{"id":24926,"date":"2025-02-12T17:30:12","date_gmt":"2025-02-12T09:30:12","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24926"},"modified":"2025-02-12T17:30:12","modified_gmt":"2025-02-12T09:30:12","slug":"2025-02-12-%e6%a3%80%e6%b5%8bocc%e5%8f%8csota%ef%bc%81doracamom%e5%ae%9e%e7%8e%b0%e9%a6%96%e4%b8%aalv%e5%a4%9a%e6%a8%a1%e6%80%81%e8%9e%8d%e5%90%88%e7%9a%84%e7%bb%9f%e4%b8%80%e5%a4%9a%e4%bb%bb","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/12\/24926\/","title":{"rendered":"2025-02-12 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\u96f7\u8fbe\u901a\u8fc7\u8bbf\u95ee\u9ad8\u5ea6\u4fe1\u606f\u548c\u66f4\u9ad8\u5206\u8fa8\u7387\u7684\u70b9\u4e91\u63d0\u4f9b\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002\u6b64\u5916\uff0c\u5c063D\u76ee\u6807\u68c0\u6d4b\u548c\u5360\u7528\u9884\u6d4b\u4f5c\u4e3a\u4e24\u4e2a\u5173\u952e\u611f\u77e5\u4efb\u52a1\u96c6\u6210\u5728\u7edf\u4e00\u7684\u591a\u4efb\u52a1\u6846\u67b6\u5185\uff0c\u53ef\u4ee5\u4f18\u5316\u8ba1\u7b97\u8d44\u6e90\u548c\u6548\u7387\uff0c\u5e26\u6765\u5b9e\u8d28\u6027\u7684\u6548\u76ca\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5728\u672c\u6587\u4e2d\u6211\u4eec\u63d0\u51fa\u4e86\u9996\u4e2a\u5c06\u591a\u89c6\u89d2\u76f8\u673a\u548c4D\u96f7\u8fbe\u70b9\u4e91\u878d\u5408\u7684\u7edf\u4e00\u6846\u67b6Doracamom\uff0c\u540c\u65f6\u5904\u74063D\u76ee\u6807\u68c0\u6d4b\u548c\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u3002\u5728OmniHDScenes\u3001View-of-Delft (VoD) \u548c TJ4DRadSet \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cDoracamom\u5728\u4e24\u4e2a\u4efb\u52a1\u4e2d\u90fd\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u4e3a\u591a\u6a21\u6001 3D \u611f\u77e5\u5efa\u7acb\u4e86\u65b0\u7684\u57fa\u51c6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"499\" height=\"428\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-349.png\" alt=\"\" class=\"wp-image-24927\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-349.png 499w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-349-300x257.png 300w\" sizes=\"(max-width: 499px) 100vw, 499px\" \/><\/figure>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2501.15394\uff1b<\/p>\n\n\n\n<p><strong>\u7f51\u7edc\u6a21\u578b\u7ed3\u6784&amp;\u6280\u672f\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u672c\u6587\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u6280\u672f\u7ec6\u8282\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684Doracamom\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1021\" height=\"390\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-350.png\" alt=\"\" class=\"wp-image-24928\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-350.png 1021w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-350-300x115.