{"id":25976,"date":"2025-03-06T17:31:08","date_gmt":"2025-03-06T09:31:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=25976"},"modified":"2025-03-06T17:31:08","modified_gmt":"2025-03-06T09:31:08","slug":"2025-03-06-%e5%a4%9a%e4%bb%bb%e5%8a%a1sota%ef%bc%81%e6%b8%85%e5%8d%8epreworld%ef%bc%9a%e5%8d%8a%e7%9b%91%e7%9d%a33d-occ%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%e6%96%b0%e7%aa%81%e7%a0%b4","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/06\/25976\/","title":{"rendered":"2025-03-06 \u591a\u4efb\u52a1SOTA\uff01\u6e05\u534ePreWorld\uff1a\u534a\u76d1\u77633D Occ\u4e16\u754c\u6a21\u578b\u65b0\u7a81\u7834~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/PNKddsY-MctSryScY6wE-g\">https:\/\/mp.weixin.qq.com\/s\/PNKddsY-MctSryScY6wE-g<\/a><\/p>\n\n\n\n<p>3D\u573a\u666f\u7406\u89e3\u6784\u6210\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u57fa\u77f3\uff0c\u5bf9\u89c4\u5212\u548c\u5bfc\u822a\u7b49\u4e0b\u6e38\u4efb\u52a1\u4ea7\u751f\u4e86\u76f4\u63a5\u7684\u5f71\u54cd\u3002\u5728\u5404\u79cd 3D 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3D \u5360\u7528\u4e16\u754c\u6a21\u578b\u6765\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\u3002\u7136\u800c\uff0c\u5728\u5904\u7406\u56fe\u50cf\u8f93\u5165\u65f6\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u9075\u5faa\u4e00\u6761\u8fc2\u56de\u7684\u8def\u5f84\uff0c\u5982\u4e0b\u56fe(b)\u6240\u793a\u3002\u901a\u5e38\uff0c\u91c7\u7528\u9884\u5148\u8bad\u7ec3\u7684 3D \u5360\u7528\u6a21\u578b\u6765\u83b7\u5f97\u5f53\u524d\u5360\u7528\uff0c\u7136\u540e\u5c06\u5176\u8f93\u5165\u5230\u9884\u6d4b\u6a21\u5757\u4ee5\u751f\u6210\u672a\u6765\u5360\u7528\u3002\u9884\u6d4b\u6a21\u5757\u5305\u62ec\u5c06\u5360\u7528\u7f16\u7801\u4e3a\u79bb\u6563\u6807\u8bb0\u7684\u6807\u8bb0\u5668\u3001\u751f\u6210\u672a\u6765\u6807\u8bb0\u7684\u81ea\u56de\u5f52\u67b6\u6784\u548c\u83b7\u5f97\u672a\u6765\u5360\u7528\u7684\u89e3\u7801\u5668\u3002\u5728\u8fd9\u79cd\u91cd\u590d\u7684\u7f16\u7801\u548c\u89e3\u7801\u8fc7\u7a0b\u4e2d\u5f88\u5bb9\u6613\u53d1\u751f\u4fe1\u606f\u4e22\u5931\u3002\u56e0\u6b64\uff0c\u73b0\u6709\u65b9\u6cd5\u4e25\u91cd\u4f9d\u8d56 3D \u5360\u7528\u6807\u7b7e\u4f5c\u4e3a\u76d1\u7763\u6765\u4ea7\u751f\u6709\u610f\u4e49\u7684\u7ed3\u679c\uff0c\u5bfc\u81f4\u663e\u8457\u7684\u6807\u6ce8\u6210\u672c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"719\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-86-1024x719.png\" alt=\"\" class=\"wp-image-25977\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-86-1024x719.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-86-300x211.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-86-768x539.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-86.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0e 3D \u5360\u7528\u6807\u7b7e\u76f8\u6bd4\uff0c2D \u6807\u7b7e\u76f8\u5bf9\u5bb9\u6613\u83b7\u53d6\u3002\u6700\u8fd1\uff0c\u4f7f\u7528\u7eaf 2D \u6807\u7b7e\u8fdb\u884c\u81ea\u76d1\u7763\u5b66\u4e60\u5728 3D \u5360\u7528\u9884\u6d4b\u4efb\u52a1\u4e2d\u663e\u793a\u51fa\u4e00\u4e9b\u6709\u5e0c\u671b\u7684\u7ed3\u679c\uff0c\u5982\u4e0a\u56fe(a)\u6240\u793a\u3002\u901a\u8fc7\u5229\u7528\u4f53\u79ef\u6e32\u67d3\uff0c\u4f7f\u7528 2D \u6df1\u5ea6\u56fe\u548c\u8bed\u4e49\u6807\u7b7e\u6765\u8bad\u7ec3\u6a21\u578b\u3002\u7136\u800c\uff0c\u5728 4D \u5360\u7528\u9884\u6d4b\u4efb\u52a1\u4e2d\u8fd8\u6ca1\u6709\u7c7b\u4f3c\u7684\u5c1d\u8bd5\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u4ee5\u4e0a\u89c2\u5bdf\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 PreWorld\uff0c\u4e00\u79cd\u534a\u76d1\u7763\u7684\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684 3D \u5360\u7528\u4e16\u754c\u6a21\u578b\uff0c\u65e8\u5728\u6ee1\u8db3\u8bad\u7ec3\u671f\u95f4 2D \u6807\u7b7e\u7684\u5229\u7528\u7387\uff0c\u540c\u65f6\u5728 