{"id":27337,"date":"2025-04-07T17:33:55","date_gmt":"2025-04-07T09:33:55","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27337"},"modified":"2025-04-07T17:34:32","modified_gmt":"2025-04-07T09:34:32","slug":"2025-04-07-%e6%b8%85%e5%8d%8e%e5%8d%8e%e4%b8%ba%ef%bc%81nugrounding%ef%bc%9a%e5%a4%9a%e6%a8%a1%e6%80%81%e5%a4%a7%e6%a8%a1%e5%9e%8b%e5%8a%a0%e6%8c%81%ef%bc%8c%e9%a6%96%e4%b8%aa%e9%9d%a2%e5%90%91","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/07\/27337\/","title":{"rendered":"2025-04-07 \u6e05\u534e&amp;\u534e\u4e3a\uff01NuGrounding\uff1a\u591a\u6a21\u6001\u5927\u6a21\u578b\u52a0\u6301\uff0c\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u73af\u89c63D\u89c6\u89c9\u5b9a\u4f4d~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1892402191970591541\">https:\/\/zhuanlan.zhihu.com\/p\/1892402191970591541<\/a><\/p>\n\n\n\n<p><a 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href=\"https:\/\/zhida.zhihu.com\/search?content_id=256071253&amp;content_type=Article&amp;match_order=1&amp;q=%E5%B1%82%E6%AC%A1%E5%8C%96%E6%9E%84%E5%BB%BA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5c42\u6b21\u5316\u6784\u5efa<\/a>\uff08HoG\uff09\u65b9\u6cd5\uff0c\u751f\u6210\u5206\u5c42\u7684\u591a\u7ea7\u6307\u4ee4\uff0c\u786e\u4fdd\u8986\u76d6\u4eba\u7c7b\u8bed\u8a00\u6a21\u5f0f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\u6027\u6570\u636e\u96c6\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u8303\u5f0f\uff0c\u5de7\u5999\u5730\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256071253&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E5%A4%A7%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b<\/a>\u7684\u6307\u4ee4\u7406\u89e3\u80fd\u529b\u4e0e\u4e13\u6709\u68c0\u6d4b\u6a21\u578b\u7684\u7cbe\u786e\u5b9a\u4f4d\u80fd\u529b\u7ed3\u5408\u8d77\u6765\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5f15\u5165\u4e86\u4e24\u4e2a\u89e3\u8026\u7684\u4efb\u52a1token\u548c\u4e00\u4e2a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256071253&amp;content_type=Article&amp;match_order=1&amp;q=%E4%B8%8A%E4%B8%8B%E6%96%87query&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u4e0a\u4e0b\u6587query<\/a>\uff0c\u7528\u4ee5\u805a\u54083D\u51e0\u4f55\u4fe1\u606f\u548c\u8bed\u4e49\u6307\u4ee4\uff0c\u968f\u540e\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256071253&amp;content_type=Article&amp;match_order=1&amp;q=%E8%9E%8D%E5%90%88%E8%A7%A3%E7%A0%81%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u878d\u5408\u89e3\u7801\u5668<\/a>\u7cbe\u70bc\u7a7a\u95f4-\u8bed\u4e49\u7279\u5f81\uff0c\u4ece\u800c\u5b9e\u73b0\u7cbe\u786e\u5b9a\u4f4d\u3002\u5b9e\u9a8c\u8868\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u7cbe\u5ea6\u548c\u53ec\u56de\u7387\u4e0a\u5206\u522b\u8fbe\u5230\u4e860.59\u548c0.64\uff0c\u76f8\u8f83\u4e8e\u9002\u914d\u540e\u7684\u4e3b\u6d413D\u573a\u666f\u7406\u89e3\u6a21\u578b\uff0c\u5206\u522b\u63d0\u9ad8\u4e8650.8%\u548c54.7%\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u539f\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/ZtKz_HBsZVBJwYzCUaCg5w\" target=\"_blank\" rel=\"noreferrer noopener\">\u6e05\u534e&amp;\u534e\u4e3a\uff01NuGrounding\uff1a\u591a\u6a21\u6001\u5927\u6a21\u578b\u52a0\u6301\uff0c\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u73af\u89c63D\u89c6\u89c9\u5b9a\u4f4d~<\/a><\/p>\n<\/blockquote>\n\n\n\n<h2 