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-350-768x293.png 768w\" sizes=\"(max-width: 1021px) 100vw, 1021px\" \/><\/figure>\n\n\n\n<p>\u6574\u4f53\u800c\u8a00\uff0c\u591a\u89c6\u89d2\u56fe\u50cf\u548c 4D \u96f7\u8fbe\u70b9\u4e91\u88ab\u8f93\u5165\u5230\u6444\u50cf\u5934\u548c 4D \u96f7\u8fbe\u7f16\u7801\u5668\u4e2d\uff0c\u5206\u522b\u63d0\u53d6\u56fe\u50cf 2D \u7279\u5f81\u548c 4D \u96f7\u8fbe BEV \u7279\u5f81\u3002\u7136\u540e\u5c06\u8fd9\u4e9b\u7279\u5f81\u4f20\u9012\u7ed9\u7c97\u7cd9\u4f53\u7d20query\u751f\u6210\u5668\uff0c\u8be5\u751f\u6210\u5668\u7ed3\u5408\u56fe\u50cf\u548c\u96f7\u8fbe\u7279\u5f81\u6765\u751f\u6210\u51e0\u4f55\u8bed\u4e49\u611f\u77e5\u7684\u7c97\u7c92\u5ea6\u4f53\u7d20query\u3002\u4f53\u7d20query\u7f16\u7801\u5668\u4f7f\u7528\u4ea4\u53c9\u89c6\u56fe\u6ce8\u610f\u529b\u901a\u8fc7\u5806\u53e0\u7684transformer block\u8fed\u4ee3\u589e\u5f3a\u7ec6\u7c92\u5ea6\u4f53\u7d20\u7279\u5f81\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Camera &amp; 4D Radar Encoders<\/strong><\/h3>\n\n\n\n<p>\u5728\u7279\u5f81\u63d0\u53d6\u9636\u6bb5\uff0c\u6211\u4eec\u91c7\u7528\u89e3\u8026\u67b6\u6784\uff0c\u4ece\u4e24\u4e2a\u8f93\u5165\u6a21\u6001\u4e2d\u72ec\u7acb\u63d0\u53d6\u9ad8\u7ef4\u7279\u5f81\u3002\u76f8\u673a\u7f16\u7801\u5668\u5904\u7406\u591a\u89c6\u89d2\u56fe\u50cf\uff0c\u4f7f\u7528\u5171\u4eab\u7684ResNet-50 \u4e3b\u5e72\u7f51\u7edc\u548c\u7279\u5f81\u91d1\u5b57\u5854\u7f51\u7edc\u4f5c\u4e3aNeck\u7ed3\u6784\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u4ece\u800c\u83b7\u5f97\u591a\u5c3a\u5ea6\u7279\u5f81\u3002\u4e3a\u4e86\u89e3\u51b3 4D \u96f7\u8fbe\u70b9\u4e91\u7684\u7a00\u758f\u6027\u95ee\u9898\u5e76\u901a\u8fc7\u6d88\u9664\u81ea\u8f66\u8fd0\u52a8\u6548\u5e94\u6765\u83b7\u53d6\u5176\u901f\u5ea6\uff0c\u6211\u4eec\u5b9e\u65bd\u4e86\u7ed3\u5408\u591a\u5e27\u96f7\u8fbe\u70b9\u4e91\u7d2f\u79ef\u548c\u901f\u5ea6\u8865\u507f\u7684\u9884\u5904\u7406\u6d41\u7a0b\u3002\u8be5\u7b97\u6cd5\u4f7f\u7528\u76f8\u5e94\u7684\u81ea\u8f66\u8f66\u8f86\u901f\u5ea6\u6765\u5904\u7406\u6bcf\u6b21\u96f7\u8fbe\u626b\u63cf\uff0c\u5e76\u901a\u8fc7\u96f7\u8fbe\u5230\u81ea\u8f66\u7684\u65cb\u8f6c\u77e9\u9635\u5c06\u5176\u8f6c\u6362\u5230\u96f7\u8fbe\u5750\u6807\u7cfb\u4e2d\u3002\u4e3a\u4e86\u8865\u507f\u76f8\u5bf9\u5f84\u5411\u901f\u5ea6\uff0c\u6839\u636e\u6bcf\u4e2a\u70b9\u7684\u65b9\u4f4d\u89d2\u548c\u4ef0\u89d2\uff0c\u5c06\u901f\u5ea6\u77e2\u91cf\u5206\u89e3\u4e3a\u5f84\u5411\u65b9\u5411\u3002\u7136\u540e\u4f7f\u7528\u65cb\u8f6c\u77e9\u9635\u5c06\u8865\u507f\u7684\u901f\u5ea6\u53d8\u6362\u5230\u5f53\u524d\u81ea\u8f66\u5750\u6807\u7cfb\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u70b9\u7684\u4f4d\u7f6e\uff0c\u4f7f\u7528\u96f7\u8fbe\u5230\u81ea\u8f66\u7684\u53d8\u6362\u77e9\u9635\u5b9e\u73b0\u53d8\u6362\u3002\u8bf7\u6ce8\u610f\uff0c\u5728\u7d2f\u79ef\u64cd\u4f5c\u671f\u95f4\u4f1a\u5ffd\u7565\u7531\u5468\u56f4\u52a8\u6001\u7269\u4f53\u7684\u8fd0\u52a8\u5f15\u8d77\u7684\u70b9\u7684\u8fd0\u52a8\uff0c\u56e0\u4e3a\u8fd9\u79cd\u8fd0\u52a8\u5f88\u5c11\u4f1a\u5f15\u5165\u8f83\u5927\u7684\u8bef\u5dee\u3002<\/p>\n\n\n\n<p>4D