{"id":22943,"date":"2024-12-26T16:31:50","date_gmt":"2024-12-26T08:31:50","guid":{"rendered":"http:\/\/192.168.10.115\/?p=22943"},"modified":"2024-12-26T16:31:50","modified_gmt":"2024-12-26T08:31:50","slug":"2024-12-26-%e6%b8%af%e7%a7%91%e6%8a%80%e6%9c%80%e6%96%b0drivingrecon%ef%bc%9a%e5%8f%af%e6%b3%9b%e5%8c%96%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b64d%e9%87%8d%e5%bb%ba%e6%96%b0sota","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/26\/22943\/","title":{"rendered":"2024-12-26 \u6e2f\u79d1\u6280\u6700\u65b0DrivingRecon\uff1a\u53ef\u6cdb\u5316\u81ea\u52a8\u9a7e\u9a764D\u91cd\u5efa\u65b0SOTA"},"content":{"rendered":"\n<p>\u4ece\u8fd9\u4e00\u4e24\u5e74\u53d1\u8868\u7684\u8bba\u6587\u6570\u91cf\u53ef\u4ee5\u770b\u51fa\uff0c\u81ea\u52a8\u9a7e\u9a76\u8857\u666f\u7684\u91cd\u5efa\u4e0e\u4eff\u771f\u5907\u53d7\u5173\u6ce8\uff0c\u7531\u6b64\u6784\u5efa\u7684\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5668\u5bf9corner case\u7684\u751f\u6210\u4ee5\u53ca\u7aef\u5230\u7aef\u6a21\u578b\u7684\u95ed\u73af\u8bc4\u4f30\/\u6d4b\u8bd5\u90fd\u975e\u5e38\u91cd\u8981\uff0c\u672c\u6b21\u5206\u4eab\u7684\u662f\u4e00\u7bc7\u5173\u4e8e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f4D\u91cd\u5efa\u7684\u5de5\u4f5cDrivingRecon\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5: https:\/\/arxiv.org\/abs\/2412.09043<\/li>\n\n\n\n<li>\u5f00\u6e90\u5730\u5740: https:\/\/github.com\/EnVision-Research\/DriveRecon<\/li>\n<\/ul>\n\n\n\n<p>\u8fc7\u53bb\u6709\u5f88\u591a\u4f7f\u75283DGS\u6216\u8005Diffusion\u6765\u505a\u81ea\u52a8\u9a7e\u9a76\u8857\u666f\u91cd\u5efa\/\u751f\u6210\u7684\u5de5\u4f5c\uff0c\u6bd4\u8f83\u5177\u6709\u4ee3\u8868\u6027\u7684\u662fStreetGaussian\uff0cOmniRe\u8fd9\u4e00\u7c7b\u501f\u52a93D bbox\u5c06\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u7269\u4f53\u89e3\u8026\u7684\u6846\u67b6\uff0c\u540e\u6765\u53c8\u51fa\u73b0\u4e86\u4f7f\u75284D NeRF\u5b66\u4e60\u52a8\u6001\u4fe1\u606f\u7684\u65b9\u6cd5\uff0c\u867d\u7136\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u6548\u679c\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u90fd\u6709\u4e00\u4e2a\u5171\u6027\uff0c\u5c31\u662f\u9700\u8981\u4e0d\u65ad\u7684\u8bad\u7ec3\u6765\u8fdb\u884c\u91cd\u5efa\uff0c\u5373\u6bcf\u4e2a\u573a\u666f\u8bad\u7ec3\u4e00\u4e2a\u6a21\u578b\uff0c\u975e\u5e38\u8017\u65f6\u3002\u56e0\u6b64\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u53ef\u6cdb\u5316\u7684\u81ea\u52a8\u9a7e\u9a764D\u91cd\u5efa\u6a21\u578bDrivingRecon\u3002\u5728\u6a21\u578b\u4e2d\uff0c\u4f5c\u8005\u5f15\u5165\u4e86PD-Block\u6765\u66f4\u597d\u7684\u878d\u5408\u76f8\u90bb\u89c6\u89d2\u7684\u56fe\u50cf\u7279\u5f81\uff0c\u6d88\u9664\u91cd\u53e0\u533a\u57df\u7684\u9ad8\u65af\uff1b\u4e5f\u5f15\u5165\u4e86Temporal Cross-attention\u6765\u589e\u5f3a\u65f6\u5e8f\u7684\u4fe1\u606f\u878d\u5408\uff0c\u5e76\u4e14\u89e3\u8026\u52a8\u6001\u548c\u9759\u6001\u7269\u4f53\u6765\u66f4\u597d\u7684\u5b66\u4e60\u51e0\u4f55\u548c\u8fd0\u52a8\u7279\u5f81\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u73b0\u6709\u7684\u89c6\u56fe\u5408\u6210\u65b9\u6cd5\u76f8\u6bd4\uff0cDrivingRecon \u65b9\u6cd5\u663e\u8457\u63d0\u9ad8\u4e86\u573a\u666f\u91cd\u5efa\u8d28\u91cf\u548c\u65b0\u89c6\u56fe\u5408\u6210\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u63a2\u8ba8\u4e86 DrivingRecon \u5728\u6a21\u578b\u9884\u8bad\u7ec3\u3001\u8f66\u8f86\u81ea\u9002\u5e94\u548c\u573a\u666f\u7f16\u8f91\u4e2d\u7684\u5e94\u7528\u3002<\/p>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p><strong>\u9a7e\u9a76\u573a\u666f\u91cd\u5efa<\/strong><\/p>\n\n\n\n<p>\u73b0\u6709\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u62df\u5f15\u64ce\u5982 CARLA\u6216 AirSim\uff0c\u5728\u521b\u5efa\u865a\u62df\u73af\u5883\u65f6\u9700\u8981\u82b1\u8d39\u5f88\u591a\u65f6\u95f4\uff0c\u800c\u4e14\u751f\u6210\u7684\u6570\u636e\u7f3a\u4e4f\u73b0\u5b9e\u6027\u3002Block-NeRF\u548c Mega-NeRF\u63d0\u51fa\u5c06\u573a\u666f\u5206\u5272\u6210\u4e0d\u540c\u7684Block\u7528\u4e8e\u5355\u72ec\u5efa\u6a21\u3002Urban\u8f90\u5c04\u573a\u5229\u7528\u6765\u81ea LiDAR \u7684\u51e0\u4f55\u4fe1\u606f\u589e\u5f3a\u4e86 NeRF \u8bad\u7ec3\uff0c\u800c DNMP\u5229\u7528\u9884\u5148\u8bad\u7ec3\u7684\u53ef\u53d8\u5f62mesh primitive\u6765\u8868\u793a\u573a\u666f\u3002Streetsurf\u5c06\u573a\u666f\u5206\u4e3a\u8fd1\u666f\u3001\u8fdc\u666f\u548c\u5929\u7a7a\u7c7b\u522b\uff0c\u83b7\u5f97\u8f83\u597d\u7684\u57ce\u5e02\u8857\u9053\u8868\u9762\u7684\u91cd\u5efa\u6548\u679c\u3002MARS\u4f7f\u7528\u5355\u72ec\u7684\u7f51\u7edc\u5bf9\u80cc\u666f\u548c\u8f66\u8f86\u8fdb\u884c\u5efa\u6a21\uff0c\u5efa\u7acb\u4e86\u4e00\u4e2a\u5b9e\u4f8b\u611f\u77e5\u7684\u4eff\u771f\u6846\u67b6\u3002\u968f\u77403DGS\u7684\u5f15\u5165\uff0cDrivingGaussian\u5f15\u5165\u4e86\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u548c\u589e\u91cf\u9759\u6001\u9ad8\u65af\uff0c\u800c StreetGaussian\u4f18\u5316\u4e86\u52a8\u6001\u9ad8\u65af\u7684\u8ddf\u8e2a\u59ff\u6001\uff08\u4f4d\u59ff\uff09\uff0c\u5e76\u5f15\u5165\u4e86\u56db\u7ef4\u7403\u8c10\u51fd\u6570\uff0c\u7528\u4e8e\u4e0d\u540c\u65f6\u523b\u7684\u8f66\u8f86\u5916\u89c2\u5efa\u6a21\u3002Omnire\u8fdb\u4e00\u6b65\u5173\u6ce8\u9a7e\u9a76\u573a\u666f\u4e2d\u975e\u521a\u6027\u5bf9\u8c61\u7684\u5efa\u6a21\uff0c\u4f8b\u5982\u8fd0\u52a8\u7684\u884c\u4eba\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u91cd\u5efa\u7b97\u6cd5\u9700\u8981\u8017\u65f6\u7684\u8fed\u4ee3\u6765\u5efa\u7acb\u4e00\u4e2a\u65b0\u7684\u573a\u666f\u3002<\/p>\n\n\n\n<p><strong>\u5927\u578b\u91cd\u5efa\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u4e00\u4e9b\u5de5\u4f5c\u63d0\u51fa\u901a\u8fc7\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u6765\u76f4\u63a5\u5b66\u4e60\u5b8c\u6574\u7684\u91cd\u5efa\u4efb\u52a1\uff0c\u4ece\u800c\u5927\u5927\u63d0\u9ad8\u4e86\u91cd\u5efa\u901f\u5ea6\u3002LRM\u5229\u7528\u5927\u89c4\u6a21\u591a\u89c6\u56fe\u6570\u636e\u96c6\u6765\u8bad\u7ec3\u57fa\u4e8eTransformer\u7684 NeRF \u91cd\u5efa\u6a21\u578b\uff0c\u8bad\u7ec3\u5b8c\u7684\u6a21\u578b\u5177\u6709\u66f4\u597d\u7684\u6cdb\u5316\u6027\uff0c\u5728\u5355\u6b21\u6a21\u578b\u524d\u5411\u4f20\u9012\u4e2d\uff0c\u4ece\u7a00\u758f\u59ff\u6001\u56fe\u50cf\u4e2d\u91cd\u5efa\u4ee5\u7269\u4f53\u4e3a\u4e2d\u5fc3\u76843D\u5f62\u72b6\u8d28\u91cf\u66f4\u9ad8\u3002\u7c7b\u4f3c\u7684\u5de5\u4f5c\u7814\u7a76\u4e86\u5c06\u573a\u666f\u8868\u793a\u6539\u53d8\u4e3a\u9ad8\u65af\u6e85\u5c04\uff0c\u4e5f\u6709\u4e00\u4e9b\u65b9\u6cd5\u6539\u53d8\u6a21\u578b\u7684\u67b6\u6784\u4ee5\u652f\u6301\u66f4\u9ad8\u7684\u5206\u8fa8\u7387\uff0c\u5e76\u5c06\u65b9\u6cd5\u6269\u5c55\u52303D \u573a\u666f\u3002L4GM \u5229\u7528\u65f6\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u878d\u5408\u591a\u5e27\u4fe1\u606f\u6765\u9884\u6d4b\u52a8\u6001\u7269\u4f53\u7684\u9ad8\u65af\u8868\u793a\u3002\u7136\u800c\uff0c\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u8fd8\u6ca1\u6709\u4eba\u63a2\u7d22\u878d\u5408\u591a\u89c6\u56fe\u7684\u7279\u6b8a\u65b9\u6cd5\u3002\u7b80\u5355\u7684\u6a21\u578b\u4f1a\u9884\u6d4b\u76f8\u90bb\u89c6\u56fe\u7684\u91cd\u590d\u9ad8\u65af\u70b9\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u91cd\u5efa\u6027\u80fd\u3002\u6b64\u5916\uff0c\u7a00\u758f\u7684\u56fe\u50cf\u76d1\u7763\u548c\u5927\u91cf\u7684\u52a8\u6001\u7269\u4f53\u8fdb\u4e00\u6b65\u8ba9\u91cd\u5efa\u7684\u4efb\u52a1\u53d8\u5f97\u66f4\u590d\u6742\u3002<\/p>\n\n\n\n<p>\u6587\u7ae0\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>DrivingRecon\u662f\u7b2c\u4e00\u4e2a\u4e13\u95e8\u4e3a\u73af\u7ed5\u89c6\u56fe\u9a7e\u9a76\u573a\u666f\u8bbe\u8ba1\u7684\u524d\u99884D \u91cd\u5efa\u6a21\u578b<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86 PD-Block\uff0c\u5b66\u4e60\u4ece\u4e0d\u540c\u7684\u89c6\u89d2\u548c\u80cc\u666f\u533a\u57df\u53bb\u9664\u5197\u4f59\u7684\u9ad8\u65af\u70b9\u3002\u8be5\u6a21\u5757\u8fd8\u5b66\u4f1a\u4e86\u5bf9\u590d\u6742\u7269\u4f53\u7684\u9ad8\u65af\u70b9\u8fdb\u884c\u6269\u5f20\uff0c\u63d0\u9ad8\u4e86\u91cd\u5efa\u7684\u8d28\u91cf<\/li>\n\n\n\n<li>\u4e3a\u9759\u6001\u548c\u52a8\u6001\u7ec4\u4ef6\u8bbe\u8ba1\u4e86\u6e32\u67d3\u7b56\u7565\uff0c\u5141\u8bb8\u6e32\u67d3\u56fe\u50cf\u8de8\u65f6\u95f4\u5e8f\u5217\u8fdb\u884c\u6709\u6548\u76d1\u7763<\/li>\n\n\n\n<li>\u9a8c\u8bc1\u4e86\u7b97\u6cd5\u5728\u91cd\u5efa\u3001\u65b0\u89c6\u56fe\u5408\u6210\u548c\u8de8\u573a\u666f\u6cdb\u5316\u65b9\u9762\u7684\u6027\u80fd<\/li>\n\n\n\n<li>\u63a2\u7d22\u4e86 DrivingRecon \u5728\u9884\u8bad\u7ec3\u3001\u8f66\u8f86\u9002\u5e94\u6027\u548c\u573a\u666f\u7f16\u8f91\u4efb\u52a1\u4e2d\u7684\u6709\u6548\u6027<\/li>\n<\/ul>\n\n\n\n<p><strong>\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u901a\u5e38\uff0c\u5148\u770b\u4e00\u4e0b\u8bba\u6587\u7684\u6846\u67b6\u56fe\u6709\u76ca\u4e8e\u5bf9\u6574\u4f53\u7684\u7406\u89e3\uff0cDrivingRecon\u7684\u6574\u4f53\u6846\u67b6\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"969\" height=\"810\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1199.png\" alt=\"\" class=\"wp-image-22944\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1199.png 969w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1199-300x251.