{"id":26617,"date":"2025-03-21T17:21:38","date_gmt":"2025-03-21T09:21:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26617"},"modified":"2025-03-21T17:21:38","modified_gmt":"2025-03-21T09:21:38","slug":"2025-03-21-nuscenes-sota%ef%bc%81%e5%a4%8d%e6%97%a6bridgead%ef%bc%9a%e5%8e%86%e5%8f%b2%e9%a2%84%e6%b5%8b%e4%b8%8e%e8%a7%84%e5%88%92%e6%97%a0%e7%bc%9d%e8%9e%8d%e5%90%88%e5%8a%a9%e5%8a%9b%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/21\/26617\/","title":{"rendered":"2025-03-21 nuScenes SOTA\uff01\u590d\u65e6BridgeAD\uff1a\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\u65e0\u7f1d\u878d\u5408\u52a9\u529b\u7aef\u5230\u7aef\u767b\u9876\uff08CVPR&#8217;25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/31677828253\">https:\/\/zhuanlan.zhihu.com\/p\/31677828253<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255357939&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AB%AF%E5%88%B0%E7%AB%AF%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/a>\u901a\u8fc7\u53ef\u5fae\u6846\u67b6\u7edf\u4e00\u591a\u4efb\u52a1\uff0c\u652f\u6301\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\u7684\u4f18\u5316\uff0c\u8fd1\u5e74\u6765\u53d7\u5230\u5e7f\u6cdb\u5173\u6ce8\u3002\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u901a\u8fc7\u5bc6\u96c6\u7684\u5386\u53f2\u9e1f\u77b0\u56fe\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255357939&amp;content_type=Article&amp;match_order=1&amp;q=BEV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV<\/a>\uff09\u7279\u5f81\u6216\u7a00\u758f\u7684\u8bb0\u5fc6\u5e93\u67e5\u8be2\u6765\u805a\u5408\u5386\u53f2\u4fe1\u606f\uff0c\u6cbf\u7528\u4e86\u68c0\u6d4b\u4efb\u52a1\u7684\u4f20\u7edf\u8303\u5f0f\u3002\u7136\u800c\uff0c\u6211\u4eec\u8ba4\u4e3a\u8fd9\u4e9b\u8303\u5f0f\u8981\u4e48\u5ffd\u7565\u4e86\u8fd0\u52a8\u89c4\u5212\u4e2d\u7684\u5386\u53f2\u4fe1\u606f\uff0c\u8981\u4e48\u672a\u80fd\u4e0e\u5176\u591a\u6b65\u9aa4\u7279\u6027\uff08\u9700\u9884\u6d4b\u6216\u89c4\u5212\u591a\u4e2a\u672a\u6765\u65f6\u95f4\u6b65\uff09\u6709\u6548\u5bf9\u9f50\u3002\u57fa\u4e8e\u201c\u672a\u6765\u662f\u8fc7\u53bb\u7684\u5ef6\u7eed\u201d\u8fd9\u4e00\u7406\u5ff5\uff0c\u6211\u4eec\u63d0\u51fa<strong>BridgeAD<\/strong>\u65b9\u6cd5\uff0c\u5c06\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\u91cd\u6784\u4e3a<strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255357939&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%AD%A5%E9%AA%A4%E6%9F%A5%E8%AF%A2&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6b65\u9aa4\u67e5\u8be2<\/a><\/strong>\uff0c\u4ee5\u533a\u5206\u6bcf\u4e2a\u672a\u6765\u65f6\u95f4\u6b65\u7684\u67e5\u8be2\u76ee\u6807\u3002\u8fd9\u4e00\u8bbe\u8ba1\u4f7f\u5f97\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\u4fe1\u606f\u80fd\u591f\u6839\u636e\u65f6\u95f4\u6b65\u9488\u5bf9\u6027\u5730\u5e94\u7528\u4e8e\u7aef\u5230\u7aef\u7cfb\u7edf\u7684\u4e0d\u540c\u6a21\u5757\uff0c\u4ece\u800c\u63d0\u5347\u611f\u77e5\u4e0e\u8fd0\u52a8\u89c4\u5212\u7684\u534f\u540c\u6027\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u5f53\u524d\u5e27\u7684\u5386