{"id":25122,"date":"2025-02-17T17:32:00","date_gmt":"2025-02-17T09:32:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=25122"},"modified":"2025-02-18T08:32:41","modified_gmt":"2025-02-18T00:32:41","slug":"2025-02-17-%e6%80%a7%e8%83%bd%e8%b7%83%e8%bf%8115%ef%bc%81%e5%bc%80%e7%8e%af%e7%ab%af%e5%88%b0%e7%ab%afsota%e6%96%b0%e7%aa%81%e7%a0%b4%ef%bc%9a%e5%88%86%e5%90%88%e9%a9%b1%e5%8a%a8%e4%b8%8b%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/17\/25122\/","title":{"rendered":"2025-02-17 \u6027\u80fd\u8dc3\u8fc115%\uff01\u5f00\u73af\u7aef\u5230\u7aefSOTA\u65b0\u7a81\u7834\uff1a\u5206\u5408\u9a71\u52a8\u4e0b\u7684\u8fd0\u52a8-\u8bed\u4e49\u8054\u5408\u5b66\u4e60\u6846\u67b6~"},"content":{"rendered":"\n<p>\u611f\u77e5\u73af\u5883\u53ca\u5176\u968f\u65f6\u95f4\u7684\u53d8\u5316\uff0c\u6d89\u53ca\u4e24\u79cd\u57fa\u672c\u4f46\u6027\u8d28\u4e0d\u540c\u7684\u4fe1\u606f\u7c7b\u578b\uff1a\u8bed\u4e49\u4fe1\u606f\u548c\u8fd0\u52a8\u4fe1\u606f\u3002\u4ee5\u5f80\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\uff0c\u5c06\u8fd9\u4e24\u79cd\u4fe1\u606f\u90fd\u8868\u793a\u5728\u5355\u4e2a\u7279\u5f81\u5411\u91cf\u4e2d\u3002\u7136\u800c\u5305\u542b\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u8fd0\u52a8\u4efb\u52a1\uff0c\u5f80\u5f80\u4f1a\u635f\u5bb3\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6027\u80fd\uff0c\u8fd9\u79cd\u73b0\u8c61\u5728\u591a\u4efb\u52a1\u5b66\u4e60\u4e2d\u88ab\u79f0\u4e3a\u8d1f\u8fc1\u79fb\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\uff08Neural-Bayes motion decoding\uff09\u65b9\u6cd5\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684\u5e76\u884c\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u9884\u6d4b\u65b9\u6cd5\uff0c\u5b83\u5c06\u8bed\u4e49\u5b66\u4e60\u548c\u8fd0\u52a8\u5b66\u4e60\u5206\u79bb\uff0c\u7c7b\u4f3c\u4e8e\u8d1d\u53f6\u65af\u6ee4\u6ce2\u5668\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u91c7\u7528\u4e00\u7ec4\u5b66\u4e60\u5f97\u5230\u7684\u8fd0\u52a8\u67e5\u8be2\uff0c\u4e0e\u68c0\u6d4b\u548c\u8ddf\u8e2a\u67e5\u8be2\u5e76\u884c\u8fd0\u884c\uff0c\u5e76\u5171\u4eab\u4e00\u7ec4\u7edf\u4e00\u7684\u9012\u5f52\u66f4\u65b0\u53c2\u8003\u70b9\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4f7f\u7528\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\uff0c\u6765\u589e\u5f3a\u8bed\u4e49\u4efb\u52a1\u4e2d\u7684\u4fe1\u606f\u4ea4\u6362\uff0c\u4fc3\u8fdb\u6b63\u8fc1\u79fb\u3002\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0c<strong>\u8be5\u65b9\u6cd5\u5728\u68c0\u6d4b\u6027\u80fd\u4e0a\u63d0\u5347\u4e865%\uff0c\u8ddf\u8e2a\u6027\u80fd\u4e0a\u63d0\u5347\u4e86 11%\u3002<\/strong>\u5728\u4e0d\u5bf9\u89c4\u5212\u6a21\u5757\u505a\u4efb\u4f55\u4fee\u6539\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5f00\u73af\u89c4\u5212\u8bc4\u4f30\u4e2d\uff0c\u5b9e\u73b0\u4e86\u5f53\u524d\u6700\u4f18\u7684\u78b0\u649e\u7387\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2502.07631<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u6a21\u5757\u5316\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\uff08AD\uff09\u6b63\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\uff0c\u56e0\u4e3a\u5b83\u7ed3\u5408\u4e86\u4f20\u7edf\u6d41\u6c34\u7ebf\u65b9\u6cd5\u548c\u4e25\u683c\u7aef\u5230\u7aef\u65b9\u6cd5\u7684\u4f18\u70b9\u3002\u6a21\u5757\u5316\u7aef\u5230\u7aef\u6846\u67b6\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u591a\u4efb\u52a1\u5b66\u4e60\u6311\u6218\u3002\u4eba\u4eec\u671f\u671b\u5404\u79cd\u4efb\u52a1\u80fd\u591f\u76f8\u4e92\u8865\u5145\uff0c\u5171\u540c\u63d0\u9ad8\u6574\u4e2a\u7cfb\u7edf\u7684\u6027\u80fd\u3002\u7136\u800c\u8bbe\u8ba1\u4e0d\u4f73\u7684\u591a\u4efb\u52a1\u5b66\u4e60\u7ed3\u6784\uff0c\u4e0d\u4ec5\u65e0\u6cd5\u4fc3\u8fdb\u76f8\u4e92\u5b66\u4e60\uff0c\u8fd8\u53ef\u80fd\u5bf9\u5355\u4e2a\u4efb\u52a1\u4ea7\u751f\u4e0d\u5229\u5f71\u54cd\uff0c\u8fd9\u79cd\u73b0\u8c61\u88ab\u79f0\u4e3a\u8d1f\u8fc1\u79fb\u3002\u76ee\u524d\u6d41\u884c\u7684\u6a21\u5757\u5316\u7aef\u5230\u7aef\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u987a\u5e8f\u7ed3\u6784\uff08\u56fe 1a\uff09\u3002\u8fd9\u79cd\u7ed3\u6784\u7b26\u5408\u4eba\u7c7b\u5728\u6267\u884c\u9a7e\u9a76\u4efb\u52a1\u65f6\u7684\u601d\u7ef4\u65b9\u5f0f\uff0c\u5e76\u4e14\u5728\u89c4\u5212\u6027\u80fd\u65b9\u9762\u8868\u73b0\u51fa\u826f\u597d\u7684\u524d\u666f\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u76ee\u6807\u68c0\u6d4b\u548c\u8ddf\u8e2a\u65b9\u9762\u5b58\u5728\u8d1f\u8fc1\u79fb\u73b0\u8c61\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u8054\u5408\u8bad\u7ec3\u7684\u7aef\u5230\u7aef\u6a21\u578b\u7684\u611f\u77e5\u6027\u80fd\uff0c\u901a\u5e38\u4e0d\u5982\u90a3\u4e9b\u672a\u8fdb\u884c\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u8bad\u7ec3\u7684\u6a21\u578b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"568\" height=\"656\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-493.png\" alt=\"\" class=\"wp-image-25123\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-493.png 