Radar\u7f16\u7801\u5668\u5904\u7406\u8f93\u5165\u7684\u70b9\u4e91\u6570\u636e\u3002\u6211\u4eec\u91c7\u7528RadarPillarNet\u6765\u7f16\u7801\u8f93\u5165\u76844D\u6beb\u7c73\u6ce2\u96f7\u8fbe\u70b9\u4e91\u6570\u636e\uff0c\u8fdb\u800c\u901a\u8fc7\u5206\u5c42\u7279\u5f81\u63d0\u53d6\u751f\u6210\u4f2a\u56fe\u50cf\u3002\u7f16\u7801\u540e\u7684\u7279\u5f81\u968f\u540e\u7531 SECOND \u548cSECONDFPN \u5904\u7406\uff0c\u4ee5\u751f\u6210\u7cbe\u7ec6\u76844D\u96f7\u8fbeBEV\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"649\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/1201.png\" alt=\"\" class=\"wp-image-24929\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/1201.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/1201-300x291.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/1202.png\" alt=\"\" class=\"wp-image-24930\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/1202.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/1202-300x116.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Dual-branch Temporal Encoder<\/strong><\/h3>\n\n\n\n<p>\u65f6\u5e8f\u4fe1\u606f\u5728\u611f\u77e5\u7cfb\u7edf\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u73b0\u6709\u7684\u76f8\u5173\u65b9\u6cd5\u5df2\u7ecf\u8bc1\u660e\uff0c\u5229\u7528\u65f6\u5e8f\u7279\u5f81\u53ef\u4ee5\u6709\u6548\u89e3\u51b3\u906e\u6321\u95ee\u9898\uff0c\u589e\u5f3a\u573a\u666f\u7406\u89e3\uff0c\u5e76\u63d0\u9ad8\u8fd0\u52a8\u72b6\u6001\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ec5\u9650\u4e8e\u5728\u5355\u4e2a\u7279\u5f81\u7a7a\u95f4\u4e2d\u8fdb\u884c\u65f6\u95f4\u5efa\u6a21\uff0c\u56e0\u6b64\u5f88\u96be\u6355\u83b7\u5168\u9762\u7684\u65f6\u7a7a\u8868\u793a\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u9650\u5236\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u53cc\u5206\u652f\u65f6\u5e8f\u7f16\u7801\u5668\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u5728 BEV \u548c\u4f53\u7d20\u7a7a\u95f4\u4e2d\u5e76\u884c\u5904\u7406\u591a\u6a21\u6001\u65f6\u95f4\u7279\u5f81\uff0c\u5176\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"749\" height=\"523\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-351.png\" alt=\"\" class=\"wp-image-24931\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-351.png 749w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-351-300x209.png 300w\" sizes=\"(max-width: 749px) 100vw, 749px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u96f7\u8fbe BEV \u5206\u652f\u64c5\u957f\u6355\u83b7\u5168\u5c40\u51e0\u4f55\u7279\u5f81\uff0c\u800c\u56fe\u50cf\u4f53\u7d20\u5206\u652f\u5219\u4e13\u6ce8\u4e8e\u4fdd\u7559\u7ec6\u7c92\u5ea6\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u8fd9\u79cd\u4e92\u8865\u7684\u53cc\u5206\u652f\u8bbe\u8ba1\u4e0d\u4ec5\u5728\u7279\u5f81\u8868\u8fbe\u548c\u65f6\u5e8f\u5efa\u6a21\u65b9\u9762\u63d0\u4f9b\u4e86\u591a\u6837\u5316\u7684\u8868\u793a\u80fd\u529b\uff0c\u800c\u4e14\u8fd8\u5b9e\u73b0\u4e86\u8ba1\u7b97\u6210\u672c\u548c\u7279\u5f81\u8868\u8fbe\u80fd\u529b\u4e4b\u95f4\u7684\u4f18\u5316\u5e73\u8861\u3002\u6b64\u5916\uff0c\u7279\u5f81\u5197\u4f59\u673a\u5236\u663e\u8457\u589e\u5f3a\u4e86\u611f\u77e5\