\u53f2\u67e5\u8be2\u4e0e\u611f\u77e5\u6a21\u5757\u7ed3\u5408\uff0c\u672a\u6765\u5e27\u7684\u67e5\u8be2\u5219\u4e0e\u8fd0\u52a8\u89c4\u5212\u6a21\u5757\u96c6\u6210\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u805a\u5408\u5386\u53f2\u4fe1\u606f\uff0c\u5f25\u5408\u4e86\u8fc7\u53bb\u4e0e\u672a\u6765\u7684\u9e3f\u6c9f\uff0c\u589e\u5f3a\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7ba1\u7ebf\u7684\u6574\u4f53\u8fde\u8d2f\u6027\u4e0e\u51c6\u786e\u6027\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\uff08\u5305\u62ec\u5f00\u73af\u548c\u95ed\u73af\u8bbe\u7f6e\uff09\u8868\u660e\uff0cBridgeAD\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_31677828253_1\">\u8bba\u6587\u7b80\u4ecb<\/h2>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u8fd1\u5e74\u6765\u53d1\u5c55\u8fc5\u901f\u3002\u4f20\u7edf\u7cfb\u7edf\u91c7\u7528\u6a21\u5757\u5316\u65b9\u6cd5\uff0c\u5c06\u4efb\u52a1\u5212\u5206\u4e3a\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u867d\u7b80\u5316\u4e86\u5404\u4efb\u52a1\uff0c\u4f46\u53ef\u80fd\u4e2d\u65ad\u4fe1\u606f\u6d41\u5e76\u5bfc\u81f4\u8bef\u5dee\u7d2f\u79ef\u3002\u7aef\u5230\u7aef\u65b9\u6cd5\u7edf\u4e00\u8fd9\u4e9b\u4efb\u52a1\uff0c\u652f\u6301\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\u7684\u4f18\u5316\uff0c\u63d0\u5347\u4e86\u7cfb\u7edf\u4e00\u81f4\u6027\uff0c\u56e0\u800c\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002<\/p>\n\n\n\n<p>\u73b0\u6709\u7aef\u5230\u7aef\u65b9\u6cd5\u4e3b\u8981\u6cbf\u7528\u68c0\u6d4b\u4efb\u52a1\u7684\u8303\u5f0f\uff0c\u5229\u7528\u65f6\u5e8f\u4fe1\u606f\u589e\u5f3a\u6027\u80fd\u3002\u8fd9\u4e9b\u8303\u5f0f\u5927\u81f4\u5206\u4e3a\u4e24\u7c7b\uff1a<strong>\u5bc6\u96c6\u65b9\u6cd5<\/strong>\u805a\u5408\u5386\u53f2\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\uff0c<strong>\u7a00\u758f\u65b9\u6cd5<\/strong>\u901a\u8fc7\u7a00\u758f\u8bb0\u5fc6\u5e93\u67e5\u8be2\u4ea4\u4e92\u3002\u7136\u800c\uff0c\u6211\u4eec\u8ba4\u4e3a\u8fd9\u4e9b\u8303\u5f0f\u5b58\u5728\u4e0d\u8db3\u3002\u5982\u56fe1(a)\u6240\u793a\uff0c\u524d\u8005\u4ec5\u5728\u611f\u77e5\u6a21\u5757\u4e2d\u5229\u7528\u65f6\u5e8f\u4fe1\u606f\uff0c\u5ffd\u7565\u4e86\u5176\u5728\u8fd0\u52a8\u89c4\u5212\u4e2d\u7684\u91cd\u8981\u6027\uff1b\u540e\u8005\u4e0e\u5386\u53f2\u8fd0\u52a8\u89c4\u5212\u67e5\u8be2\u7684\u4ea4\u4e92\u8f83\u4e3a\u7c97\u7cd9\uff0c\u6bcf\u4e2a\u67e5\u8be2\u5bf9\u5e94\u4e00\u4e2a\u8f68\u8ff9\u5b9e\u4f8b\uff0c\u672a\u4e0e\u8fd0\u52a8\u89c4\u5212\u7684\u591a\u6b65\u9aa4\u7279\u6027\uff08\u9700\u9884\u6d4b\u6216\u89c4\u5212\u591a\u4e2a\u672a\u6765\u65f6\u95f4\u6b65\u4ee5\u9002\u5e94\u52a8\u6001\u4ee3\u7406\u72b6\u6001\uff09\u5bf9\u9f50\uff0c\u5bfc\u81f4\u6b21\u4f18\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-e0770273555b42e89a2224efad27b032_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa<strong>BridgeAD<\/strong>\u6846\u67b6\uff08\u56fe1(b)\uff09\uff0c\u901a\u8fc7\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\u589e\u5f3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u57fa\u4e8e\u201c\u672a\u6765\u662f\u8fc7\u53bb\u7