568w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-493-260x300.png 260w\" sizes=\"(max-width: 568px) 100vw, 568px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u901a\u8fc7\u7814\u7a76\u5b66\u4e60\u5230\u7684\u5f02\u6784\u4fe1\u606f\u7c7b\u578b\uff08\u8bed\u4e49\u4fe1\u606f\u548c\u8fd0\u52a8\u4fe1\u606f\uff09\uff0c\u5206\u6790\u8d1f\u8fc1\u79fb\u7684\u6f5c\u5728\u539f\u56e0\u3002\u8bed\u4e49\u4fe1\u606f\u5305\u62ec\u5468\u56f4\u7269\u4f53\u7684\u7c7b\u522b\u3001\u8f66\u9053\u3001\u8def\u53e3\u7b49\uff0c\u800c\u8fd0\u52a8\u4fe1\u606f\u63cf\u8ff0\u4e86\u73af\u5883\u4e2d\u968f\u65f6\u95f4\u53d1\u751f\u7684\u53d8\u5316\u3002\u987a\u5e8f\u65b9\u6cd5\u4f9d\u6b21\u6267\u884c\u8fd9\u4e24\u4e2a\u8fc7\u7a0b\uff0c\u9996\u5148\u8fdb\u884c\u68c0\u6d4b\u548c\u8ddf\u8e2a\uff0c\u7136\u540e\u5229\u7528\u8868\u793a\u7269\u4f53\u7684\u7279\u5f81\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u3002\u8fd9\u79cd\u987a\u5e8f\u8bbe\u8ba1\u8feb\u4f7f\u7279\u5f81\u5305\u542b\u8fd0\u52a8\u4fe1\u606f\uff0c\u635f\u5bb3\u4e86\u6700\u521d\u5b66\u4e60\u5230\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u4ece\u800c\u5bfc\u81f4\u611f\u77e5\u7684\u8d1f\u8fc1\u79fb\u3002\u53e6\u4e00\u79cd\u7ed3\u6784\uff0c\u5982\u56fe 1b \u6240\u793a\uff0c\u901a\u8fc7\u4e0d\u540c\u7684\u5934\u5e76\u884c\u6267\u884c\u5927\u591a\u6570\u4efb\u52a1\uff0c\u4f8b\u5982PARA-Drive\u548cNMP\u3002\u7136\u800c\uff0c\u7531\u4e8e\u68c0\u6d4b\u548c\u9884\u6d4b\u4ecd\u7136\u662f\u987a\u5e8f\u8fdb\u884c\u7684\uff0c\u8d1f\u8fc1\u79fb\u95ee\u9898\u4f9d\u7136\u5b58\u5728\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 DMAD \u7ed3\u6784\uff08\u56fe 1c\uff09\uff0c\u5373\u7528\u4e8e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u8fd0\u52a8\u548c\u8bed\u4e49\u5b66\u4e60\u7684\u5206\u79bb\u4e0e\u878d\u5408\u3002DMAD \u901a\u8fc7\u5206\u79bb\u8bed\u4e49\u5b66\u4e60\u548c\u8fd0\u52a8\u5b66\u4e60\uff0c\u89e3\u51b3\u4e86\u8d1f\u8fc1\u79fb\u95ee\u9898\u3002\u6b64\u5916\uff0c\u5b83\u901a\u8fc7\u878d\u5408\u8bed\u4e49\u4efb\u52a1\uff0c\u5229\u7528\u4e86\u8bed\u4e49\u4efb\u52a1\u4e4b\u95f4\u7684\u76f8\u5173\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u5206\u79bb\u65b9\u9762\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\u3002\u6211\u4eec\u4fdd\u7559\u4e00\u7ec4\u8fd0\u52a8\u67e5\u8be2\uff0c\u8fd9\u4e9b\u67e5\u8be2\u4e0e\u76ee\u6807\uff08\u68c0\u6d4b\u548c\u8ddf\u8e2a\uff09\u67e5\u8be2\u5e76\u884c\u5730\u5173\u6ce8\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u3002\u8fd0\u52a8\u67e5\u8be2\u548c\u76ee\u6807\u67e5\u8be2\u7684\u5173\u952e\u533a\u522b\u5728\u4e8e\uff0c\u8fd0\u52a8\u67e5\u8be2\u88ab\u89e3\u7801\u4e3a\u8fc7\u53bb\u548c\u672a\u6765\u7684\u8f68\u8ff9\uff0c\u800c\u4e0d\u662f\u5e26\u6709\u7c7b\u522b\u7684\u8fb9\u754c\u6846\u3002\u8fd0\u52a8\u67e5\u8be2\u548c\u76ee\u6807\u67e5\u8be2\u5171\u4eab\u4e00\u7ec4\u53c2\u8003\u70b9\uff0c\u8fd9\u4e9b\u53c2\u8003\u70b9\u7531\u68c0\u6d4b\u548c\u9884\u6d4b\u9012\u5f52\u66f4\u65b0\u3002\u8fd9\u4f7f\u5f97\u4e24\u79cd\u7c7b\u578b\u7684\u67e5\u8be2\u4e4b\u95f4\uff0c\u4ec5\u901a\u8fc7\u53c2\u8003\u70b9\u8fdb\u884c\u6709\u9650\u7684\u4fe1\u606f\u4ea4\u6362\uff0c\u4e14\u6ca1\u6709\u68af\u5ea6\u6d41\u52a8\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4f7f\u7528\u6709\u9650\u5dee\u5206\u6cd5\uff0c\u6839\u636e\u9884\u6d4b\u8f68\u8ff9\u8ba1\u7b97\u7269\u4f53\u7684\u901f\u5ea6\uff0c\u4ece\u800c\u6d88\u9664\u4e86\u76ee\u6807\u67e5\u8be2\u76f4\u63a5\u5b66\u4e60\u901f\u5ea6\u7684\u9700\u6c42\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u76ee\u6807\u67e5\u8be2\u4e13\u6ce8\u4e8e\u5b66\u4e60\u8bed\u4e49\u548c\u5916\u89c2\u7279\u5f81\uff0c\u800c\u8fd0\u52a8\u67e5\u8be2\u5219\u4e13\u95e8\u7528\u4e8e\u6355\u6349\u8fd0\u52a8\u7279\u5f81\u3002\u4e24\u79cd\u7c7b\u578b\u7684\u5f02\u6784\u4fe1\u606f\uff0c\u6cbf\u7740\u4e0d\u540c\u7684\u8def\u5f84\u5206\u522b\u5b66\u4e60\uff0c\u6709\u6548\u5730\u9632\u6b62\u4e86\u8d1f\u8fc1\u79fb\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u636e\u6211\u4eec\u6240\u77e5\uff0cDMAD \u7ed3\u6784\u9996\u6b21\u5c06\u8fd0\u52a8\u5b66\u4e60\u63d0\u5347\u5230\u4e0e\u8bed\u4e49\u5b66\u4e60\u540c\u7b49\u7684\u6c34\u5e73\uff0c\u5c06\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u9884\u6d4b\u89c6\u4e3a\u5e76\u53d1\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u5728\u878d\u5408\u65b9\u9762\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u5668\uff0c\u4ee5\u589e\u5f3a\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u4e2d\u8bed\u4e49\u4fe1\u606f\u7684\u4ea4\u6362\u3002\u76ee\u6807\u611f\u77e5\u548c\u5730\u56fe\u611f\u77e5\u672c\u8d28\u4e0a\u662f\u76f8\u5173\u7684\u4efb\u52a1\u3002\u4ee5\u5f80\u7684\u65b9\u6cd5\u5e38\u5e38\u5ffd\u7565\u8fd9\u79cd\u8054\u7cfb\uff0c\u901a\u5e38\u6cbf\u7740\u5e76\u884c\u8def\u5f84\u6267\u884c\u8fd9\u4e24\u4e2a\u4efb\u52a1\u3002DualAD \u5229\u7528\u4e86\u8fd9\u79cd\u76f8\u5173\u6027\uff0c\u4f46\u53ea\u5141\u8bb8\u76ee\u6807\u611f\u77e5\u4ece\u5730\u56fe\u4e2d\u5b66\u4e60\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4f7f\u7528\u9010\u5c42\u8fed\u4ee3\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5b9e\u73b0\u76ee\u6807\u4efb\u52a1\u548c\u5730\u56fe\u4efb\u52a1\u4e4b\u95f4\u7684\u76f8\u4e92\u5b66\u4e60\uff0c\u4fc3\u8fdb\u6b63\u8fc1\u79fb\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e UniAD\uff0c\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\u5b9e\u9a8c\uff0c\u5c55\u793a\u4e86DMAD\u7ed3\u6784\u5728\u51cf\u8f7b\u8d1f\u8fc1\u79fb\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u611f\u77e5\u548c\u9884\u6d4b\u65b9\u9762\uff0c\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002\u5728\u4e0d\u4fee\u6539\u89c4\u5212\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u6539\u8fdb\u7684\u611f\u77e5\u548c\u9884\u6d4b\uff0c\u5982\u4f55\u5728\u5f00\u73af\u8bc4\u4f30\u4e2d\u4f7f\u89c4\u5212\u53d7\u76ca\uff0c\u5b9e\u73b0\u4e86\u5f53\u524d\u6700\u4f18\u7684\u78b0\u649e\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86 DMAD\uff0c\u8fd9\u662f\u4e00\u79cd\u6a21\u5757\u5316\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u8303\u5f0f\uff0c\u5b83\u6839\u636e\u4efb\u52a1\u5e94\u5b66\u4e60\u7684\u4fe1\u606f\uff0c\u5bf9\u4efb\u52a1\u8fdb\u884c\u5206\u79bb\u548c\u878d\u5408\u3002\u8fd9\u79cd\u8bbe\u8ba1\u6d88\u9664\u4e86\u4e0d\u540c\u7c7b\u578b\u4efb\u52a1\u4e4b\u95f4\u7684\u8d1f\u8fc1\u79fb\uff0c\u540c\u65f6\u52a0\u5f3a\u4e86\u76f8\u4f3c\u4efb\u52a1\u4e4b\u95f4\u7684\u6b63\u8fc1\u79fb\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u4e86\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\uff0c\u4e0e\u76ee\u6807\u68c0\u6d4b\u548c\u8ddf\u8e2a\u540c\u65f6\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\uff0c\u5e76\u5f15\u5165\u4e86\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u5668\uff0c\u4ee5\u589e\u5f3a\u76ee\u6807\u611f\u77e5\u548c\u5730\u56fe\u611f\u77e5\u4e4b\u95f4\u7684\u4fe1\u606f\u5171\u4eab\u3002<\/li>\n\n\n\n<li>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u9a8c\u8bc1\u4e86\u57fa\u4e8e UniAD \u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u5b83\u5728\u611f\u77e5\u548c\u9884\u6d4b\u7ed3\u679c\u4e0a\u6709\u6240\u6539\u8fdb\uff0c\u5e76\u5728\u5f00\u73af\u89c4\u5212\u4e2d\u5b9e\u73b0\u4e86\u5f53\u524d\u6700\u4f18\u7684\u78b0\u649e\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>\u8bed\u4e49\u5b66\u4e60<\/strong>\uff1a\u8bed\u4e49\u5b66\u4e60\u6db5\u76d6\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u3002\u73af\u89c6\u76f8\u673a\u56e0\u5176\u6210\u672c\u6548\u76ca\u9ad8\u548c\u6355\u6349\u8bed\u4e49\u4fe1\u606f\u80fd\u529b\u5f3a\u800c\u5907\u53d7\u9752\u7750\u3002\u5f53\u524d\u6700\u5148\u8fdb\u7684\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u57fa\u4e8eDETR\u67b6\u6784\uff0c\u5229\u7528\u4e00\u7ec4\u67e5\u8be2\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u4ece\u73af\u5883\u7279\u5f81\u4e2d\u63d0\u53d6\u8bed\u4e49\u4fe1\u606f\u3002\u7a00\u758f\u65b9\u6cd5\u5c06\u67e5\u8be2\u6295\u5f71\u5230\u76f8\u5e94\u7684\u56fe\u50cf\u7279\u5f81\u4e0a\u4ee5\u5b66\u4e60\u8bed\u4e49\u4fe1\u606f\uff0c\u91cd\u70b9\u5173\u6ce8\u76f8\u5173\u533a\u57df\u3002PETR \u7cfb\u5217\u5219\u5c063D\u4f4d\u7f6e\u7f16\u7801\u76f4\u63a5\u5d4c\u51652D\u56fe\u50cf\u7279\u5f81\u4e2d\uff0c\u65e0\u9700\u67e5\u8be2\u6295\u5f71\u3002\u53e6\u4e00\u7c7b\u5de5\u4f5c\u662f\u5c06\u6240\u6709\u56fe\u50cf\u7279\u5f81\u805a\u5408\u4e3a\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u3002\u968f\u7740\u65f6\u95f4\u63a8\u79fb\u4f20\u64ad\u76ee\u6807\u67e5\u8be2\u53ef\u5b9e\u73b0\u591a\u76ee\u6807\u8ddf\u8e2a\uff0c\u8fd9\u4e00\u6982\u5ff5\u4e5f\u5e94\u7528\u4e8e\u5730\u56fe\u611f\u77e5\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u8ddf\u8e2a\u4e5f\u662f\u4e00\u9879\u4e0e\u8fd0\u52a8\u76f8\u5173\u7684\u4efb\u52a1\u3002\u7136\u800c\uff0c\u5728\u57fa\u4e8e\u67e5\u8be2\u7684\u8ddf\u8e2a\u5668\u4e2d\uff0c\u901f\u5ea6\u662f\u552f\u4e00\u9700\u8981\u5b66\u4e60\u7684\u8fd0\u52a8\u4fe1\u606f\uff0c\u56e0\u6b64\u6211\u4eec\u5c06\u5176\u5f52\u7c7b\u4e3a\u8bed\u4e49\u4efb\u52a1\u3002\u6211\u4eec\u91c7\u7528 BEVFormer \u7684\u7f16\u7801\u5668\u548c MOTR \u7684\u67e5\u8be2\u4f20\u64ad\u673a\u5236\uff0c\u540c\u65f6\u4f7f\u7528\u5168\u65b0\u7684\u89e3\u7801\u5668\u3002<\/p>\n\n\n\n<p><strong>\u8fd0\u52a8\u5b66\u4e60<\/strong>\uff1a\u8fd9\u91cc\u7684\u8fd0\u52a8\u6307\u8f68\u8ff9\u9884\u6d4b\u548c\u89c4\u5212\u3002\u8f68\u8ff9\u9884\u6d4b\u7814\u7a76\u901a\u5e38\u5c06\u7269\u4f53\u5386\u53f2\u8f68\u8ff9\u7684\u771f\u5b9e\u503c\u4e0e\u9ad8\u6e05\u5730\u56fe\u4f5c\u4e3a\u8f93\u5165\u3002\u65e9\u671f\u65b9\u6cd5\u5c06\u5730\u56fe\u548c\u8f68\u8ff9\u5149\u6805\u5316\u4e3a BEV \u56fe\u50cf\uff0c\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNNs\uff09\u63d0\u53d6\u573a\u666f\u7279\u5f81\u3002\u77e2\u91cf\u5316\u65b9\u6cd5\u4f7f\u7528\u591a\u8fb9\u5f62\u548c\u6298\u7ebf\u8868\u793a\u5143\u7d20\uff0c\u5229\u7528\u56fe\u795e\u7ecf\u7f51\u7edc\uff08GNNs\uff09\u6216 Transformer \u5bf9\u573a\u666f\u8fdb\u884c\u7f16\u7801\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u89c4\u5212\uff0c\u6a21\u4eff\u5b66\u4e60\u662f\u4e00\u79cd\u76f4\u63a5\u7684\u7aef\u5230\u7aef\u89c4\u5212\u65b9\u6cd5\uff0c\u901a\u8fc7\u8bad\u7ec3\u795e\u7ecf\u7f51\u7edc\u76f4\u63a5\u4ece\u4f20\u611f\u5668\u6570\u636e\u4e2d\u89c4\u5212\u672a\u6765\u8f68\u8ff9\u6216\u63a7\u5236\u4fe1\u53f7\uff0c\u6700\u5c0f\u5316\u89c4\u5212\u8def\u5f84\u4e0e\u4e13\u5bb6\u9a7e\u9a76\u7b56\u7565\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002\u8bb8\u591a\u65b9\u6cd5\u5c06\u8bed\u4e49\u4efb\u52a1\u4f5c\u4e3a\u8f85\u52a9\u7ec4\u4ef6\u6765\u652f\u6301\u7aef\u5230\u7aef\u89c4\u5212\uff0c\u4f7f\u7528 nuScenes \u6570\u636e\u96c6\u548c\u5f00\u73af\u8bc4\u4f30\u3002\u8fd9\u4e9b\u65b9\u6cd5\u8d85\u51fa\u4e86\u7eaf\u7cb9\u7684\u8fd0\u52a8\u5b66\u4e60\u8303\u7574\uff0c\u5c06\u5728\u4e0b\u4e00\u6bb5\u4e2d\u63a2\u8ba8\u3002AD-MLP\u548cEgo-MLP\u4ec5\u5229\u7528\u81ea\u8f66\u8fc7\u53bb\u7684\u8fd0\u52a8\u72b6\u6001\uff0c\u5728\u5f00\u73af\u8bc4\u4f30\u4e2d\u4f18\u4e8e\u4f9d\u8d56\u4f20\u611f\u5668\u8f93\u5165\u7684\u65b9\u6cd5\u3002\u8fd9\u4e0e\u6211\u4eec\u7684\u89c2\u70b9\u4e00\u81f4\uff0c\u5373\u8bed\u4e49\u548c\u8fd0\u52a8\u662f\u5f02\u6784\u7684\uff1aAD-MLP\u548cEgo-MLP\u53ef\u4ee5\u4e13\u6ce8\u4e8e\u4ece\u4e13\u5bb6\u8fd0\u52a8\u6570\u636e\u4e2d\u5b66\u4e60\uff0c\u800c\u4e0d\u53d7\u65e0\u5173\u8bed\u4e49\u4fe1\u606f\u7684\u5e72\u6270\uff0c\u4ece\u800c\u5b9e\u73b0\u5353\u8d8a\u7684\u5f00\u73af\u89c4\u5212\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u8054\u5408\u8bed\u4e49\u548c\u8fd0\u52a8\u5b66\u4e60<\/strong>\uff1a\u7aef\u5230\u7aef\u611f\u77e5\u548c\u9884\u6d4b\u65b9\u6cd5\u901a\u5e38\u8054\u5408\u5b66\u4e60\u8bed\u4e49\u548c\u8fd0\u52a8\u3002\u5f00\u521b\u6027\u5de5\u4f5c FaF \u9664\u4e86\u68c0\u6d4b\u5934\u5916\uff0c\u8fd8\u4f7f\u7528\u9884\u6d4b\u5934\u5c06\u7269\u4f53\u7279\u5f81\u89e3\u7801\u4e3a\u672a\u6765\u8f68\u8ff9\u3002\u4e00\u4e9b\u7814\u7a76\u901a\u8fc7\u57fa\u4e8e\u610f\u56fe\u7684\u9884\u6d4b\u548c\u4f18\u5316\u5bf9\u5176\u8fdb\u884c\u6539\u8fdb\u3002PnPNet\u548cPTP \u6d89\u53ca\u8ddf\u8e2a\uff0c\u5373\u8054\u5408\u4f18\u5316\u68c0\u6d4b\u3001\u5173\u8054\u548c\u9884\u6d4b\u4efb\u52a1\u3002\u867d\u7136PTP\u5e76\u884c\u6267\u884c\u8ddf\u8e2a\u548c\u9884\u6d4b\uff0c\u4f46\u7531\u4e8e\u7f3a\u4e4f\u5e76\u53d1\u68c0\u6d4b\uff0c\u65e0\u6cd5\u9884\u6d4b\u65b0\u51fa\u73b0\u7684\u7269\u4f53\uff0c\u800c\u6211\u4eec\u7684\u65b9\u6cd5\u6210\u529f\u514b\u670d\u4e86\u8fd9\u4e00\u9650\u5236\u3002ViP3D\u9996\u5148\u5c06\u57fa\u4e8e\u67e5\u8be2\u7684\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6846\u67b6\u6269\u5c55\u5230\u9884\u6d4b\u3002\u6bcf\u4e2a\u67e5\u8be2\u4ee3\u8868\u4e00\u4e2a\u7269\u4f53\uff0c\u5e76\u5728\u5e27\u95f4\u4f20\u64ad\u3002\u5728\u6bcf\u4e00\u5e27\u4e2d\uff0c\u501f\u52a9\u9ad8\u6e05\u5730\u56fe\u5c06\u67e5\u8be2\u89e3\u7801\u4e3a\u8fb9\u754c\u6846\u548c\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u7eb3\u5165\u89c4\u5212\uff0cNMP\u901a\u8fc7\u57fa\u4e8e\u91c7\u6837\u7684\u89c4\u5212\u6a21\u5757\u6269\u5c55 IntentNet\uff0c\u5728\u89c4\u5212\u8fc7\u7a0b\u4e2d\u5229\u7528\u9884\u6d4b\u6765\u6700\u5c0f\u5316\u78b0\u649e\u3002\u5176\u4ed6\u7814\u7a76\u5982\u5c06\u5730\u56fe\u611f\u77e5\u4f5c\u4e3a\u8f85\u52a9\u4efb\u52a1\u3002\u968f\u7740\u57fa\u4e8e\u67e5\u8be2\u7684\u76ee\u6807\u68c0\u6d4b\u5668\u548c\u8ddf\u8e2a\u5668\u7684\u65e5\u76ca\u666e\u53ca\uff0c\u6700\u8fd1\u7684\u6a21\u5757\u5316\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u4e0e ViP3D \u7c7b\u4f3c\uff0c\u5c06\u7269\u4f53\u8868\u793a\u4e3a\u67e5\u8be2\u3002UniAD \u53ca\u5176\u53d8\u4f53\u4fdd\u7559\u7528\u4e8e\u8ddf\u8e2a\u7684\u67e5\u8be2\u4f20\u64ad\u673a\u5236\uff0c\u65e8\u5728\u663e\u5f0f\u5efa\u6a21\u7269\u4f53\u7684\u5386\u53f2\u8fd0\u52a8\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cVAD \u548c GenAD \u4e0d\u8fdb\u884c\u8ddf\u8e2a\uff0c\u800c\u662f\u57fa\u4e8e BEV \u7279\u5f81\u4e2d\u5d4c\u5165\u7684\u65f6\u95f4\u4fe1\u606f\u9884\u6d4b\u8f68\u8ff9\u3002\u8fd9\u4e9b\u65b9\u6cd5\u7684\u4e3b\u8981\u95ee\u9898\u662f\u8bd5\u56fe\u7528\u5355\u4e2a\u7279\u5f81\uff08\u67e5\u8be2\uff09\u6765\u8868\u793a\u7269\u4f53\u7684\u5916\u89c2\u548c\u8fd0\u52a8\u3002\u4e0e\u7eaf\u7cb9\u7684\u8bed\u4e49\u5b66\u4e60\u76f8\u6bd4\uff0c\u8fd0\u52a8\u5360\u636e\u4e86\u90e8\u5206\u7279\u5f81\u901a\u9053\uff0c\u4f46\u5bf9\u611f\u77e5\u6ca1\u6709\u8d21\u732e\uff0c\u5bfc\u81f4\u611f\u77e5\u6a21\u5757\u51fa\u73b0\u8d1f\u8fc1\u79fb\u3002\u6211\u4eec\u7684\u5de5\u4f5c\u6709\u6548\u5730\u89e3\u51b3\u4e86\u8fd9\u4e00\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u8be6\u89e3DMAD\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u56fe2\u5c55\u793a\u4e86 DMAD \u7ed3\u6784\u7684\u6982\u8ff0\uff0c\u5b83\u57fa\u4e8eUniAD\u6784\u5efa\u3002\u4ece\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u4e2d\u63d0\u53d6BEV\u7279\u5f81\uff0c\u8be5\u7279\u5f81\u662f\u6240\u6709\u4efb\u52a1\uff08\u5305\u62ec\u68c0\u6d4b\u3001\u8ddf\u8e2a\u3001\u5efa\u56fe\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff09\u7684\u5171\u4eab\u7279\u5f81\u3002\u6211\u4eec\u521d\u59cb\u5316\u4e09\u79cd\u4e0d\u540c\u7c7b\u578b\u7684\u67e5\u8be2 \u2014\u2014 \u76ee\u6807\u67e5\u8be2\u3001\u5730\u56fe\u67e5\u8be2\u548c\u8fd0\u52a8\u67e5\u8be2\uff0c\u5b83\u4eec\u901a\u8fc7\u5173\u6ce8 BEV \u7279\u5f81\u6765\u63d0\u53d6\u5404\u81ea\u4efb\u52a1\u6240\u9700\u7684\u7279\u5b9a\u4fe1\u606f\u3002\u57fa\u4e8e\u6240\u5b66\u4fe1\u606f\u7684\u7c7b\u578b\uff0c\u89e3\u7801\u8fc7\u7a0b\u5206\u4e3a\u4e24\u6761\u8def\u5f84\u3002\u4e00\u65b9\u9762\uff0c\u76ee\u6807\u548c\u5730\u56fe\u89e3\u7801\u5728\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u5668\u4e2d\u8054\u5408\u6267\u884c\uff0c\u5728\u6bcf\u4e2a\u89e3\u7801\u5c42\uff0c\u8fd9\u4e24\u79cd\u7c7b\u578b\u7684\u67e5\u8be2\u4f1a\u8fed\u4ee3\u5730\u4ea4\u6362\u6f5c\u5728\u8bed\u4e49\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"453\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-494-1024x453.png\" alt=\"\" class=\"wp-image-25124\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-494-1024x453.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-494-300x133.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-494-768x340.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-494.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u53e6\u4e00\u65b9\u9762\uff0c\u8fd0\u52a8\u67e5\u8be2\u5728\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\u4e2d\u4ece BEV \u7279\u5f81\u4e2d\u63d0\u53d6\u8fd0\u52a8\u4fe1\u606f\u3002\u6bcf\u4e2a\u8fd0\u52a8\u67e5\u8be2\u90fd\u76f4\u63a5\u5bf9\u5e94\u4e00\u4e2a\u76ee\u6807\u67e5\u8be2\u3002\u5728\u6bcf\u4e2a\u89e3\u7801\u5c42\uff0c\u8fd0\u52a8\u67e5\u8be2\u4f7f\u7528\u76ee\u6807\u7684\u5750\u6807\u4f5c\u4e3a\u53c2\u8003\u70b9\u3002\u89e3\u7801\u6bcf\u4e00\u5e27\u540e\uff0c\u8fd0\u52a8\u67e5\u8be2\u9884\u6d4b\u7684\u672a\u6765\u8def\u5f84\u70b9\u5c06\u4f5c\u4e3a\u4e0b\u4e00\u5e27\u4e2d\u76ee\u6807\u67e5\u8be2\u7684\u53c2\u8003\u70b9\u3002\u8fd9\u79cd\u9012\u5f52\u7ed3\u6784\u7c7b\u4f3c\u4e8e\u8d1d\u53f6\u65af\u6ee4\u6ce2\u5668\u7684\u884c\u4e3a\u3002\u53c2\u8003\u70b9\u7684\u4ea4\u6362\u59cb\u7ec8\u4e0d\u6d89\u53ca\u68af\u5ea6\u3002\u6700\u540e\u8fd0\u52a8\u67e5\u8be2\u88ab\u4f20\u9012\u5230\u89c4\u5212\u6a21\u5757\u3002\u8be5\u7cfb\u7edf\u662f\u5b8c\u5168\u7aef\u5230\u7aef\u53ef\u8bad\u7ec3\u7684\uff0c\u8fd0\u52a8\u548c\u8bed\u4e49\u68af\u5ea6\u5728\u4e0d\u540c\u8def\u5f84\u4e2d\u4f20\u64ad\u3002<\/p>\n\n\n\n<p><strong>\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"235\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/021701.png\" alt=\"\" class=\"wp-image-25125\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021701.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021701-300x104.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"908\" height=\"560\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-495.png\" alt=\"\" class=\"wp-image-25126\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-495.png 908w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-495-300x185.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-495-768x474.png 768w\" sizes=\"(max-width: 908px) 100vw, 908px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"163\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/021702.png\" alt=\"\" class=\"wp-image-25127\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021702.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021702-300x73.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"844\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496-844x1024.png\" alt=\"\" class=\"wp-image-25128\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496-844x1024.png 844w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496-247x300.png 247w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496-768x932.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496-824x1000.png 824w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-496.png 898w\" sizes=\"(max-width: 844px) 100vw, 844px\" \/><\/figure>\n\n\n\n<p><strong>\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"873\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/021703.png\" alt=\"\" class=\"wp-image-25129\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021703.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021703-234x300.png 234w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"372\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/021704.png\" alt=\"\" class=\"wp-image-25130\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021704.