3D \u5360\u7528\u9884\u6d4b\u548c 4D \u5360\u7528\u9884\u6d4b\u4efb\u52a1\u4e2d\u5b9e\u73b0\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff0c\u5982\u4e0a\u56fe(c)\u6240\u793a\u3002<\/p>\n\n\n\n<p>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u53ef\u6269\u5c55\u6027\uff0c\u5e76\u8bc1\u660e\u4e86PreWorld\u57283D\u5360\u7528\u7387\u9884\u6d4b\u30014D\u5360\u7528\u7387\u9884\u6d4b\u548c\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2502.07309<\/strong><\/p>\n\n\n\n<p><strong>\u7f51\u7edc\u6a21\u578b\u7ed3\u6784&amp;\u7ec6\u8282\u68b3\u7406<\/strong><\/p>\n\n\n\n<p><strong>4D Occupancy\u9884\u6d4b\u4efb\u52a1\u7684\u56de\u987e<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"79\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0601.png\" alt=\"\" class=\"wp-image-25978\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0601.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0601-300x35.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"45\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-87.png\" alt=\"\" class=\"wp-image-25979\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-87.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-87-300x20.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0602.png\" alt=\"\" class=\"wp-image-25980\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0602.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0602-300x25.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"710\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-88.png\" alt=\"\" class=\"wp-image-25981\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-88.png 710w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-88-300x23.png 300w\" sizes=\"(max-width: 710px) 100vw, 710px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"127\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0603.png\" alt=\"\" class=\"wp-image-25982\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0603.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0603-300x57.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"774\" height=\"134\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-89.png\" alt=\"\" class=\"wp-image-25983\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-89.png 774w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-89-300x52.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-89-768x133.png 768w\" sizes=\"(max-width: 774px) 100vw, 774px\" \/><\/figure>\n\n\n\n<p><strong>\u72b6\u6001\u6761\u4ef6\u9884\u6d4b\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u66f4\u503e\u5411\u4e8e\u91c7\u7528\u76f4\u63a5\u7684\u65b9\u5f0f\uff0c\u8fd9\u4f7f\u6211\u4eec\u80fd\u591f\u540c\u65f6\u4f18\u5316 3D \u5360\u7528\u6a21\u578b\u548c\u9884\u6d4b\u6a21\u5757\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u72b6\u6001\u6761\u4ef6\u9884\u6d4b\u6a21\u5757\u4ee3\u66ff\u4e86\u573a\u666f\u6807\u8bb0\u5668\u3001\u81ea\u56de\u5f52\u67b6\u6784\u4ee5\u53ca\u89e3\u7801\u5668\u3002\u63d0\u51fa\u7684\u72b6\u6001\u6761\u4ef6\u9884\u6d4b\u6a21\u5757\u7684\u6574\u4f53\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=\"668\" height=\"556\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-90.png\" alt=\"\" class=\"wp-image-25984\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-90.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-90-300x250.