684\u5ef6\u7eed\u201d\u8fd9\u4e00\u7406\u5ff5\uff0c\u6211\u4eec\u9996\u5148\u5c06\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\u5206\u89e3\u4e3a<strong>\u591a\u6b65\u9aa4\u67e5\u8be2<\/strong>\uff0c\u533a\u5206\u6bcf\u4e2a\u672a\u6765\u65f6\u95f4\u6b65\u7684\u76ee\u6807\u3002\u968f\u540e\uff0c\u5f53\u524d\u5e27\u7684\u8fd0\u52a8\u67e5\u8be2\uff08\u6e90\u81ea\u5386\u53f2\u9884\u6d4b\uff09\u4e0e\u611f\u77e5\u6a21\u5757\u7ed3\u5408\u4ee5\u63d0\u5347\u611f\u77e5\u7cbe\u5ea6\uff0c\u672a\u6765\u5e27\u7684\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\uff08\u6e90\u81ea\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\uff09\u5219\u4e0e\u8fd0\u52a8\u89c4\u5212\u6a21\u5757\u96c6\u6210\uff0c\u901a\u8fc7\u6b65\u9aa4\u7ea7\u4ea4\u4e92\u4f18\u5316\u9884\u6d4b\u4e0e\u89c4\u5212\u7ed3\u679c\u3002\u6b64\u5916\uff0c\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\u5728\u5bf9\u5e94\u65f6\u95f4\u6b65\u7684\u4ea4\u4e92\u786e\u4fdd\u4e86\u5468\u56f4\u4ee3\u7406\u9884\u6d4b\u4e0e\u81ea\u8f66\u89c4\u5212\u7684\u4e00\u81f4\u6027\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0cBridgeAD\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u805a\u5408\u5386\u53f2\u4fe1\u606f\uff0c\u5f25\u5408\u4e86\u8fc7\u53bb\u4e0e\u672a\u6765\u7684\u9e3f\u6c9f\uff0c\u589e\u5f3a\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7ba1\u7ebf\u7684\u6574\u4f53\u8fde\u8d2f\u6027\u4e0e\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e<\/strong>\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u591a\u6b65\u9aa4\u67e5\u8be2\u8868\u793a<\/strong>\uff1a\u5c06\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\u5206\u89e3\u4e3a\u591a\u6b65\u9aa4\u5f62\u5f0f\uff0c\u9488\u5bf9\u6bcf\u4e2a\u672a\u6765\u65f6\u95f4\u6b65\u5229\u7528\u5386\u53f2\u4fe1\u606f\u3002<\/li>\n\n\n\n<li><strong>\u5386\u53f2\u4fe1\u606f\u878d\u5408\u6846\u67b6<\/strong>\uff1a\u63d0\u51faBridgeAD\uff0c\u901a\u8fc7\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\u589e\u5f3a\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7ba1\u7ebf\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u9a8c\u8bc1<\/strong>\uff1a\u5728nuScenes\u6570\u636e\u96c6\u7684\u5f00\u73af\u4e0e\u95ed\u73af\u6d4b\u8bd5\u4e2d\u5747\u8fbe\u5230\u6700\u4f18\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_31677828253_2\">\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/h2>\n\n\n\n<p><strong>\u611f\u77e5<\/strong><br>\u611f\u77e5\u6a21\u5757\u4ece\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u4e2d\u63d0\u53d6\u6709\u6548\u4fe1\u606f\uff0c\u4e3b\u8981\u5305\u62ec3D\u68c0\u6d4b\u3001\u591a\u76ee\u6807\u8ddf\u8e2a\uff08MOT\uff09\u548c\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u3002\u5bf9\u4e8e3D\u68c0\u6d4b\uff0c\u4e00\u7cfb\u5217\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\u901a\u8fc7\u6df1\u5ea6\u4f30\u8ba1\u4ece2D\u56fe\u50cf\u7279\u5f81\u751f\u6210BEV\uff08\u9e1f\u77b0\u56fe\uff09\u8868\u793a\uff1b\u5176\u4ed6\u65b9\u6cd5\u5219\u4f7f\u7528\u9884\u5b9a\u4e49\u7684BEV\u67e5\u8be2\u8fdb\u884c\u7279\u5f81\u91c7\u6837\u3002\u8fd1