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/021704-300x164.png 300w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u4ee5\u9a8c\u8bc1\u6211\u4eec\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u4ece\u4e09\u4e2a\u65b9\u9762\u5c55\u793a\u7ed3\u679c\u3002\u7b2c\u4e00\u90e8\u5206\u805a\u7126\u4e8e\u611f\u77e5\uff08\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5efa\u56fe\uff09\u3002\u6211\u4eec\u5bf9\u6bd4\u4e24\u4e2a\u8bad\u7ec3\u9636\u6bb5\u7684\u611f\u77e5\u6027\u80fd\uff0c\u4ee5\u8bc1\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u51cf\u8f7b\u4e86\u8d1f\u8fc1\u79fb\u3002\u7b2c\u4e8c\u90e8\u5206\uff0c\u6211\u4eec\u8bc4\u4f30\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u3002\u6211\u4eec\u9a8c\u8bc1\u4e86\u5728\u4e0d\u4fee\u6539\u89c4\u5212\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5bf9\u5f00\u73af\u89c4\u5212\u7684\u76ca\u5904\u3002\u6700\u540e\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u6d88\u878d\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>\u8bad\u7ec3\u914d\u7f6e<\/strong><\/p>\n\n\n\n<p>\u672c\u5c0f\u8282\u6982\u8ff0\u4e86\u6211\u4eec\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u4e0e\u9ed8\u8ba4 UniAD \u8bad\u7ec3\u914d\u7f6e\u4e4b\u95f4\u7684\u5dee\u5f02\uff0c\u4ee5\u53ca\u8fd9\u4e9b\u8c03\u6574\u80cc\u540e\u7684\u539f\u56e0\u3002<\/p>\n\n\n\n<p>\u4e24\u9636\u6bb5\u8bad\u7ec3\uff1a\u6211\u4eec\u9075\u5faa UniAD \u7684\u4e24\u9636\u6bb5\u8bad\u7ec3\u65b9\u6848\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u6211\u4eec\u8bad\u7ec3\u76ee\u6807\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5efa\u56fe\u3002\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0c\u8bad\u7ec3\u6240\u6709\u6a21\u5757\uff0c\u540c\u65f6\u51bb\u7ed3 BEV \u7279\u5f81\u63d0\u53d6\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u6211\u4eec\u7684\u65b9\u6cd5\u4e2d\uff0c\u7531\u4e8e\u8ddf\u8e2a\u4f9d\u8d56\u4e8e\u5355\u5cf0\u9884\u6d4b\u63d0\u4f9b\u7684\u53c2\u8003\u70b9\uff0c\u56e0\u6b64\u5355\u5cf0\u9884\u6d4b\u7684\u8bad\u7ec3\u5305\u542b\u5728\u7b2c\u4e00\u9636\u6bb5\u3002\u591a\u5cf0\u9884\u6d4b\u4ec5\u5728\u7b2c\u4e8c\u9636\u6bb5\u8bad\u7ec3\uff0c\u8fd9\u4e0e UniAD \u4e00\u81f4\u3002<\/p>\n\n\n\n<p>\u5e8f\u5217\u957f\u5ea6\uff1a\u7531\u4e8e\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u4e2a\u4e0e\u65f6\u95f4\u76f8\u5173\u7684\u4efb\u52a1\uff0c\u6a21\u578b\u901a\u5e38\u4f7f\u7528\u8fde\u7eed\u7684\u5e27\u5e8f\u5217\u4f5c\u4e3a\u8bad\u7ec3\u6837\u672c\u3002\u8f93\u5165\u5e27\u7684\u6570\u91cf\uff0c\u5373\u5e8f\u5217\u957f\u5ea6 q\uff0c\u76f4\u63a5\u51b3\u5b9a\u4e86\u6a21\u578b\u53ef\u4ee5\u6355\u6349\u7684\u65f6\u95f4\u8303\u56f4\uff0c\u5f71\u54cd\u76f8\u5173\u4efb\u52a1\u7684\u6027\u80fd\u3002\u7136\u800c\uff0cUniAD \u5728\u5176\u4e24\u4e2a\u8bad\u7ec3\u9636\u6bb5\u91c7\u7528\u4e86\u4e0d\u540c\u7684\u5e8f\u5217\u957f\u5ea6\uff1a\u7b2c\u4e00\u9636\u6bb5\u4e3a 5\uff0c\u7b2c\u4e8c\u9636\u6bb5\u4e3a 3\u3002\u7b2c\u4e8c\u9636\u6bb5\u5e8f\u5217\u957f\u5ea6\u7684\u51cf\u5c11\uff0c\u7531\u4e8e\u65f6\u95f4\u805a\u5408\u8f83\u5c11\uff0c\u4e5f\u964d\u4f4e\u4e86\u611f\u77e5\u6027\u80fd\u3002\u8fd9\u5e72\u6270\u4e86\u5bf9\u6a21\u578b\u56fa\u6709\u8d1f\u8fc1\u79fb\u6548\u5e94\u7684\u8bc6\u522b\u3002\u4e3a\u4e86\u51cf\u8f7b\u8fd9\u79cd\u5e72\u6270\uff0c\u6211\u4eec\u5c06\u4e24\u4e2a\u8bad\u7ec3\u9636\u6bb5\u7684\u5e8f\u5217\u957f\u5ea6\u6807\u51c6\u5316\u4e3a 3\u3002\u9664\u975e\u53e6\u6709\u8bf4\u660e\uff0c\u6240\u6709\u7ed3\u679c\u8868\u4e2d UniAD \u7684\u6027\u80fd\uff0c\u5747\u4f7f\u7528\u5b98\u65b9\u4ee3\u7801\u5e93\uff0c\u5728\u5e8f\u5217\u957f\u5ea6\u4e3a 3 \u7684\u60c5\u51b5\u4e0b\u590d\u73b0\u3002<\/p>\n\n\n\n<p><strong>\u611f\u77e5<\/strong><\/p>\n\n\n\n<p>\u6307\u6807\uff1a\u5bf9\u4e8e\u76ee\u6807\u68c0\u6d4b\u548c\u8ddf\u8e2a\uff0c\u6211\u4eec\u4f7f\u7528 nuScenes \u57fa\u51c6\u4e2d\u5b9a\u4e49\u7684\u6307\u6807\u3002\u68c0\u6d4b\u7684\u4e3b\u8981\u6307\u6807\u662f nuScenes \u68c0\u6d4b\u5206\u6570\uff08NDS\uff09\u548c\u5e73\u5747\u7cbe\u5ea6\u5747\u503c\uff08mAP\uff09\u3002NDS \u901a\u8fc7\u8003\u8651\u8fb9\u754c\u6846\u7684\u68c0\u6d4b\u7cbe\u5ea6\u548c\u771f\u9633\u6027\u8bef\u5dee\uff08\u5982\u5e73\u79fb\u3001\u65b9\u5411\u548c\u901f\u5ea6\u8bef\u5dee\uff09\uff0c\u5bf9\u68c0\u6d4b\u6027\u80fd\u8fdb\u884c\u5168\u9762\u8bc4\u4f30\u3002\u5bf9\u4e8e\u591a\u76ee\u6807\u8ddf\u8e2a\uff0c\u6211\u4eec\u62a5\u544a\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u51c6\u786e\u7387\uff08AMOTA\uff09\u548c\u5e73\u5747\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff08AMOTP\uff09\u3002\u524d\u8005\u901a\u8fc7\u8003\u8651 ID \u5207\u6362\u3001\u8bef\u62a5\u548c\u6f0f\u62a5\uff0c\u5bf9\u8ddf\u8e2a\u6027\u80fd\u8fdb\u884c\u7efc\u5408\u8bc4\u4f30\uff0c\u800c\u540e\u8005\u8861\u91cf\u8ddf\u8e2a\u76ee\u6807\u7684\u5b9a\u4f4d\u8bef\u5dee\u3002\u5bf9\u4e8e\u5efa\u56fe\uff0c\u6211\u4eec\u4f7f\u7528\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u6307\u6807\uff0c\u8bc4\u4f30\u53ef\u884c\u9a76\u533a\u57df\u3001\u8f66\u9053\u548c\u5206\u9694\u7ebf\u7684\u5206\u5272\u60c5\u51b5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"896\" height=\"578\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-497.png\" alt=\"\" class=\"wp-image-25131\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-497.png 896w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-497-300x194.