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u5931\u4e00\u822c\u6027\uff0c\u6211\u4eec\u7684\u9884\u6d4b\u6a21\u5757\u4ec5\u7531\u4e24\u4e2a MLP \u7ec4\u6210\u3002\u6211\u4eec\u8bc1\u660e\uff0c\u5373\u4f7f\u6ca1\u6709\u590d\u6742\u7684\u8bbe\u8ba1\uff0c\u8fd9\u79cd\u7b80\u5355\u7684\u67b6\u6784\u4ecd\u7136\u53ef\u4ee5\u5b9e\u73b0\u4e0e\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u5f53\u751a\u81f3\u66f4\u597d\u7684\u7ed3\u679c\u3002\u8fd9\u79cd\u8bbe\u8ba1\u8868\u660e\uff0c\u4ee5\u524d\u5728\u8bad\u7ec3\u671f\u95f4\u5355\u72ec\u4f18\u5316\u9884\u6d4b\u6a21\u5757\u7684\u505a\u6cd5\u6709\u5176\u5c40\u9650\u6027\u3002\u901a\u8fc7\u540c\u65f6\u4f18\u5316\u5360\u7528\u7f51\u7edc\u548c\u9884\u6d4b\u6a21\u5757\uff0c3D \u5360\u7528\u4e16\u754c\u6a21\u578b\u53ef\u4ee5\u5b9e\u73b0\u66f4\u5f3a\u5927\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u6a21\u5757\u53ef\u4ee5\u9009\u62e9\u6027\u5730\u5c06\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u548c\u5386\u53f2\u8f68\u8ff9\u7b49\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u7eb3\u5165\u7f51\u7edc\u5f53\u4e2d\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u8fd9\u79cd\u67b6\u6784\u8fd8\u4e3a\u6211\u4eec\u5e26\u6765\u4e86\u989d\u5916\u7684\u597d\u5904\u3002\u9274\u4e8e\u4e4b\u524d\u7684\u9884\u6d4b\u6a21\u5757\u5c06\u573a\u666f\u7f16\u7801\u4e3a\u79bb\u6563\u6807\u8bb0\uff0c\u5b83\u4eec\u65e0\u6cd5\u50cf\u81ea\u76d1\u7763\u7684 3D \u5360\u7528\u6a21\u578b\u90a3\u6837\u901a\u8fc7\u4f53\u79ef\u6e32\u67d3\u76f4\u63a5\u76d1\u7763\u5e26\u6709 2D \u6807\u7b7e\u7684\u672a\u6765\u9884\u6d4b\u3002\u7531\u4e8e\u6211\u4eec\u7684\u6a21\u5757\u4fdd\u7559\u4e86\u672a\u6765\u573a\u666f\u7684\u4f53\u79ef\u7279\u5f81\uff0c\u56e0\u6b64\u5b83\u63d0\u4f9b\u4e86\u4ee5\u81ea\u76d1\u7763\u65b9\u5f0f\u8bad\u7ec3 3D \u5360\u7528\u4e16\u754c\u6a21\u578b\u7684\u673a\u4f1a\u3002<\/p>\n\n\n\n<p><strong>\u65f6\u95f4\u4e8c\u7ef4\u6e32\u67d3\u81ea\u76d1\u7763<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"659\" height=\"57\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0604.png\" alt=\"\" class=\"wp-image-25985\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0604.png 659w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0604-300x26.png 300w\" sizes=\"(max-width: 659px) 100vw, 659px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"707\" height=\"56\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-91.png\" alt=\"\" class=\"wp-image-25986\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-91.png 707w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-91-300x24.png 300w\" sizes=\"(max-width: 707px) 100vw, 707px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"655\" height=\"147\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0605.png\" alt=\"\" class=\"wp-image-25987\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0605.png 655w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0605-300x67.png 300w\" sizes=\"(max-width: 655px) 100vw, 655px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"941\" height=\"95\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-92.png\" alt=\"\" class=\"wp-image-25988\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-92.png 941w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-92-300x30.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-92-768x78.png 768w\" sizes=\"(max-width: 941px) 100vw, 941px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"51\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/0606.png\" alt=\"\" class=\"wp-image-25989\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0606.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/0606-300x23.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"986\" height=\"94\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-93.png\" alt=\"\" class=\"wp-image-25990\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-93.png 986w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-93-300x29.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-93-768x73.png 768w\" sizes=\"(max-width: 986px) 100vw, 986px\" \/><\/figure>\n\n\n\n<p><strong>\u4e24\u9636\u6bb5\u8bad\u7ec3\u8303\u5f0f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"636\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-94-1024x636.png\" alt=\"\" class=\"wp-image-25991\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-94-1024x636.