\u671f\u65b9\u6cd5\u91c7\u7528\u7a00\u758f\u65b9\u6cd5\uff0c\u5229\u7528\u7a00\u758f\u67e5\u8be2\u8fdb\u884c\u65f6\u7a7a\u805a\u5408\u3002\u5bf9\u4e8e\u591a\u76ee\u6807\u8ddf\u8e2a\uff0c\u90e8\u5206\u5de5\u4f5c\u91c7\u7528\u201c\u68c0\u6d4b-\u8ddf\u8e2a\u201d\u8303\u5f0f\uff0c\u800c\u53e6\u4e00\u4e9b\u901a\u8fc7\u8f68\u8ff9\u67e5\u8be2\u6301\u7eed\u5efa\u6a21\u8ddf\u8e2a\u5b9e\u4f8b\u3002\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u65b9\u9762\uff0cHDMapNet\u901a\u8fc7BEV\u8bed\u4e49\u5206\u5272\u7ed3\u5408\u540e\u5904\u7406\u5b9e\u73b0\uff0cVectorMapNet\u91c7\u7528\u4e24\u9636\u6bb5\u81ea\u56de\u5f52Transformer\u6784\u5efa\u77e2\u91cf\u5316\u5730\u56fe\uff0cMapTR\u53ca\u5176\u540e\u7eed\u5de5\u4f5c\u5c06\u5730\u56fe\u5143\u7d20\u89c6\u4e3a\u7f6e\u6362\u7b49\u4ef7\u7684\u70b9\u96c6\uff0c\u53d6\u5f97\u4e86\u663e\u8457\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u8fd0\u52a8\u9884\u6d4b<\/strong><br>\u8fd0\u52a8\u9884\u6d4b\u65e8\u5728\u9884\u6d4b\u5468\u56f4\u667a\u80fd\u4f53\u7684\u591a\u6a21\u6001\u672a\u6765\u8f68\u8ff9\u3002\u53d7\u68c0\u6d4b\u4efb\u52a1\u4e2d\u5bf9\u8c61\u67e5\u8be2\u7684\u542f\u53d1\uff0c\u90e8\u5206\u65b9\u6cd5\u91c7\u7528\u4ee5\u67e5\u8be2\u4e3a\u4e2d\u5fc3\u7684\u8303\u5f0f\uff0c\u5728\u8fd0\u52a8\u9884\u6d4b\u57fa\u51c6\u4e2d\u8868\u73b0\u4f18\u5f02\u3002\u4e00\u4e9b\u5de5\u4f5c\u901a\u8fc7\u5f15\u5165\u5386\u53f2\u9884\u6d4b\u6216\u6d41\u5f0f\u5904\u7406\u63d0\u5347\u9884\u6d4b\u6027\u80fd\uff0c\u5176\u4ed6\u65b9\u6cd5\u63a2\u7d22\u4ece\u591a\u89c6\u89d2\u56fe\u50cf\u7aef\u5230\u7aef\u9884\u6d4b\u8f68\u8ff9\u3002ViP3D\u5229\u7528\u667a\u80fd\u4f53\u67e5\u8be2\u8054\u5408\u6267\u884c\u8ddf\u8e2a\u4e0e\u9884\u6d4b\uff0c\u8f93\u5165\u5305\u62ec\u56fe\u50cf\u548cHD\u5730\u56fe\u3002<\/p>\n\n\n\n<p><strong>\u89c4\u5212<\/strong><br>\u89c4\u5212\u65b9\u6cd5\u5206\u4e3a\u57fa\u4e8e\u89c4\u5219\u548c\u57fa\u4e8e\u5b66\u4e60\u4e24\u7c7b\uff0c\u5728\u89c4\u5212\u57fa\u51c6\u4e2d\u5e7f\u6cdb\u7814\u7a76\u3002\u90e8\u5206\u5de5\u4f5c\u63a2\u7d22\u5229\u7528\u4fe1\u5ff5\u72b6\u6001\u6539\u8fdb\u89c4\u5212\u6216\u51b3\u7b56\u3002\u8fd1\u671f\uff0c\u7aef\u5230\u7aef\u89c4\u5212\u56e0\u80fd\u7edf\u4e00\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u800c\u5907\u53d7\u5173\u6ce8\u3002\u65e9\u671f\u65b9\u6cd5\u5e38\u7ed5\u8fc7\u4e2d\u95f4\u4efb\u52a1\uff08\u5982\u611f\u77e5\u548c\u8fd0\u52a8\u9884\u6d4b\uff09\u3002ST-P3\u7ed3\u5408\u5730\u56fe\u611f\u77e5\u3001BEV\u5360\u7528\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u751f\u6210\u81ea\u8f66\u8def\u5f84\u3002UniAD\u901a\u8fc7\u7edf\u4e00\u67e5\u8be2\u8bbe\u8ba1\u663e\u8457\u63a8\u8fdb\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff0c\u5728\u591a\u9879\u4efb\u52a1\u4e2d\u8868\u73b0\u7a81\u51fa\u3002VAD\u91c7\u7528\u77e2\u91cf\u5316\u5730\u56fe\u8868\u793a\u63d0\u5347\u6548\u7387\uff0cGenAD\u901a\u8fc7\u751f\u6210\u5f0f\u6846\u67b6\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u9884\u6d4b\u8f68\u8ff9\uff0cSparseDrive\u91c7\u7528\u7a00\u758f\u573a\u666f\u8868\u793a\u548c\u5e76\u884c\u89c4\u5212\u7ed3\u