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-497-768x495.png 768w\" sizes=\"(max-width: 896px) 100vw, 896px\" \/><\/figure>\n\n\n\n<p>\u591a\u76ee\u6807\u8ddf\u8e2a\uff1a\u5916\u89c2\u548c\u8fd0\u52a8\u662f\u591a\u76ee\u6807\u8ddf\u8e2a\u7684\u4e24\u4e2a\u91cd\u8981\u7ebf\u7d22\u3002\u7531\u4e8e\u4f7f\u7528\u5355\u4e2a\u7279\u5f81\u5411\u91cf\u8868\u793a\u5916\u89c2\u548c\u8fd0\u52a8\uff0cUniAD \u5728 AMOTA \u4e0a\u51fa\u73b0\u4e86 5.3% \u7684\u8d1f\u8fc1\u79fb\uff0c\u5728 AMOTP \u4e0a\u51fa\u73b0\u4e86 2.3% \u7684\u8d1f\u8fc1\u79fb\uff0c\u5982\u8868 2 \u6240\u793a\u3002\u6211\u4eec\u7684\u5206\u79bb\u8bbe\u8ba1\u4f7f\u76ee\u6807\u67e5\u8be2\u80fd\u591f\u66f4\u6709\u6548\u5730\u5b66\u4e60\u5916\u89c2\u3002\u540c\u65f6\uff0c\u4e0e UniAD \u4e2d\u57fa\u4e8e\u901f\u5ea6\u7684\u53c2\u8003\u70b9\u66f4\u65b0\u76f8\u6bd4\uff0c\u5355\u5cf0\u9884\u6d4b\u63d0\u4f9b\u4e86\u66f4\u4f18\u7684\u8ddf\u8e2a\u53c2\u8003\u70b9\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u7b2c\u4e00\u9636\u6bb5\u8d85\u8fc7\u4e86 UniAD\uff0c\u5e76\u4e14\u5728\u7b2c\u4e8c\u9636\u6bb5\u4e0d\u53d7\u8d1f\u8fc1\u79fb\u7684\u5f71\u54cd\uff0c\u5728 AMOTA \u4e0a\u63d0\u5347\u4e86 11.0%\uff0c\u5728 AMOTP \u4e0a\u63d0\u5347\u4e86 3.0%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"892\" height=\"478\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-498.png\" alt=\"\" class=\"wp-image-25132\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-498.png 892w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-498-300x161.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-498-768x412.png 768w\" sizes=\"(max-width: 892px) 100vw, 892px\" \/><\/figure>\n\n\n\n<p>\u5730\u56fe\u5206\u5272\uff1a\u5efa\u56fe\u662fUniAD\u4e2d\u552f\u4e00\u6ca1\u6709\u51fa\u73b0\u8d1f\u8fc1\u79fb\u7684\u611f\u77e5\u4efb\u52a1\u3002\u5229\u7528\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u7684\u4f18\u52bf\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u53ef\u884c\u9a76\u533a\u57df\u3001\u8f66\u9053\u3001\u5206\u9694\u7ebf\u548c\u8def\u53e3\u7684 IoU \u6027\u80fd\u4e0a\uff0c\u7565\u5fae\u8d85\u8fc7 UniAD\uff08\u89c1\u8868 3\uff09 \u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"894\" height=\"492\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-499.png\" alt=\"\" class=\"wp-image-25133\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-499.png 894w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-499-300x165.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-499-768x423.png 768w\" sizes=\"(max-width: 894px) 100vw, 894px\" \/><\/figure>\n\n\n\n<p><strong>\u9884\u6d4b\u548c\u89c4\u5212<\/strong><\/p>\n\n\n\n<p>\u6307\u6807\uff1a\u5bf9\u4e8e\u8fd0\u52a8\u9884\u6d4b\uff0c\u6211\u4eec\u4f7f\u7528 ViP3D \u4e2d\u63d0\u51fa\u7684\u7aef\u5230\u7aef\u611f\u77e5\u51c6\u786e\u7387\uff08EPA\uff09\u4f5c\u4e3a\u4e3b\u8981\u6307\u6807\u3002\u6211\u4eec\u8fd8\u62a5\u544a\u4f20\u7edf\u7684\u6700\u5c0f\u5e73\u5747\u4f4d\u79fb\u8bef\u5dee\uff08minADE\uff09\u3002\u7136\u800c\uff0c\u7531\u4e8e minADE \u662f\u4e00\u4e2a\u771f\u9633\u6027\u6307\u6807\uff0c\u5b83\u4e0d\u80fd\u5b8c\u5168\u53cd\u6620\u7aef\u5230\u7aef\u7cfb\u7edf\u7684\u9884\u6d4b\u80fd\u529b\uff0c\u800c EPA \u8003\u8651\u4e86\u8bef\u62a5\u7684\u6570\u91cf\u3002\u5bf9\u4e8e\u5f00\u73af\u89c4\u5212\uff0c\u6211\u4eec\u4f7f\u7528 1 \u79d2\u30012 \u79d2\u548c 3 \u79d2\u5185\u7684 L2 \u8ddd\u79bb\u548c\u78b0\u649e\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"906\" height=\"444\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-500.png\" alt=\"\" class=\"wp-image-25134\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-500.png 906w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-500-300x147.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-500-768x376.png 768w\" sizes=\"(max-width: 906px) 100vw, 906px\" \/><\/figure>\n\n\n\n<p>\u5f00\u73af\u89c4\u5212\uff1a\u6211\u4eec\u91c7\u7528 VAD \u7684\u8bc4\u4f30\u65b9\u6cd5\u3002\u5c3d\u7ba1\u8be5\u65b9\u6cd5\u53d7\u5230\u4e86\u4e00\u4e9b\u6279\u8bc4\uff0c\u4f46\u636e\u6211\u4eec\u6240\u77e5\uff0c\u5b83\u9002\u7528\u4e8e\u6700\u5e7f\u6cdb\u7684\u65b9\u6cd5\u3002\u6211\u4eec\u5728\u8868 5 \u4e2d\u8fdb\u884c\u4e86\u5168\u9762\u6bd4\u8f83\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u540c\u65f6\u4f18\u5316 L2 \u8ddd\u79bb\u548c\u78b0\u649e\u7387\u5177\u6709\u6311\u6218\u6027\u3002\u867d\u7136 PARA-Drive \u5b9e\u73b0\u4e86\u6700\u4f4e\u7684 L2 \u8ddd\u79bb\uff0c\u4f46\u5b83\u4e5f\u5177\u6709\u6700\u9ad8\u7684\u78b0\u649e\u7387\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u663e\u8457\u4f18\u4e8e UniAD\uff0cL2 \u8ddd\u79bb\u964d\u4f4e\u4e86 20%\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e86 15%\u3002\u6b64\u5916\uff0c\u5b83\u8d85\u8fc7\u4e86\u5177\u6709\u66f4\u957f\u5e8f\u5217\u957f\u5ea6\u7684\u539f\u59cb UniAD \u914d\u7f6e\uff0c\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u78b0\u649e\u7387\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5bf9\u63d0\u51fa\u7684\u89e3\u7801\u5668\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u6d88\u878d\u7814\u7a76\uff0c\u7ed3\u679c\u5982\u8868 6 \u6240\u793a\u3002\u6211\u4eec\u5c06\u8fd0\u52a8\u89e3\u7801\u5668\u5206\u89e3\u4e3a\u4e09\u4e2a\u7ec4\u4ef6\uff1a\u8fd0\u52a8\u67e5\u8be2\u3001\u5c42\u95f4\u53c2\u8003\u70b9\u66f4\u65b0\u548c\u5e27\u95f4\u53c2\u8003\u70b9\u66f4\u65b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"239\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-501-1024x239.png\" alt=\"\" class=\"wp-image-25135\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-501-1024x239.