{"id":26719,"date":"2025-03-25T17:21:03","date_gmt":"2025-03-25T09:21:03","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26719"},"modified":"2025-03-25T17:21:03","modified_gmt":"2025-03-25T09:21:03","slug":"2025-03-25-%e5%bc%ba%e5%bc%ba%e8%81%94%e6%89%8b%ef%bc%81%e6%b8%85%e5%8d%8euclantu%e6%8e%a8%e5%87%bav2x-radar%e6%95%b0%e6%8d%ae%e9%9b%86%ef%bc%9a%e9%87%8d%e6%96%b0%e5%ae%9a%e4%b9%89%e8%bd%a6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/25\/26719\/","title":{"rendered":"2025-03-25 \u5f3a\u5f3a\u8054\u624b\uff01\u6e05\u534e&UCLA&NTU\u63a8\u51faV2X-Radar\u6570\u636e\u96c6\uff1a\u91cd\u65b0\u5b9a\u4e49\u8f66\u8def\u534f\u540c\u611f\u77e5\u8fb9\u754c~"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.zhihu.com\/p\/32508129952<\/a><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u8bba\u6587\u6807\u9898\uff1aV2X-Radar: A Multi-modal Dataset with 4D Radar<\/a>for Cooperative Perception
\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/pdf\/2411.10962<\/a>
\u4ee3\u7801\u4ed3\u5e93\uff1ahttps:\/\/github.com\/yanglei18\/V2X-Radar<\/a>
\u6570\u636e\u96c6\u4e3b\u9875\uff1ahttp:\/\/openmpd.com\/column\/V2X-Radar<\/a><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u52a8\u673a\u4e0e\u80cc\u666f<\/h2>\n\n\n\n

\u611f\u77e5\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6838\u5fc3\u73af\u8282\u3002\u5c3d\u7ba1\u5df2\u6709\u5927\u91cf\u5355\u8f66\u611f\u77e5\u65b9\u6cd5\uff0c\u4f46\u906e\u6321\u73b0\u8c61\u548c\u611f\u77e5\u8303\u56f4\u9650\u5236\u4ecd\u5bfc\u81f4\u4e25\u91cd\u5b89\u5168\u9690\u60a3\u3002\u8fd9\u7c7b\u95ee\u9898\u7684\u672c\u8d28\u5728\u4e8e\uff0c\u5355\u8f66\u4ec5\u80fd\u901a\u8fc7\u5355\u4e00\u89c6\u89d2\u611f\u77e5\u73af\u5883\uff0c\u65e0\u6cd5\u83b7\u53d6\u5168\u5c40\u4fe1\u606f\uff0c\u4ece\u800c\u5f71\u54cd\u5bfc\u822a\u51b3\u7b56\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u534f\u540c\u611f\u77e5\u901a\u8fc7\u8f66-\u8def\u591a\u89c6\u89d2\u4fe1\u606f\u5171\u4eab\uff0c\u6210\u4e3a\u7a81\u7834\u5355\u8f66\u611f\u77e5\u5c40\u9650\u7684\u91cd\u8981\u65b9\u5411\u3002\u5df2\u6709\u7814\u7a76\u8bc1\u660e\uff0c\u8be5\u6280\u672f\u53ef\u6709\u6548\u6269\u5c55\u611f\u77e5\u8fb9\u754c\u5e76\u6d88\u9664\u906e\u6321\u76f2\u533a\u3002\u7136\u800c\uff0c\u5f53\u524d\u4e3b\u6d41\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\uff08\u5982OpenV2V<\/a>\u3001V2X-Sim<\/a>\u3001DAIR-V2X<\/a>\uff09\u5b58\u5728\u663e\u8457\u7f3a\u9677\uff1a\u4ec5\u4f9d\u8d56Camera<\/a><\/strong>\u548cLiDAR<\/a><\/strong>\u4f20\u611f\u5668\uff0c\u5ffd\u89c6\u4e864D Radar\u7684\u72ec\u7279\u4ef7\u503c<\/strong>\u30024D Radar\u80fd\u591f\u5728\u96e8\u96ea\u96fe\u7b49\u6076\u52a3\u5929\u6c14\u4e2d\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u9c81\u68d2\u6027\uff0c\u8fd9\u5df2\u5728K-Radar<\/a>\u3001Dual-Radar<\/a><\/p>\n\n\n\n

\u7b49\u5355\u8f66\u6570\u636e\u96c6\u5f97\u5230\u9a8c\u8bc1\u3002\u4f46\u5728\u534f\u540c\u611f\u77e5\u9886\u57df\uff0c4D Radar\u76f8\u5173\u6570\u636e\u96c6\u7684\u7f3a\u5931\u4e25\u91cd\u963b\u788d\u4e86\u76f8\u5173\u7814\u7a76\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u9996\u4e2a\u878d\u54084D Radar\u4f20\u611f\u5668\uff0c\u9762\u5411\u771f\u5b9e\u573a\u666f\u7684\u5927\u89c4\u6a21\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6V2X-Radar<\/strong>\u3002\u5176\u6838\u5fc3\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

