\u6765\u83b7\u5f97\u7a00\u758f\u63cf\u8ff0\u7684\u7a00\u758f\u67e5\u8be2\uff08\u4f8b\u5982\uff0c\u4e09\u7ef4\u8fb9\u754c\u6846\u3001\u5730\u56fe\u5143\u7d20\uff09\u3002\u8f85\u52a9\u611f\u77e5\u76d1\u7763\u7684\u4f7f\u7528\u5f15\u5165\u4e86\u573a\u666f\u8868\u793ar\u7684\u989d\u5916\u7ea6\u675f\u548c\u5148\u9a8c\u77e5\u8bc6\uff0c\u4ee5\u6307\u5bfc\u5176\u5b66\u4e60\u8fc7\u7a0b\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u6211\u4eec\u8fd8\u662f\u76f4\u63a5\u57283D\u9ad8\u65af\u6a21\u578b\u4e0a\u9884\u6d4b\u672a\u6765\u7684\u6f14\u53d8\uff0c\u4ee5\u51cf\u5c11\u4fe1\u606f\u635f\u5931\uff0c\u5e76\u76f8\u5e94\u5730\u89c4\u5212\u81ea\u8f66\u8f68\u8ff9{w}\u3002GaussianAD\u901a\u8fc7\u7a00\u758f\u4f46\u5168\u9762\u76843D\u9ad8\u65af\u8868\u793a\u5728\u6574\u4e2a\u6a21\u578b\u4e2d\u4f20\u9012\u4fe1\u606f\uff0c\u4e3a\u51b3\u7b56\u8fc7\u7a0b\u63d0\u4f9b\u66f4\u591a\u77e5\u8bc6\u3002\u6211\u4eec\u7684GaussianAD\u7684\u603b\u4f53\u6846\u67b6\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"293\" height=\"48\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-817.png\" alt=\"\" class=\"wp-image-22136\"\/><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u8bad\u7ec3\uff0c\u6211\u4eec\u81ea\u9002\u5e94\u5730\u5bf9\u4ecer\u4e2d\u63d0\u53d6\u7684\u573a\u666f\u63cf\u8ff0d\u65bd\u52a0\u4e0d\u540c\u7684\u611f\u77e5\u635f\u5931\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"293\" height=\"50\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-818.png\" alt=\"\" class=\"wp-image-22137\"\/><\/figure>\n\n\n\n<p>\u7531\u4e8e3D\u9ad8\u65af\u5206\u5e03\u7684\u663e\u5f0f\u8868\u793a\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u5168\u5c40\u4eff\u5c04\u53d8\u6362\u6765\u6a21\u62df\u5728\u67d0\u4e2a\u7ed9\u5b9a\u7684\u81ea\u8f66\u4f4d\u7f6ew\u5904\u89c2\u5bdf\u5230\u7684\u573a\u666f\u8868\u793ar\u3002\u5728\u7528\u63d0\u51fa\u7684\u9ad8\u65af\u6d41\u83b7\u5f97\u9884\u6d4b\u7684\u672a\u6765\u573a\u666f\u8868\u793a\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u8ba1\u5212\u7684\u822a\u8def\u70b9\u6765\u6a21\u62df\u672a\u6765\u7684\u81ea\u8f66\u573a\u666f\u8868\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"301\" height=\"50\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-819.png\" alt=\"\" class=\"wp-image-22138\"\/><\/figure>\n\n\n\n<p>\u9884\u6d4b\u7684\u672a\u6765\u81ea\u8f66\u573a\u666f\u8868\u793a\u4e5f\u53d6\u51b3\u4e8e\u8ba1\u5212\u7684\u8f68\u8ff9${w}^F$\u5982\uff0810\uff09\u6240\u793a\u3002\u56e0\u6b64\uff0c\u9664\u4e86\u4f20\u7edf\u7684\u8f68\u8ff9\u635f\u5931\u5916\uff0c\u6211\u4eec\u8fd8\u91c7\u7528\u9884\u6d4b\u635f\u5931\uff0811\uff09\u8fdb\u884c\u89c4\u5212\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"306\" height=\"47\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-820.png\" alt=\"\" class=\"wp-image-22139\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-820.png 306w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-820-300x46.png 300w\" sizes=\"(max-width: 306px) 100vw, 306px\" \/><\/figure>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684GaussianAD\u662f\u4e00\u4e2a\u7075\u6d3b\u7684\u6846\u67b6\uff0c\u53ef\u4ee5\u9002\u5e94\u5177\u6709\u4e0d\u540c\u53ef\u7528\u76d1\u7763\u7684\u5404\u79cd\u60c5\u51b5\uff0c\u5982\u56fe3\u6240\u793a\uff0c\u603b\u4f53\u76ee\u6807\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"270\" height=\"20\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-821.png\" alt=\"\" class=\"wp-image-22141\"\/><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u63a8\u7406\uff0cGaussianAD\u4f7f\u75283D\u9ad8\u65af\u8868\u793a\u5b9e\u73b0\u7aef\u5230\u7aef\u9a71\u52a8\uff0c\u4ee5\u5728\u6574\u4e2a\u6d41\u6c34\u7ebf\u4e2d\u6709\u6548\u5730\u4f20\u9012\u4fe1\u606f\u3002\u5b83\u4e3a\u51b3\u7b56\u8fc7\u7a0b\u63d0\u4f9b\u4e86\u5168\u9762\u7684\u77e5\u8bc6\uff0c\u5e76\u901a\u8fc7\u7a00\u758f\u8ba1\u7b97\u4fdd\u6301\u4e86\u9ad8\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"648\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-822.png\" alt=\"\" class=\"wp-image-22142\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-822.png 648w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-822-300x186.png 300w\" sizes=\"(max-width: 648px) 100vw, 648px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"320\" height=\"174\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-823.png\" alt=\"\" class=\"wp-image-22143\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-823.png 320w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-823-300x163.png 300w\" sizes=\"(max-width: 320px) 100vw, 320px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"642\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-824.png\" alt=\"\" class=\"wp-image-22144\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-824.png 642w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-824-300x79.png 300w\" sizes=\"(max-width: 642px) 100vw, 642px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"644\" height=\"185\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-825.png\" alt=\"\" class=\"wp-image-22145\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-825.png 644w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-825-300x86.png 300w\" sizes=\"(max-width: 644px) 100vw, 644px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"578\" height=\"110\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-826.png\" alt=\"\" class=\"wp-image-22146\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-826.png 578w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-826-300x57.png 300w\" sizes=\"(max-width: 578px) 100vw, 578px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"640\" height=\"514\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-827.png\" alt=\"\" class=\"wp-image-22147\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-827.png 640w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-827-300x241.png 300w\" sizes=\"(max-width: 640px) 100vw, 640px\" 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GaussianAD: Gaussian-Centric End-to-End Autonomous Driving<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u57fa\u4e8e\u89c6\u89c9\u7684\u81ea\u52a8\u9a7e\u9a76\u56e0\u5176\u4ee4\u4eba\u6ee1\u610f\u7684\u6027\u80fd\u548c\u4f4e\u6210\u672c\u800c [&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-22126","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\/22126"}],"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=22126"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/22126\/revisions"}],"predecessor-version":[{"id":22148,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/22126\/revisions\/22148"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=22126"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=22126"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=22126"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}