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1199-768x642.png 768w\" sizes=\"(max-width: 969px) 100vw, 969px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"193\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122601.png\" alt=\"\" class=\"wp-image-22945\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122601.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122601-300x87.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>3D Position Encoding<\/strong><\/p>\n\n\n\n<p>\u8fd9\u90e8\u5206\u4e3b\u8981\u662f\u4e3a\u4e86\u878d\u5408\u4e0d\u540c\u89c6\u89d2\u548c\u4e0d\u540c\u65f6\u95f4\u95f4\u9694\u7684\u7279\u5f81\uff1a\u9996\u5148\u7528DepthNet\u83b7\u5f97uv\u5750\u6807\u4e0b\u7684\u50cf\u7d20\u6df1\u5ea6d_(u,v)\uff0c\u65b9\u6cd5\u4e5f\u5f88\u7b80\u5355\uff0c\u76f4\u63a5\u4f7f\u7528Tanh\u6fc0\u6d3b\u51fd\u6570\u6765\u5904\u7406\u7b2c\u4e00\u4e2a\u901a\u9053\u7684\u56fe\u50cf\u7279\u5f81\uff0c\u7136\u540e\u518d\u5c06\u6df1\u5ea6\u6295\u5f71\u5230\u4e16\u754c\u5750\u6807\u7cfb\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"411\" height=\"25\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1200.png\" alt=\"\" class=\"wp-image-22946\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1200.png 411w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1200-300x18.png 300w\" sizes=\"(max-width: 411px) 100vw, 411px\" \/><\/figure>\n\n\n\n<p>\u6700\u540e\u7ed3\u5408\u56fe\u50cf\u7279\u5f81\u4e00\u8d77\u8f93\u5165\u5230PD-Block\u8fdb\u884c\u591a\u89c6\u89d2\u7279\u5f81\u878d\u5408\u3002\u4e3a\u4e86\u66f4\u597d\u7684\u878d\u5408\uff0c\u4f5c\u8005\u5728\u8bad\u7ec3\u65f6\u4f7f\u7528lidar\u5f97\u5230\u7684\u7a00\u758f\u6df1\u5ea6\u8fdb\u884c\u7ea6\u675f\uff0c\u5373lidar\u70b9\u6295\u5f71\u5230\u56fe\u50cf\u4e0a\u4e0e\u4e4b\u5bf9\u5e94\u7684\u6df1\u5ea6\u7b97loss\uff0c\u5177\u4f53\u8ba1\u7b97\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"151\" height=\"24\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1201.png\" alt=\"\" class=\"wp-image-22947\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"40\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122602.png\" alt=\"\" class=\"wp-image-22948\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122602.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122602-300x18.png 300w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<p><strong>Temporal Cross Attention<\/strong><\/p>\n\n\n\n<p>\u56e0\u4e3a\u89c6\u89d2\u7684\u7a00\u758f\u6027\uff0c\u7cbe\u786e\u7684\u8857\u666f\u751a\u81f3\u5176\u4ed6\u573a\u666f\u7684\u91cd\u5efa\u662f\u975e\u5e38\u56f0\u96be\u7684\u3002\u4e3a\u4e86\u83b7\u53d6\u66f4\u591a\u7684\u6709\u7528\u7279\u5f81\uff0c\u589e\u5f3a\u573a\u666f\u5efa\u6a21\u6548\u679c\uff0c\u5728\u65f6\u95f4\u7ef4\u5ea6\u6216\u7a7a\u95f4\u7ef4\u5ea6\u6765\u878d\u5408\u7279\u5f81\u662f\u6bd4\u8f83\u5e38\u89c1\u7684\u65b9\u6cd5\u3002\u6587\u7ae0\u4e2d\u7684\u65b9\u6cd5\u53ef\u4ee5\u7b80\u5355\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"72\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1202.png\" alt=\"\" class=\"wp-image-22949\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1202.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1202-300x43.