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-501-300x70.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-501-768x179.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/02\/\u56fe\u7247-501.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6a21\u578b\u6982\u51b5\uff1a\u5728\u4ee5\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u4e3a\u8f93\u5165\u7684\u65b9\u6cd5\u4e2d\uff0c\u4e3b\u8981\u8ba1\u7b97\u6210\u672c\u96c6\u4e2d\u5728\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\u4e2d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u89e3\u7801\u7ec4\u4ef6\uff0c\u5bf9\u6a21\u578b\u5927\u5c0f\u548c\u901f\u5ea6\u7684\u5f71\u54cd\u6700\u5c0f\u3002\u4e0e UniAD \u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u89e3\u7801\u5668\u589e\u52a0\u4e86 540 \u4e07\u4e2a\u53c2\u6570\uff0c\u5728 NVIDIA RTX 6000 Ada \u4e0a\u7684\u63a8\u7406\u5ef6\u8fdf\u589e\u52a0\u4e86 0.02 \u79d2\u3002<\/p>\n\n\n\n<p>\u5206\u79bb\u548c\u878d\u5408\u7684\u6548\u679c\uff1a\u5b9e\u9a8c ID 1\u30012\u30013\u30017 \u8bc1\u660e\u4e86\u4e24\u4e2a\u63d0\u51fa\u7684\u89e3\u7801\u5668\u7684\u6709\u6548\u6027\u3002\u5355\u72ec\u5e94\u7528\u4ea4\u4e92\u5f0f\u8bed\u4e49\u89e3\u7801\u5668\uff08ID 2\uff09\u663e\u8457\u63d0\u9ad8\u4e86\u76ee\u6807\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5730\u56fe\u5206\u5272\u7684\u6027\u80fd\u3002\u5355\u72ec\u5e94\u7528\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\uff08ID 3\uff09\u663e\u8457\u6539\u5584\u4e86\u9884\u6d4b\u548c\u89c4\u5212\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cID 3 \u4e5f\u663e\u8457\u63d0\u9ad8\u4e86\u68c0\u6d4b\u548c\u8ddf\u8e2a\u6027\u80fd\uff0c\u8fd9\u5f52\u56e0\u4e8e\u4f7f\u76ee\u6807\u67e5\u8be2\u65e0\u9700\u5b66\u4e60\u901f\u5ea6\uff0c\u4ee5\u53ca\u5355\u5cf0\u9884\u6d4b\u63d0\u4f9b\u7684\u66f4\u9ad8\u8d28\u91cf\u53c2\u8003\u70b9\u3002\u5b9e\u9a8c ID 4\u30015\u30016\u30017 \u5c55\u793a\u4e86\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\u4e2d\u5c42\u95f4\u548c\u5e27\u95f4\u66f4\u65b0\u7684\u91cd\u8981\u6027\u3002\u4e0d\u5b8c\u6574\u7684\u795e\u7ecf\u8d1d\u53f6\u65af\u8fd0\u52a8\u89e3\u7801\u5668\uff08ID 4\u30015\u30016\uff09\u4f1a\u635f\u5bb3\u68c0\u6d4b\u548c\u8ddf\u8e2a\u7ed3\u679c\u3002\u53ea\u6709\u540c\u65f6\u7ed3\u5408\u8fd9\u4e24\u79cd\u66f4\u65b0\uff0c\u6a21\u578b\u624d\u80fd\u5b9e\u73b0\u6700\u4f73\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86DMAD\uff0c\u8fd9\u662f\u4e00\u79cd\u5168\u65b0\u7684\u6a21\u5757\u5316\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\uff0c\u5b83\u5c06\u8bed\u4e49\u5b66\u4e60\u548c\u8fd0\u52a8\u5b66\u4e60\u5206\u79bb\u5f00\u6765\uff0c\u540c\u65f6\u6574\u5408\u4e86\u8bed\u4e49\u4efb\u52a1\u3002\u901a\u8fc7\u89e3\u8026\u7269\u4f53\u7684\u8bed\u4e49\u548c\u8fd0\u52a8\u5b66\u4e60\uff0cDMAD\u6d88\u9664\u4e86\u7aef\u5230\u7aef\u8bad\u7ec3\u901a\u5e38\u5bf9\u76ee\u6807\u68c0\u6d4b\u548c\u8ddf\u8e2a\u9020\u6210\u7684\u8d1f\u8fc1\u79fb\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5229\u7528\u8bed\u4e49\u4efb\u52a1\u4e4b\u95f4\u7684\u76f8\u5173\u6027\uff0c\u5728\u7aef\u5230\u7aef\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4fc3\u8fdb\u6b63\u8fc1\u79fb\u3002\u5728\u4e0d\u4fee\u6539\u89c4\u5212\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u5728\u611f\u77e5\u548c\u9884\u6d4b\u65b9\u9762\u7684\u6539\u8fdb\u76f4\u63a5\u63d0\u5347\u4e86\u89c4\u5212\u6027\u80fd\uff0c\u964d\u4f4e\u4e86L2\u8ddd\u79bb\uff0c\u5e76\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u78b0\u649e\u7387\u3002\u672a\u6765\uff0c\u4f7f\u7528\u95ed\u73af\u89c4\u5212\u6765\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\u662f\u5f88\u6709\u4ef7\u503c\u7684\u7814\u7a76\u65b9\u5411\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u611f\u77e5\u73af\u5883\u53ca\u5176\u968f\u65f6\u95f4\u7684\u53d8\u5316\uff0c\u6d89\u53ca\u4e24\u79cd\u57fa\u672c\u4f46\u6027\u8d28\u4e0d [&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-25122","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\/25122"}],"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=25122"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25122\/revisions"}],"predecessor-version":[{"id":25136,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/25122\/revisions\/25136"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=25122"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=25122"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=25122"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}