6784\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u672a\u5145\u5206\u63a2\u7d22\u5982\u4f55\u5229\u7528\u5386\u53f2\u4fe1\u606f\u63d0\u5347\u8fde\u7eed\u9a7e\u9a76\u4e2d\u7684\u89c4\u5212\u8fde\u7eed\u6027\u4e0e\u7cbe\u5ea6\u3002\u672c\u6587\u7684BridgeAD\u9996\u6b21\u5c06\u5386\u53f2\u9884\u6d4b\u4e0e\u89c4\u5212\u6574\u5408\u81f3\u7aef\u5230\u7aef\u8bbe\u8ba1\u4e2d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_31677828253_3\">\u65b9\u6cd5\u8be6\u89e3<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_4\">\u6982\u8ff0<\/h3>\n\n\n\n<p>BridgeAD\u6846\u67b6\u5982\u56fe2\u6240\u793a\uff0c\u5305\u542b\u4e09\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a\u56fe\u50cf\u7f16\u7801\u5668\u3001\u5386\u53f2\u589e\u5f3a\u611f\u77e5\u6a21\u5757\u548c\u5386\u53f2\u589e\u5f3a\u8fd0\u52a8\u89c4\u5212\u6a21\u5757\u3002\u9996\u5148\uff0c\u56fe\u50cf\u7f16\u7801\u5668\u4ece\u591a\u89c6\u89d2\u56fe\u50cf\u4e2d\u63d0\u53d6\u591a\u5c3a\u5ea6\u7a7a\u95f4\u7279\u5f81\u3002\u968f\u540e\uff0c\u5386\u53f2\u589e\u5f3a\u611f\u77e5\u6a21\u5757\u901a\u8fc7\u7a00\u758f\u65b9\u6cd5\u6267\u884c3D\u76ee\u6807\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5728\u7ebf\u77e2\u91cf\u5316\u5730\u56fe\u6784\u5efa\uff0c\u5e76\u901a\u8fc7\u5386\u53f2Mot2Det\u878d\u5408\u6a21\u5757\u6574\u5408\u5386\u53f2\u4fe1\u606f\u3002\u6700\u540e\uff0c\u5386\u53f2\u589e\u5f3a\u8fd0\u52a8\u89c4\u5212\u6a21\u5757\u7531\u5386\u53f2\u589e\u5f3a\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\u3001\u5386\u53f2\u589e\u5f3a\u89c4\u5212\u6a21\u5757\u548c\u6b65\u9aa4\u7ea7Mot2Plan\u4ea4\u4e92\u6a21\u5757\u7ec4\u6210\uff0c\u5229\u7528\u5386\u53f2\u6570\u636e\u751f\u6210\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u8f93\u51fa\u3002\u6b64\u5916\uff0c\u5185\u5b58\u961f\u5217\u7f13\u5b58\u5386\u53f2\u8fd0\u52a8\u548c\u89c4\u5212\u67e5\u8be2\uff0c\u4e3a\u4e0a\u8ff0\u6a21\u5757\u63d0\u4f9b\u5386\u53f2\u4fe1\u606f\u652f\u6301\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-d5c2fe95f48c576c6581fadfea49e9f7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u591a\u6b65\u9aa4\u8fd0\u52a8\u4e0e\u89c4\u5212\u67e5\u8be2\u7f13\u5b58<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"699\" height=\"613\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/032101.png\" alt=\"\" class=\"wp-image-26618\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032101.png 699w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032101-300x263.png 300w\" sizes=\"(max-width: 699px) 100vw, 699px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"703\" height=\"781\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/032102.png\" alt=\"\" class=\"wp-image-26619\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032102.png 703w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032102-270x300.png 270w\" sizes=\"(max-width: 703px) 100vw, 703px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"77\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/03\/032103.png\" alt=\"\" class=\"wp-image-26620\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032103.