(1) \u6211\u4eec\u63d0\u51fa\u4e86V2X-Radar\uff0c\u9996\u4e2a\u5305\u542bLiDAR\/Camera\/4D Radar\u4f20\u611f\u5668\uff0c\u4e14\u9762\u5411\u771f\u5b9e\u573a\u666f\u7684\u591a\u6a21\u6001\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\u3002\u6570\u636e\u91c7\u96c6\u8986\u76d6\u4e86\u4e0d\u540c\u5929\u6c14\uff08\u6674\u5929 \/ \u96e8\u5929 \/ \u96fe\u5929 \/ \u96ea\u5929\uff09\u548c\u65f6\u6bb5\uff08\u767d\u5929 \/ \u9ec4\u660f \/ \u591c\u95f4\uff09\uff0c\u91cd\u70b9\u5173\u6ce8\u5bf9\u5355\u8f66\u81ea\u52a8\u9a7e\u9a76\u6781\u5177\u6311\u6218\u7684\u590d\u6742\u8def\u53e3\u573a\u666f\u3002\u8fd9\u4e9b\u573a\u666f\u5305\u542b\u5f71\u54cd\u8f66\u8f86\u5b89\u5168\u7684\u906e\u6321\u76f2\u533a\uff0c\u4e3a\u534f\u540c\u611f\u77e5\u7814\u7a76\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u6781\u7aef\u6848\u4f8b\u3002
(2) \u6570\u636e\u96c6\u603b\u8ba1\u5305\u542b20K\u5e27LiDAR\u70b9\u4e91\u300140K\u5e27\u56fe\u50cf\u548c20K\u5e274D Radar\u70b9\u4e91\u6570\u636e\uff0c\u5e76\u5bf9\u5305\u62ec\u8f7f\u8f66\u3001\u5361\u8f66\u3001\u516c\u4ea4\u8f66\u3001\u9a91\u884c\u8005\u548c\u884c\u4eba\u5728\u5185\u76845\u4e2a\u4ea4\u901a\u53c2\u4e0e\u8005\u7c7b\u522b\u8fdb\u884c\u4e09\u7ef4\u76ee\u6807\u6846\u6807\u6ce8\uff0c\u603b\u8ba1\u6807\u6ce8\u6846\u9ad8\u8fbe350K\u3002
(3) \u6211\u4eec\u5206\u522b\u5728V2X-Radar-C\u534f\u540c\u611f\u77e5\u3001V2X-Radar-I\u8def\u4fa7\u611f\u77e5\u548cV2X-Radar-V\u5355\u8f66\u611f\u77e5\u4e09\u4e2a\u5b50\u6570\u636e\u96c6\u4e0a\uff0c\u9488\u5bf9\u73b0\u6709\u7b97\u6cd5\u5f00\u5c55\u4e86\u5b9e\u9a8c\u9a8c\u8bc1\uff0c\u5e76\u6784\u5efa\u7b97\u6cd5\u57fa\u51c6\uff0c\u4ee5\u4fc3\u8fdb\u8be5\u9886\u57df\u7684\u540e\u7eed\u7814\u7a76\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

V2X-Radar\u6570\u636e\u96c6\u4ecb\u7ecd<\/h2>\n\n\n\n

1. \u6570\u636e\u91c7\u96c6\u7cfb\u7edf<\/h3>\n\n\n\n

\u6570\u636e\u91c7\u96c6\u7cfb\u7edf\u7531\u8f66\u7aef\u5e73\u53f0\uff08\u56fe 2 (a)\uff09\u548c\u8def\u4fa7\u5355\u5143\uff08\u56fe 2 (b)\uff09\u4e24\u90e8\u5206\u7ec4\u6210\u3002\u4e24\u8005\u5747\u914d\u5907\u4e86\u5305\u62ec 4D Radar\u3001LiDAR\u548c\u591a\u89c6\u89d2Camera\u5728\u5185\u7684\u4f20\u611f\u5668\u3002\u91c7\u7528GPS\/IMU\u60ef\u5bfc\u7cfb\u7edf\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\uff0c\u8f85\u52a9\u8f66\u7aef\u5e73\u53f0\u4e0e\u8def\u4fa7\u5355\u5143\u4e4b\u95f4\u7684\u521d\u59cb\u70b9\u4e91\u914d\u51c6\u3002\u540c\u65f6\u96c6\u6210\u4e86C-V2X<\/a>\u901a\u4fe1\u5355\u5143\u4ee5\u5b9e\u73b0\u65e0\u7ebf\u6570\u636e\u4f20\u8f93\u3002\u4f20\u611f\u5668\u5e03\u5c40\u914d\u7f6e\u8be6\u89c1\u56fe2\uff0c\u8be6\u7ec6\u89c4\u683c\u5217\u4e8e\u88682\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n