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-94-300x186.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-94-768x477.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-94.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><\/p>\n\n\n\n<p><strong>3D\u5360\u7528\u9884\u6d4b\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u9996\u5148\u5c06 PreWorld \u6a21\u578b\u7684 3D \u5360\u7528\u9884\u6d4b\u6027\u80fd\u4e0e Occ3D-nuScenes \u6570\u636e\u96c6\u4e0a\u7684\u6700\u65b0\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u5982\u4e0b\u8868\u6240\u793a\uff0cPreWorld \u5b9e\u73b0\u4e86 34.69 \u7684 mIoU\uff0c\u8d85\u8fc7\u4e86\u4e4b\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5 OccFlowNet\uff0c\u5176 mIoU \u4e3a 33.86\uff0c\u4ee5\u53ca\u4f7f\u7528 2D\u30013D \u6216\u7ec4\u5408\u76d1\u7763\u7684\u5176\u4ed6\u65b9\u6cd5\u3002\u8fd9\u51f8\u663e\u4e86 PreWorld \u5728\u611f\u77e5\u5f53\u524d\u573a\u666f\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u6b64\u5916\uff0c\u6240\u63d0\u51fa\u76842D\u9884\u8bad\u7ec3\u9636\u6bb5\u5c06\u6027\u80fd\u63d0\u9ad8\u4e860.74mIoU\uff0c\u51e0\u4e4e\u6240\u6709\u7c7b\u522b\uff08\u5305\u62ec\u9759\u6001\u548c\u52a8\u6001\uff09\u90fd\u6709\u6240\u6539\u5584\u3002\u8fd9\u4e9b\u7ed3\u679c\u5f3a\u8c03\u4e86\u6240\u63d0\u51fa\u7684 2D \u9884\u8bad\u7ec3\u9636\u6bb5\u5bf9\u4e8e\u589e\u5f3a\u573a\u666f\u7406\u89e3\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"392\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-95-1024x392.png\" alt=\"\" class=\"wp-image-25992\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-95-1024x392.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-95-300x115.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-95-768x294.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-95.png 1039w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u5c06 PreWorld \u7684\u5b9a\u6027\u7ed3\u679c\u4e0e\u6700\u65b0\u7684\u5168\u76d1\u7763\u65b9\u6cd5 SparseOcc \u548c\u81ea\u76d1\u7763\u65b9\u6cd5 RenderOcc\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002RenderOcc \u53ef\u4ee5\u5c06\u573a\u666f\u4f53\u7d20\u6295\u5f71\u5230\u591a\u89c6\u56fe\u56fe\u50cf\u4e0a\uff0c\u4ee5\u4ece\u5404\u4e2a\u5c04\u7ebf\u65b9\u5411\u83b7\u5f97\u5168\u9762\u7684\u76d1\u7763\uff0c\u4ece\u800c\u4ece 2D \u6807\u7b7e\u4e2d\u6355\u83b7\u4e30\u5bcc\u7684\u51e0\u4f55\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u7136\u800c\uff0c\u5982\u6700\u540e\u4e00\u680f\u6240\u793a\uff0c\u5b83\u5728\u9884\u6d4b\u770b\u4e0d\u89c1\u7684\u533a\u57df\u548c\u7406\u89e3\u6574\u4f53\u573a\u666f\u7ed3\u6784\u65b9\u9762\u9047\u5230\u4e86\u56f0\u96be\u3002\u53e6\u4e00\u65b9\u9762\uff0cSparseOcc \u5728\u9884\u6d4b\u573a\u666f\u7ed3\u6784\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1022\" height=\"553\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-96.png\" alt=\"\" class=\"wp-image-25993\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-96.png 1022w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-96-300x162.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-96-768x416.png 768w\" sizes=\"(max-width: 1022px) 100vw, 1022px\" \/><\/figure>\n\n\n\n<p>\u7136\u800c\uff0c\u7531\u4e8e\u5bf9 3D \u5360\u7528\u6807\u7b7e\u4e2d\u7684\u5c0f\u7269\u4f53\u548c\u957f\u5c3e\u7269\u4f53\u7684\u76d1\u7763\u4e0d\u8db3\uff0c\u5b83\u5728\u9884\u6d4b\u7535\u7ebf\u6746\u548c\u6469\u6258\u8f66\u7b49\u7269\u4f53\u65f6\u7ecf\u5e38\u4f1a\u9047\u5230\u4fe1\u606f\u4e22\u5931\u7684\u60c5\u51b5\uff0c\u5982\u7b2c\u4e8c\u884c\u548c\u6700\u540e\u4e00\u884c\u6240\u793a\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u6a21\u578b\u6700\u521d\u662f\u7528 