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dx\u662f\u8f93\u5165\u7684\u7279\u5f81\uff0cB\u8868\u793aBatch size, T\u8868\u793a\u65f6\u95f4\u7ef4\u5ea6\uff0cV\u8868\u793a\u89c6\u89d2\u4e2a\u6570\uff0cH\uff0cW\uff0cC\u8868\u793a\u7279\u5f81\u7684\u9ad8\uff0c\u5bbd\u4ee5\u53ca\u901a\u9053\u6570\u3002\u6ce8\u610f\uff0c\u4e0e\u66f4\u4e3a\u5e38\u89c1\u7684\u65f6\u5e8f\u4ea4\u53c9\u6ce8\u610f\u529b\u4e0d\u4e00\u6837\u7684\u662f\uff0c\u8fd9\u91cc\u540c\u65f6\u8003\u8651\u65f6\u95f4\u7a7a\u95f4\u7684\u4fe1\u606f\u878d\u5408, \u4ece\u5012\u6570\u7b2c\u4e8c\u7ef4\u5ea6\u53ef\u4ee5\u770b\u51fa\u3002<\/p>\n\n\n\n<p><strong>Gaussian Adapter<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"658\" height=\"86\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122603.png\" alt=\"\" class=\"wp-image-22950\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122603.png 658w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122603-300x39.png 300w\" sizes=\"(max-width: 658px) 100vw, 658px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"283\" height=\"54\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1203.png\" alt=\"\" class=\"wp-image-22951\"\/><\/figure>\n\n\n\n<p>\u8fd9\u91cc\u4e3a\u5565\u8981\u9884\u6d4b\u5750\u6807\u504f\u79fb\u91cf\uff1f\u662f\u56e0\u4e3a\u4f5c\u8005\u4f7f\u7528\u7684\u65b9\u6cd5\u4e0d\u662f\u4e25\u683c\u7684\u50cf\u7d20\u5bf9\u9f50\u7684\uff0c\u539f\u56e0\u662fPD -Block\u901a\u8fc7\u5c06\u8d44\u6e90\u4ece\u7b80\u5355\u573a\u666f\u91cd\u65b0\u5206\u914d\u5230\u66f4\u590d\u6742\u7684\u7269\u4f53\u4e0a,\u6709\u6548\u7684\u7ba1\u7406\u7a7a\u95f4\u7684\u8ba1\u7b97\u5197\u4f59\u3002\u6b64\u65f6\u4e16\u754c\u5750\u6807\u7684\u8ba1\u7b97\u53d8\u4e3a:<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"337\" height=\"28\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1204.png\" alt=\"\" class=\"wp-image-22952\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1204.png 337w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1204-300x25.png 300w\" sizes=\"(max-width: 337px) 100vw, 337px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u91cc\u8f93\u51fa\u7684\u5149\u6d41\u53ef\u4ee5\u7528\u6765\u83b7\u5f97\u6bcf\u4e00\u4e2a\u4e16\u754c\u5750\u6807\u4e0b\u7684\u70b9\u5728\u4e0b\u4e00\u5e27\u7684\u4f4d\u7f6e\uff0c\u5373\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"40\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1205.png\" alt=\"\" class=\"wp-image-22953\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1205.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1205-300x24.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<p><strong>Prune and Dilate Block\uff08PD-Block\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"643\" height=\"160\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1206.png\" alt=\"\" class=\"wp-image-22954\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1206.png 643w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1206-300x75.png 300w\" sizes=\"(max-width: 643px) 100vw, 643px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"397\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122604.png\" alt=\"\" class=\"wp-image-22955\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122604.