2. \u4f20\u611f\u5668\u6807\u5b9a\u4e0e\u70b9\u4e91\u914d\u51c6<\/h3>\n\n\n\n

\u901a\u8fc7\u4f20\u611f\u5668\u6807\u5b9a\u5b9e\u73b0\u5355\u4e00\u8f66\u7aef\u5e73\u53f0\u6216\u8def\u4fa7\u5355\u5143\u4e0aCamera\u3001LiDAR\u548c 4D Radar\u4f20\u611f\u5668\u95f4\u7684\u7a7a\u95f4\u540c\u6b65\u3002Camera\u5185\u53c2\u6807\u5b9a\u91c7\u7528\u5f20\u6b63\u53cb\u6807\u5b9a\u6cd5\u3002LiDAR\u4e0eCamera\u95f4\u7684\u5916\u53c2\u6807\u5b9a\uff0c\u4ee5\u68cb\u76d8\u683c\u4e3a\u53c2\u7167\uff0c\u9009\u53d6100\u7ec4\u7531LiDAR\u4e09\u7ef4\u7a7a\u95f4\u70b9\u4e0eCamera\u56fe\u50cf\u50cf\u7d20\u5bf9\u5e94\u70b9\u6784\u6210\u7684\u70b9\u96c6\uff0c\u901a\u8fc7\u6700\u5c0f\u53162D-3D\u70b9\u5bf9\u5e94\u91cd\u6295\u5f71\u8bef\u5dee\u6c42\u89e3\u83b7\u5f97\u3002LiDAR\u4e0e4D Radar\u4f20\u611f\u5668\u95f4\u7684\u5916\u53c2\u6807\u5b9a\uff0c\u4ee5\u91d1\u5c5e\u5236\u89d2\u53cd\u5c04\u5668\u4e3a\u53c2\u7167\uff0c\u9009\u53d6\u82e5\u5e72\u7ec4\u7531LiDAR\u4e09\u7ef4\u7a7a\u95f4\u70b9\u4e0e4D Radar \u4e09\u7ef4\u7a7a\u95f4\u5bf9\u5e94\u70b9\u6784\u6210\u7684\u70b9\u96c6\u3002\u901a\u8fc7\u6700\u5c0f\u5316\u5bf9\u5e94\u70b9\u7684\u5747\u65b9\u5dee\u8ddd\u79bb\u6c42\u89e3\u83b7\u5f97\u3002\u4f20\u611f\u5668\u6807\u5b9a\u6548\u679c\u56fe\u5982\u56fe3\u6240\u793a\u3002<\/p>\n\n\n\n

\u5bf9\u4e8e\u8f66\u7aef\u5e73\u53f0\u4e0e\u8def\u4fa7\u5355\u5143\u4e4b\u95f4\u7684LiDAR\u70b9\u4e91\u914d\u51c6\uff0c\u9996\u5148\u57fa\u4e8eRTK\u9ad8\u7cbe\u5b9a\u4f4d\u5b9e\u73b0\u70b9\u4e91\u914d\u51c6\u521d\u59cb\u5316\uff0c\u968f\u540e\u901a\u8fc7CBM\u81ea\u52a8\u914d\u51c6\u7b97\u6cd5\u5e76\u7ed3\u5408\u624b\u52a8\u8c03\u6574\u4f18\u5316\u5b9e\u73b0\u6700\u7ec8\u914d\u51c6\u3002\u70b9\u4e91\u914d\u51c6\u6548\u679c\u53ef\u89c6\u5316\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n