2D \u6807\u7b7e\u8fdb\u884c\u9884\u8bad\u7ec3\u7684\uff0c\u4ece\u800c\u5bf9\u573a\u666f\u7684\u51e0\u4f55\u548c\u8bed\u4e49\u6709\u4e86\u8db3\u591f\u7684\u7406\u89e3\u3002\u5728\u5fae\u8c03\u9636\u6bb5\uff0c\u4f7f\u7528 3D \u5360\u7528\u6807\u7b7e\u8fdb\u4e00\u6b65\u4f18\u5316\u6a21\u578b\uff0c\u4f7f PreWorld \u80fd\u591f\u66f4\u597d\u5730\u9884\u6d4b\u573a\u666f\u7ed3\u6784\u3002\u56e0\u6b64\uff0cPreWorld \u5728\u6574\u4f53\u7ed3\u6784\u9884\u6d4b\u65b9\u9762\u7684\u8868\u73b0\u4e0e SparseOcc \u76f8\u5f53\uff0c\u4f46\u5728\u9884\u6d4b\u7ec6\u7c92\u5ea6\u5c40\u90e8\u7ec6\u8282\u65b9\u9762\u8868\u73b0\u51fa\u660e\u663e\u7684\u4f18\u52bf\uff0c\u51f8\u663e\u4e86\u6211\u4eec\u8bad\u7ec3\u8303\u5f0f\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n<p><strong>4D\u5360\u7528\u9884\u6d4b\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e0b\u8868\u5c55\u793a\u4e86PreWorld\u7b97\u6cd5\u6a21\u578b\u4e0e\u73b0\u6709\u57fa\u7ebf\u6a21\u578bOccWorld\u548cOccLLaMA\u76f8\u6bd4\u7684 4D \u5360\u7528\u9884\u6d4b\u6027\u80fd\u3002\u5f53\u4ec5\u4f7f\u7528 3D \u5360\u7528\u76d1\u7763\u65f6\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u672a\u6765 3 \u79d2\u95f4\u9694\u5185\u5b9e\u73b0\u4e86\u6700\u9ad8\u7684 mIoU\uff0c\u4f18\u4e8e\u57fa\u7ebf\u3002\u8fd9\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u8bad\u7ec3\u65b9\u6cd5\u5728\u7aef\u5230\u7aef\u5360\u7528\u7279\u5f81\u63d0\u53d6\u548c\u9884\u6d4b\u6a21\u5757\u4e2d\u7684\u6709\u6548\u6027\u3002\u4e0e 3D \u5360\u7528\u9884\u6d4b\u7684\u7ed3\u679c\u7c7b\u4f3c\uff0c\u7ed3\u5408 2D \u9884\u8bad\u7ec3\u9636\u6bb5\u53ef\u8fdb\u4e00\u6b65\u6539\u5584\u6240\u6709\u672a\u6765\u65f6\u95f4\u6233\u7684 mIoU \u548c IoU\u3002\u9274\u4e8e 2D \u6807\u7b7e\u6bd4\u6602\u8d35\u7684 3D \u5360\u7528\u6807\u8bb0\u66f4\u5bb9\u6613\u83b7\u5f97\uff0cPreWorld \u7684\u4e24\u9636\u6bb5\u8bad\u7ec3\u8303\u5f0f\u5e26\u6765\u7684\u6027\u80fd\u63d0\u5347\u662f\u503c\u5f97\u6ce8\u610f\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"251\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-97-1024x251.png\" alt=\"\" class=\"wp-image-25994\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-97-1024x251.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-97-300x74.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-97-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-97.png 1036w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8fd0\u52a8\u89c4\u5212\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e0b\u8868\u8fdb\u4e00\u6b65\u6bd4\u8f83\u4e86\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\u7684\u7ed3\u679c\u3002\u5728\u4e0d\u7eb3\u5165\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u6a21\u578b\u7684\u8868\u73b0\u4e0e\u5360\u7528\u4e16\u754c\u6a21\u578b\u751a\u81f3\u4e00\u4e9b\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u89c4\u5212\u6a21\u578b\u76f8\u5f53\u3002\u5f53\u4f7f\u7528\u4e0e OccWorld \u548c OccLLaMA 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class=\"wp-image-25995\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-98-1024x436.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-98-300x128.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-98-768x327.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/\u56fe\u7247-98.png 1045w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\uff0c\u672c\u6587\u5206\u6790\u4e862D\u9884\u8bad\u7ec3\u9636\u6bb5\u4e0d\u540c\u76d1\u7763\u5c5e\u6027\u7684\u6709\u6548\u6027\u3002\u9884\u8bad\u7ec3\u7684\u597d\u5904\u5728 3D \u5360\u7528\u9884\u6d4b\u548c 4D \u5360\u7528\u9884\u6d4b\u4e2d\u90fd\u662f\u4e00\u81f4\u7684\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u8282\u7701\u8ba1\u7b97\u8d44\u6e90\uff0c\u6211\u4eec\u5bf9 3D 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