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122604-300x180.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u9759\u89e3\u8026<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"194\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122605.png\" alt=\"\" class=\"wp-image-22956\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122605.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122605-300x88.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p><strong>\u5206\u5272<\/strong><\/p>\n\n\n\n<p>\u4e3b\u8981\u6709\u4e24\u4e2a\u4f5c\u7528\uff1a\u4e00\u662f\u4e3a\u4e86\u83b7\u5f97\u52a8\u6001\u7269\u4f53\u7684mask\uff08\u4f8b\u5982\u8f66\u8f86\u548c\u884c\u4eba\uff09\uff0c\u9759\u6001\u7269\u4f53\u7684mask\uff0c\u4ee5\u53ca\u5929\u7a7a\u7684mask\uff0c\u53e6\u5916\u5f15\u5165\u8bed\u4e49\u76d1\u7763\u6709\u5229\u7f51\u7edc\u5bf9\u6574\u4e2a\u573a\u666f\u7684\u7406\u89e3\uff08\u5efa\u6a21\uff09\uff0c\u4f5c\u8005\u7528\u7684\u6a21\u578b\u662fDeepLabv3plus\u3002\u4f5c\u8005\u8fd8\u5c063D bbox\u6295\u5f71\u52302D\u56fe\u50cf\u4e0a\uff0c\u4ee5\u6b64\u505a\u4e3aprompt\u901a\u8fc7SAM\u83b7\u5f97\u66f4\u7cbe\u786e\u7684mask\uff0c\u8fd9\u91cc\u4f7f\u7528\u4e00\u4e2a\u7b80\u5355\u7684\u201c\u6216\u201d\u903b\u8f91\u5408\u5e76\u4e24\u79cd\u5904\u7406\u7684\u65b9\u5f0f\uff0c\u786e\u4fdd\u6240\u6709\u52a8\u6001\u7684\u7269\u4f53\u90fd\u83b7\u5f97\u5bf9\u5e94\u7684mask\uff0c\u76f8\u5f53\u4e8e\u53cc\u91cd\u4fdd\u969c\u4e86\u3002<\/p>\n\n\n\n<p><strong>\u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n<p>\u8bad\u7ec3\u4e2d\u7684\u635f\u5931\u51fd\u6570\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"784\" height=\"63\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1207.png\" alt=\"\" class=\"wp-image-22957\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1207.png 784w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1207-300x24.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1207-768x62.png 768w\" sizes=\"(max-width: 784px) 100vw, 784px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"325\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/122606.png\" alt=\"\" class=\"wp-image-22958\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122606.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/122606-300x148.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u6e32\u67d3\u7ed3\u679c\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"585\" height=\"538\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1208.png\" alt=\"\" class=\"wp-image-22959\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1208.png 585w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1208-300x276.png 300w\" sizes=\"(max-width: 585px) 100vw, 585px\" \/><\/figure>\n\n\n\n<p>\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u6307\u6807\u5bf9\u6bd4\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"969\" height=\"226\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1209.png\" alt=\"\" class=\"wp-image-22960\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1209.png 969w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1209-300x70.