3. \u6570\u636e\u91c7\u96c6<\/h3>\n\n\n\n

\u6211\u4eec\u6536\u96c6\u4e8615\u5c0f\u65f6\u7684\u534f\u540c\u6570\u636e\uff0c\u603b\u8ba1\u5305\u542b540K\u4e2a\u5e27\uff0c\u6db5\u76d6\u4e86\u5404\u79cd\u5929\u6c14\u72b6\u51b5\uff0c\u5982\u6674\u5929\u3001\u96e8\u5929\u3001\u96fe\u5929\u548c\u96ea\u5929\uff0c\u91c7\u96c6\u65f6\u95f4\u8de8\u8d8a\u767d\u5929\u3001\u9ec4\u660f\u548c\u591c\u665a\uff08\u5982\u56fe8\u6240\u793a\uff09\u8fd8\u5305\u62ec\u5177\u6709\u6311\u6218\u6027\u7684\u5178\u578b\u8def\u53e3\u573a\u666f\u3002\u4ece\u8fd9\u4e9b\u6570\u636e\u4e2d\u624b\u52a8\u6311\u9009\u51fa\u6700\u5177\u4ee3\u8868\u6027\u768440\u4e2a\u5e8f\u5217\uff0c\u7ec4\u6210\u4e86V2X-Radar-C\u534f\u540c\u611f\u77e5\u5b50\u6570\u636e\u96c6\uff1b\u6bcf\u4e2a\u5e8f\u5217\u65f6\u957f\u572810\u523025\u79d2\u4e4b\u95f4\u3002\u91c7\u96c6\u9891\u7387\u4e3a10Hz\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u989d\u5916\u589e\u52a0\u4e8610\u4e2a\u5355\u72ec\u8f66\u7aef\u89c6\u89d2\u6570\u636e\u5e8f\u5217\u6765\u521b\u5efaV2X-Radar-V\u8f66\u7aef\u611f\u77e5\u5b50\u6570\u636e\u96c6\uff0c\u5e76\u989d\u5916\u589e\u52a0\u4e8610\u4e2a\u5355\u72ec\u8def\u4fa7\u89c6\u89d2\u6570\u636e\u5e8f\u5217\u6765\u5f62\u6210V2X -Radar-I\u8def\u4fa7\u611f\u77e5\u5b50\u6570\u636e\u96c6\u3002\u4e0eV2X-Radar-C\u534f\u540c\u611f\u77e5\u6570\u636e\u7ea7\u76f8\u6bd4\uff0cV2X-Radar-V\u548cV2X-Radar-I\u90fd\u6db5\u76d6\u4e86\u66f4\u591a\u79cd\u7c7b\u7684\u573a\u666f\u3002 \u7ecf\u7edf\u8ba1\uff0cV2X-Radar\u6570\u636e\u96c6\u603b\u8ba1\u5305\u542b20K\u5e27LiDAR\u70b9\u4e91\u6570\u636e\u300140K\u5e27Camera\u56fe\u50cf\u6570\u636e\u548c20K\u5e274D Radar\u70b9\u4e91\u6570\u636e\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

4. \u6570\u636e\u7edf\u8ba1<\/h3>\n\n\n\n

V2X-Radar\u6570\u636e\u96c6\u7edf\u8ba1\u60c5\u51b5\u5982\u56fe5\u6240\u793a\uff0c\u5176\u4e2d\uff0c\u56fe5(a)\u5c55\u793a\u4e86\u6570\u636e\u96c6\u4e2d\u767d\u5929\u4e0e\u591c\u95f4\u573a\u666f\u4e0b\u4e94\u79cd\u7c7b\u522b\u7684\u7269\u4f53\u5206\u5e03\u60c5\u51b5\uff1b\u56fe5(b)\u663e\u793a\u4e86\u6bcf\u4e2a\u7c7b\u522b3D\u8fb9\u754c\u6846\u5185\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u7684\u6700\u5927\u548c\u5e73\u5747\u6570\u91cf\uff1b\u56fe5(c)\u5c55\u793a\u4e86\u4e0d\u540c\u7269\u4f53\u8fb9\u754c\u6846\u51854D Radar\u70b9\u4e91\u5bc6\u5ea6\u5206\u5e03\u60c5\u51b5\u3002\u6700\u540e\uff0c\u56fe5\uff08d\uff09\u663e\u793a\u6bcf\u5e27\u534f\u540c\u611f\u77e5\u6570\u636e\u4e2d\u7684\u6807\u6ce8\u6846\u6570\u91cf\u53ef\u8fbe90\u4e2a\uff0c\u4e0eKITTI\u6216 nuScenes\u7b49\u8f66\u7aef\u6570\u636e\u96c6\u76f8\u6bd4\u6709\u663e\u8457\u589e\u52a0\uff0c\u8fd9\u8868\u660e\u901a\u8fc7\u8f66\u8def\u534f\u540c\u611f\u77e5\u53ef\u6709\u6548\u63d0\u5347\u5355\u8f66\u611f\u77e5\u5bf9\u5468\u56f4\u573a\u666f\u7684\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u4efb\u52a1\u5b9a\u4e49\u4e0e\u57fa\u51c6\u5b9e\u9a8c<\/h2>\n\n\n\n

V2X-Radar\u6570\u636e\u96c6\u53ef\u5206\u522b\u670d\u52a1\u4e8e\u5355\u7aef\u611f\u77e5\u4efb\u52a1\u548c\u8f66\u8def\u534f\u540c\u611f\u77e5\u4efb\u52a1\u3002<\/p>\n\n\n\n

\uff081\uff09 \u5355\u7aef3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1
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\"\"\/<\/figure>\n\n\n\n
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