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u65f6\u5e8f\u7279\u5f81\u878d\u5408\u4e2d\uff0c\u4e00\u4e2a\u5173\u952e\u6311\u6218\u662f\u81ea\u8f66\u8fd0\u52a8\u548c\u52a8\u6001\u7269\u4f53\u8fd0\u52a8\u5bfc\u81f4\u7684\u7279\u5f81\u9519\u4f4d\u3002\u4e3a\u4e86\u89e3\u51b3\u81ea\u8f66\u8fd0\u52a8\u5f15\u8d77\u7684\u7279\u5f81\u4f4d\u79fb\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u4f4d\u59ff\u53d8\u6362\u7684\u7279\u5f81\u5bf9\u9f50\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u53ef\u5c06\u5386\u53f2\u7279\u5f81\u4e0e\u5f53\u524d\u5e27\u7cbe\u786e\u5bf9\u9f50\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u8fdb\u4e00\u6b65\u51cf\u8f7b\u52a8\u6001\u7269\u4f53\u9020\u6210\u7684\u7279\u5f81\u9519\u4f4d\u95ee\u9898\uff0c\u6211\u4eec\u91c7\u7528\u53ef\u53d8\u5f62\u6ce8\u610f\u6765\u81ea\u9002\u5e94\u5730\u878d\u5408\u5f53\u524d\u5e27\u548c\u5386\u53f2\u5e27\u4e4b\u95f4\u7684\u7279\u5f81\u3002\u5728\u4f53\u7d20\u65f6\u5e8f\u5206\u652f\u5f53\u4e2d\uff0c\u6211\u4eec\u901a\u8fc7\u8fde\u63a5\u5bf9\u9f50\u7684\u5386\u53f2\u7279\u5f81\u5e76\u901a\u8fc7\u7b80\u5355\u7684Res3D\u5757\u5bf9\u5176\u8fdb\u884c\u5904\u7406\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7684\u7279\u5f81\u96c6\u6210\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"733\" height=\"88\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-352.png\" alt=\"\" class=\"wp-image-24932\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-352.png 733w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-352-300x36.png 300w\" sizes=\"(max-width: 733px) 100vw, 733px\" \/><\/figure>\n\n\n\n<p>\u5728 BEV \u65f6\u5e8f\u5206\u652f\u5f53\u4e2d\uff0c\u6211\u4eec\u4e5f\u5e94\u7528\u4e86\u7c7b\u4f3c\u7684\u5904\u7406\u8fc7\u7a0b\u3002\u5386\u53f2 BEV \u7279\u5f81\u88abconcat\u5230\u4e00\u8d77\u5e76\u901a\u8fc7 Res2D \u5757\u8fdb\u884c\u5904\u7406<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"736\" height=\"84\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-353.png\" alt=\"\" class=\"wp-image-24933\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-353.png 736w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-353-300x34.png 300w\" sizes=\"(max-width: 736px) 100vw, 736px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Cross-Modal BEV-Voxel Fusion Module<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u6709\u6548\u5229\u7528\u4f53\u7d20\u548c BEV \u7a7a\u95f4\u7684\u65f6\u5e8f\u589e\u5f3a\u7279\u5f81\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u8de8\u6a21\u6001 BEV-\u4f53\u7d20\u878d\u5408\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u4e3a\u4e0b\u6e38\u591a\u4efb\u52a1\u89e3\u7801\u751f\u6210\u51e0\u4f55\u548c\u8bed\u4e49\u4e30\u5bcc\u7684\u591a\u6a21\u6001\u8868\u793a\u3002\u5176\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u8be5\u6a21\u5757\u901a\u8fc7\u6ce8\u610f\u529b\u52a0\u6743\u673a\u5236\u81ea\u9002\u5e94\u5730\u878d\u5408\u5f02\u6784\u7279\u5f81\uff0c\u540c\u65f6\u91c7\u7528\u8f85\u52a9\u4efb\u52a1\u8fdb\u4e00\u6b65\u63d0\u9ad8\u751f\u6210\u7279\u5f81\u7684\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"728\" height=\"679\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-354.png\" alt=\"\" class=\"wp-image-24934\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-354.png 