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/03\/032103-300x34.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_31677828253_8\">\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_9\">\u5b9e\u9a8c\u8bbe\u7f6e<\/h3>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u8bc4\u4f30\u6307\u6807<\/strong><br>\u6211\u4eec\u5728\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u6301\u7eed20\u79d2\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u63d0\u4f9b\u8bed\u4e49\u5730\u56fe\u548c3D\u76ee\u6807\u68c0\u6d4b\u6807\u6ce8\uff0c\u91c7\u6837\u9891\u7387\u4e3a2Hz\uff0c\u6bcf\u4e2a\u5173\u952e\u5e27\u5305\u542b6\u5f20\u76f8\u673a\u56fe\u50cf\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5f00\u73af\u6d4b\u8bd5<\/strong>\uff1a\u9075\u5faaVAD\u7684L2\u4f4d\u79fb\u8bef\u5dee\u6307\u6807\uff0c\u4ee5\u53caLi\u7b49\u5b9a\u4e49\u7684\u78b0\u649e\u7387\uff08Collision Rate\uff09\u3002<\/li>\n\n\n\n<li><strong>\u95ed\u73af\u6d4b\u8bd5<\/strong>\uff1a\u57fa\u4e8eNeuroNCAP\u4eff\u771f\u6846\u67b6\uff0c\u4f7f\u7528nuScenes\u6570\u636e\u96c6\u6784\u5efa\u903c\u771f\u7684\u5b89\u5168\u5173\u952e\u573a\u666f\u3002\u8bc4\u4f30\u6307\u6807\u5305\u62ecNeuroNCAP\u5206\u6570\u548c\u78b0\u649e\u7387\u3002<\/li>\n\n\n\n<li><strong>\u611f\u77e5\u4e0e\u9884\u6d4b\u6307\u6807<\/strong>\uff1a\u68c0\u6d4b\u4efb\u52a1\u4f7f\u7528mAP\u548cNDS\uff1b\u8ddf\u8e2a\u4efb\u52a1\u4f7f\u7528AMOTA\u3001AMOTP\u548cIDS\uff1b\u5728\u7ebf\u5efa\u56fe\u4f7f\u7528mAP\uff1b\u8fd0\u52a8\u9884\u6d4b\u4f7f\u7528ADE\u3001FDE\u3001MR\u548cEPA\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6a21\u578b\u914d\u7f6e<\/strong>\uff1aBridgeAD-S\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255357939&amp;content_type=Article&amp;match_order=1&amp;q=ResNet50&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ResNet50<\/a>\u7f16\u7801\u56fe\u50cf\u7279\u5f81\uff08\u8f93\u5165\u5c3a\u5bf8256\u00d7704\uff09\uff0cBridgeAD-B\u4f7f\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=255357939&amp;content_type=Article&amp;match_order=1&amp;q=ResNet101&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ResNet101<\/a>\uff08\u8f93\u5165\u5c3a\u5bf8512\u00d71408\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8bad\u7ec3\u8bbe\u7f6e<\/strong>\uff1a\u91c7\u7528AdamW\u4f18\u5316\u5668\uff0c\u4f59\u5f26\u9000\u706b\u5b66\u4e60\u7387\u8c03\u5ea6\uff0c\u521d\u59cb\u5b66\u4e60\u73871\u00d710\u207b\u2074\uff0c\u6743\u91cd\u8870\u51cf1\u00d710\u207b\u00b3\u3002\u5206\u4e24\u9636\u6bb5\u8bad\u7ec3\uff1a\u7b2c\u4e00\u9636\u6bb5\u4e13\u6ce8\u611f\u77e5\u4efb\u52a1\uff08100\u8f6e\uff09\uff0c\u7b2c\u4e8c\u9636\u6bb5\u7aef\u5230\u7aef\u8bad\u7ec3\uff0815\u8f6e\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8d85\u53c2\u6570<\/strong>\uff1a\u8fd0\u52a8\u9884\u6d4b\u65f6\u95f4\u6b65<code>Tmot=12<\/code>\uff08\u9884\u6d4b\u5468\u56f4\u667a\u80fd\u4f536\u79d2\u672a\u6765\u8f68\u8ff9\uff09\uff0c\u89c4\u5212\u65f6\u95f4\u6b65<code>Tplan=6<\/code>\uff08\u89c4\u5212\u81ea\u8f663\u79d2\u672a\u6765\u8f68\u8ff9\uff09\u3002\u5386\u53