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1209-768x179.png 768w\" sizes=\"(max-width: 969px) 100vw, 969px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"595\" height=\"142\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1210.png\" alt=\"\" class=\"wp-image-22961\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1210.png 595w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1210-300x72.png 300w\" sizes=\"(max-width: 595px) 100vw, 595px\" \/><\/figure>\n\n\n\n<p>\u4ece\u88681\u548c\u88682\u53ef\u4ee5\u770b\u51fa\uff0c\u4e0d\u7ba1\u662f\u52a8\u6001\u8fd8\u662f\u9759\u6001\u5bf9\u8c61\uff0c\u6307\u6807\u63d0\u5347\u7684\u8fd8\u662f\u5f88\u5927\u7684\u3002<\/p>\n\n\n\n<p>\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1211.png\" alt=\"\" class=\"wp-image-22962\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1211.png 700w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1211-300x147.png 300w\" sizes=\"(max-width: 700px) 100vw, 700px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"702\" height=\"331\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1212.png\" alt=\"\" class=\"wp-image-22963\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1212.png 702w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1212-300x141.png 300w\" sizes=\"(max-width: 702px) 100vw, 702px\" \/><\/figure>\n\n\n\n<p>\u6cdb\u5316\u6027\u6d4b\u8bd5\u7ed3\u679c\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"589\" height=\"184\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1213.png\" alt=\"\" class=\"wp-image-22964\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1213.png 589w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1213-300x94.png 300w\" sizes=\"(max-width: 589px) 100vw, 589px\" \/><\/figure>\n\n\n\n<p>\u6d88\u878d\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"580\" height=\"169\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1214.png\" alt=\"\" class=\"wp-image-22965\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1214.png 580w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-1214-300x87.png 300w\" sizes=\"(max-width: 580px) 100vw, 580px\" \/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u6587\u7ae0\u6700\u540e\u8fd8\u8ba8\u8bba\u51e0\u4e2a\u6f5c\u5728\u7684\u5e94\u7528\uff1a<\/p>\n\n\n\n<p><strong>\u8f66\u8f86\u9002\u5e94\u6027<\/strong>\uff1a\u65b0\u8f66\u578b\u7684\u5f15\u5165\u53ef\u80fd\u5bfc\u81f4\u6444\u50cf\u673a\u53c2\u6570\u7684\u53d8\u5316\uff0c\u5982\u6444\u50cf\u673a\u7c7b\u578b(\u5185\u53c2)\u548c\u6444\u50cf\u673a\u4f4d\u7f6e(\u5916\u53c2)\u3002\u6240\u63d0\u51fa\u7684\u56db\u7ef4\u91cd\u5efa\u6a21\u578b\u80fd\u591f\u7528\u4e0d\u540c\u7684\u6444\u50cf\u673a\u53c2\u6570\u6765\u6e32\u67d3\u56fe\u50cf\uff0c\u4ee5\u51cf\u5c0f\u8fd9\u4e9b\u53c2\u6570\u7684\u6f5c\u5728\u8fc7\u62df\u5408\u3002\u5b9e\u9a8c\u4e2d\u4f5c\u8005\u5728 Waymo 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