728w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-354-300x280.png 300w\" sizes=\"(max-width: 728px) 100vw, 728px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u8be5\u6a21\u5757\u9996\u5148\u901a\u8fc7 3D \u53cd\u5377\u79ef\u5757\u5bf9\u4f4e\u5206\u8fa8\u7387\u4f53\u7d20\u7279\u5f81\u8fdb\u884c\u4e0a\u91c7\u6837\uff0c\u4ee5\u83b7\u5f97\u9ad8\u5206\u8fa8\u7387\u7279\u5f81\uff0c\u4ee5\u4fbf\u968f\u540e\u8fdb\u884c\u878d\u5408\u3002\u5bf9\u4e8e\u4f53\u7d20\u7279\u5f81\u589e\u5f3a\uff0c\u9996\u5148\u901a\u8fc7 2D \u4e2d\u7684 Conv-BN-ReLU \u5757\u5904\u7406\u96f7\u8fbe BEV \u7279\u5f81\u4ee5\u91cd\u5851\u7279\u5f81\u901a\u9053\uff0c\u7136\u540e\u8fdb\u884c\u89e3\u538b\u7f29\u64cd\u4f5c\uff0c\u6cbf\u9ad8\u5ea6\u7ef4\u5ea6\u6269\u5c55 2D BEV \u7279\u5f81\u3002\u7136\u540e\u5c06\u6269\u5c55\u7684\u7279\u5f81\u4e0e\u4f53\u7d20\u7279\u5f81\u8fde\u63a5\u8d77\u6765\uff0c\u5e76\u901a\u8fc7\u5377\u79ef\u5757\u8fdb\u884c\u5904\u7406\u4ee5\u964d\u4f4e\u901a\u9053\u7ef4\u5ea6\u3002\u6700\u540e\uff0c\u91c7\u7528\u5177\u6709\u6ce8\u610f\u673a\u5236\u7684\u6b8b\u5dee\u7ed3\u6784\u6765\u83b7\u5f97\u878d\u5408\u7684\u7279\u5f81\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e0b\u8868\u5c55\u793a\u4e86\u4e0d\u540c\u65b9\u6cd5\u5728 OmniHD-Scenes \u6d4b\u8bd5\u96c6\u4e0a\u9488\u5bf9 3D \u68c0\u6d4b\u4efb\u52a1\u7684\u6027\u80fd\u6bd4\u8f83\u3002\u4e0e\u5176\u4ed6\u57fa\u4e8e 4D \u96f7\u8fbe\u3001\u6444\u50cf\u5934\u6216\u5b83\u4eec\u878d\u5408\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684 Doracamom \u5b9e\u73b0\u4e86\u5353\u8d8a\u7684\u6574\u4f53\u6027\u80fd\uff0839.12 mAP \u548c 46.22 ODS\uff09\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b83\u6bd4 BEVFusion \u597d 5.17 mAP \u548c 3.22 ODS\uff0c\u540c\u65f6\u6bd4 RCFusion \u597d 4.24 mAP \u548c 4.69 ODS\u3002\u5373\u4f7f\u5728\u6ca1\u6709 DTE \u6a21\u5757\u7684\u5355\u5e27\u8bbe\u7f6e\u4e2d\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728 mAP \u65b9\u9762\u4e5f\u4f18\u4e8e\u6240\u6709\u5176\u4ed6\u65b9\u6cd5\u3002\u6b64\u5916\uff0cDoracamom \u663e\u8457\u7f29\u5c0f\u4e86\u4e0e\u57fa\u4e8e LiDAR \u7684 PointPillars\uff0846.22 ODS vs. 55.54 ODS\uff09\u7684\u6027\u80fd\u5dee\u8ddd\uff0c\u8fd9\u8bc1\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u67b6\u6784\u7684\u6709\u6548\u6027\u4ee5\u53ca\u4f4e\u6210\u672c\u4f20\u611f\u5668\u914d\u7f6e\u5728\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u4e2d\u7684\u5de8\u5927\u6f5c\u529b\u3002\u5728 TP \u6307\u6807\u65b9\u9762\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728 mAOE \u548c mAVE \u4e2d\u90fd\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u5206\u522b\u8fbe\u5230 0.3545 \u548c 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