f2\u4fe1\u606f\u7f13\u5b58<code>K=3<\/code>\u5e27\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-608bb61eec8918e23e917d98ff39fdad_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_10\">\u4e0e\u73b0\u6709\u65b9\u6cd5\u7684\u5bf9\u6bd4<\/h3>\n\n\n\n<p><strong>\u5f00\u73af\u89c4\u5212\u7ed3\u679c<\/strong><br>\u88681\u5bf9\u6bd4\u4e86BridgeAD\u4e0e\u73b0\u6709\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\uff08\u5982UniAD\u3001VAD\u3001SparseDrive\uff09\u53ca\u4e16\u754c\u6a21\u578b\u65b9\u6cd5\uff08\u5982OccWorld-D\uff09\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>L2\u4f4d\u79fb\u8bef\u5dee<\/strong>\uff1aBridgeAD-S\u57283\u79d2\u5e73\u5747\u8bef\u5dee\u4e3a0.59m\uff0c\u4f18\u4e8e\u6b21\u4f18\u65b9\u6cd5SparseDrive\uff080.61m\uff09\u3002<\/li>\n\n\n\n<li><strong>\u78b0\u649e\u7387<\/strong>\uff1aBridgeAD-S\u7684\u5e73\u5747\u78b0\u649e\u7387\u4ec50.09%\uff0c\u663e\u8457\u4f4e\u4e8eUniAD\uff080.61%\uff09\u548cVAD\uff080.21%\uff09\u3002<\/li>\n\n\n\n<li><strong>\u6548\u7387<\/strong>\uff1aBridgeAD-S\u5728NVIDIA RTX 3090\u4e0a\u7684\u63a8\u7406\u901f\u5ea6\u4e3a5.0 FPS\uff0c\u4f18\u4e8eVAD\uff086.1 FPS\uff09\u548cUniAD\uff081.8 FPS\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u95ed\u73af\u89c4\u5212\u7ed3\u679c<\/strong><br>\u88682\u5c55\u793a\u4e86NeuroNCAP\u4eff\u771f\u7ed3\u679c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u65e0\u540e\u5904\u7406<\/strong>\uff1aBridgeAD-S\u7684NeuroNCAP\u5f97\u5206\u4e3a1.52\uff08\u5bf9\u6bd4SparseDrive\u76840.92\uff09\uff0c\u78b0\u649e\u7387\u964d\u4f4e12.4%\uff08\u5bf9\u6bd4UniAD\uff09\u3002<\/li>\n\n\n\n<li><strong>\u540e\u5904\u7406<\/strong>\uff1a\u7ed3\u5408UniAD\u7684\u8f68\u8ff9\u4f18\u5316\u7b56\u7565\u540e\uff0cBridgeAD-B\u5f97\u5206\u63d0\u5347\u81f33.06\uff0c\u78b0\u649e\u7387\u8fdb\u4e00\u6b65\u964d\u81f344.3%\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-7c12b71a85bef8a4f0f27cd768e0c98d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-5e52a6a06c6019d029659bfee67fbd6a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u611f\u77e5\u4e0e\u8fd0\u52a8\u9884\u6d4b\u7ed3\u679c<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u68c0\u6d4b\u4e0e\u8ddf\u8e2a<\/strong>\uff08\u88684\uff09\uff1aBridgeAD-B\u7684mAP\u8fbe0.507\uff0cAMOTA\u4e3a0.512\uff0c\u4f18\u4e8eBEVFormer\u548cUniAD\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u52a8\u9884\u6d4b<\/strong>\uff08\u88683\uff09\uff1aBridgeAD-S\u5728ADE\/FDE\u6307\u6807\u4e0a\u5206\u522b\u4e3a0.62\/0.98m\uff08\u8f66\u8f86\uff09\u548c0.70\/0.99m\uff08\u884c\u4eba\uff09\uff0c\u4f18\u4e8eViP3D\u548cSparseDrive\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-4f1ad97421abb3d212b57db93fedcc73_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_11\">\u6d88\u878d\u5b9e\u9a8c<\/h3>\n\n\n\n<p><strong>\u89c4\u5212\u6a21\u5757\u8bbe\u8ba1\u7684\u5f71\u54cd<\/strong><br>\u88685\u663e\u793a\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u79fb\u9664\u5386\u53f2\u589e\u5f3a\u89c4\u5212\u6a21\u5757\uff08ID-1\uff09\u5bfc\u81f4L2\u8bef\u5dee\u4e0a\u534717%\uff080.71\u21920.59\uff09\u3002<\/li>\n\n\n\n<li>\u79fb\u9664\u8fd0\u52a8-\u89c4\u5212\u4ea4\u4e92\u6a21\u5757\uff08ID-2\uff09\u4f7f\u78b0\u649e\u7387\u589e\u52a010%\uff080.18\u21920.09\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-8febd723323e43daf0878f5dbe20cc1f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u611f\u77e5\u4e0e\u9884\u6d4b\u6a21\u5757\u8bbe\u8ba1\u7684\u5f71\u54cd<\/strong><br>\u88686\u8868\u660e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5386\u53f2\u8fd0\u52a8\u9884\u6d4b\u6a21\u5757\uff08HisMot\uff09\u5bf9\u68c0\u6d4b\uff08mAP\u21910.019\uff09\u3001\u8ddf\u8e2a\uff08AMOTA\u21910.029\uff09\u548c\u8fd0\u52a8\u9884\u6d4b\uff08ADE\u21930.04\uff09\u5747\u6709\u663e\u8457\u63d0\u5347\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7684\u4f5c\u7528<\/strong><br>\u88687\u9a8c\u8bc1\u4e86\u89c4\u5212\u6a21\u5757\u4e2d\u6b65\u7ea7\uff08SLA\uff09\u548c\u6a21\u5f0f\u7ea7\uff08MLA\uff09\u81ea\u6ce8\u610f\u529b\u7684\u5fc5\u8981\u6027\uff0c\u4e8c\u8005\u8054\u5408\u4f7fL2\u8bef\u5dee\u964d\u4f4e10.5%\uff080.66\u21920.59\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-5c678d90e25cf4944ef0c1e90df4edea_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u5386\u53f2\u65f6\u95f4\u6b65\u6570\u7684\u5f71\u54cd<\/strong><br>\u88688\u663e\u793a\uff0c\u8fd0\u52a8\u9884\u6d4b\u4f7f\u75286\u6b65\u5386\u53f2\u4fe1\u606f\u3001\u89c4\u5212\u4f7f\u75283\u6b65\u5386\u53f2\u4fe1\u606f\u65f6\u6027\u80fd\u6700\u4f18\uff08L2\u8bef\u5dee0.59\uff0c\u78b0\u649e\u73870.09\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_12\">\u6548\u7387\u5206\u6790<\/h3>\n\n\n\n<p>BridgeAD-S\u7684\u63a8\u7406\u5ef6\u8fdf\u4e3a157.2ms\uff0c\u663e\u8457\u5feb\u4e8eVAD\uff08224.3ms\uff09\u548cUniAD\uff08555.6ms\uff09\uff0c\u5728\u7cbe\u5ea6\u4e0e\u6548\u7387\u95f4\u53d6\u5f97\u5e73\u8861\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-c39cfe7fbb3017eb95789f9e31e8661f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_31677828253_13\">\u5b9a\u6027\u5206\u6790<\/h3>\n\n\n\n<p>\u56fe3\u5c55\u793a\u4e86\u5f00\u73af\u573a\u666f\u4e2dBridgeAD\u7684\u611f\u77e5\u3001\u9884\u6d4b\u4e0e\u89c4\u5212\u7ed3\u679c\u7684\u4e00\u81f4\u6027\u3002\u56fe4\u5bf9\u6bd4\u4e86\u95ed\u73af\u4eff\u771f\u4e2dBridgeAD\u4e0eUniAD\/SparseDrive\u5728\u7d27\u6025\u573a\u666f\u4e0b\u7684\u907f\u649e\u80fd\u529b\uff0c\u524d\u8005\u901a\u8fc7\u5386\u53f2\u4fe1\u606f\u805a\u5408\u5b9e\u73b0\u4e86\u66f4\u8fde\u8d2f\u7684\u8def\u5f84\u89c4\u5212\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-26617","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\/26617"}],"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=26617"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26617\/revisions"}],"predecessor-version":[{"id":26621,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26617\/revisions\/26621"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=26617"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=26617"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=26617"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}