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src=\"https:\/\/pic1.zhimg.com\/v2-4ce072d07415175a2de9239491919824_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5c3d\u7ba1\u57fa\u4e8e\u8bed\u8a00\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5df2\u7ecf\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u73b0\u6709\u7684\u6570\u636e\u96c6\u7531\u4e8e\u6307\u4ee4\u8fc7\u4e8e\u7b80\u5316\u3001\u89c4\u6a21\u6709\u9650\u4ee5\u53ca\u4efb\u52a1\u7c97\u7c92\u5ea6\uff0c\u65e0\u6cd5\u6ee1\u8db3\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u7684\u9700\u6c42\u3002\u5982\u88681\u6240\u793a\uff0c\u5148\u524d\u7684\u89c6\u89c9\u5b9a\u4f4d\u6570\u636e\u96c6\u4ec5\u5173\u6ce82D\u50cf\u7d20\u7ea7\u7684\u7269\u4f53\u5b9a\u4f4d\uff0c\u7f3a\u4e4f3D\u51e0\u4f55\u8868\u793a\uff1b\u800c\u5176\u4ed6\u6570\u636e\u96c6\u5219\u96c6\u4e2d\u4e8e\u5355\u89c6\u89d2\u56fe\u50cf\uff0c\u5ffd\u89c6\u4e86\u6574\u4f53\u7684\u591a\u89c6\u89d2\u573a\u666f\u7406\u89e3\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u5728\u6307\u4ee4\u7684\u591a\u6837\u6027\u548c\u6570\u91cf\u4e0a\u4e5f\u5b58\u5728\u4e0d\u8db3\uff0c\u65e0\u6cd5\u6db5\u76d6\u5e7f\u6cdb\u7684\u573a\u666f\u3002\u6700\u8fd1\u7684\u7814\u7a76\u4e3b\u8981\u89e3\u51b3\u4e86\u573a\u666f\u7ea7\u4efb\u52a1\uff08\u5982\u89c6\u89c9\u95ee\u7b54\uff09\u6216\u5355\u7269\u4f53\u63cf\u8ff0\u4efb\u52a1\uff08\u5982\u7a20\u5bc6\u6807\u6ce8\uff09\uff0c\u4f46\u65e0\u6cd5\u5e94\u5bf9\u5b9e\u4f8b\u7ea7\u7684\u591a\u7269\u4f53\u5b9a\u4f4d\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u4e3a\u586b\u8865\u8fd9\u4e9b\u7a7a\u767d\uff0c\u6211\u4eec\u5f15\u5165\u4e86NuGrounding\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u5927\u89c4\u6a21\u57fa\u51c6\u6570\u636e\u96c6\u3002\u4e0e\u5148\u524d\u7684\u5de5\u4f5c\u4e0d\u540c\uff0cNuGrounding\u652f\u6301\u591a\u7269\u4f53\u3001\u5b9e\u4f8b\u7ea7\u5b9a\u4f4d\uff0c\u5e76\u5728\u6587\u672c\u6307\u4ee4\u7684\u590d\u6742\u6027\u548c\u6570\u91cf\u4e0a\u8fbe\u5230\u5e73\u8861\u3002\u4e3a\u6784\u5efa\u8be5\u6570\u636e\u96c6\uff0c\u6211\u4eec\u901a\u8fc7\u81ea\u52a8\u6807\u6ce8\u548c\u5c11\u91cf\u4eba\u5de5\u9a8c\u8bc1\uff0c\u4eceNuScenes\u4e2d\u6536\u96c6\u4e86\u7269\u4f53\u5c5e\u6027\u3002\u63a5\u7740\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u5c42\u6b21\u5316\u6784\u5efa\uff08HoG\uff09\u65b9\u6cd5\uff0c\u7528\u4ee5\u751f\u6210\u5206\u5c42\u7684\u591a\u7ea7\u6587\u672c\u6307\u4ee4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-54dba92b7b15d6df5f3c8096dd6f0193_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u4efb\u52a1\u9700\u8981\u540c\u65f6\u5177\u5907\u590d\u6742\u7684\u4eba\u7c7b\u6307\u4ee4\u7406\u89e3\u548c\u7cbe\u7ec6\u7684\u573a\u666f\u7406\u89e3\u3002\u5982\u56fe1(a)\u6240\u793a\uff0c\u5148\u524d\u7684\u7814\u7a76\u901a\u5e38\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u7f16\u7801\u4e3a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256071253&amp;content_type=Article&amp;match_order=1&amp;q=BEV%E7%89%B9%E5%BE%81&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV\u7279\u5f81<\/a>\uff0c\u5e76\u5c063D\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u96c6\u6210\u5230\u591a\u6a21\u6001\u5927\u8bed\u8a00\u6a21\u578b\u4e2d\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u4e8e\u751f\u6210\u6587\u672c\uff0c\u9650\u5236\u4e86\u5176\u5728\u7cbe\u51c6\u5b9a\u4f4d\u7269\u4f53\u7684\u6548\u679c\u3002\u5982\u56fe1(b)\u6240\u793a\uff0c\u6700\u8fd1\u7684\u65b9\u6cd5\u5c1d\u8bd5\u901a\u8fc73Dquery\u5c06LLM\u7684\u9690\u85cf\u5c42\u5411\u91cf\u89e3\u7801\u4e3a3D\u6846\u56de\u5f52\u4efb\u52a1\u3002\u7136\u800c\uff0c\u8fd9\u4e9b3Dquery\u4f4d\u4e8e\u8bed\u4e49\u5411\u91cf\u7a7a\u95f4\u4e2d\uff0c\u7f3a\u4e4f\u7ec6\u7c92\u5ea6\u76843D\u51e0\u4f55\u7ec6\u8282\uff0c\u4ece\u800c\u963b\u788d\u4e86\u7cbe\u786e\u76843D\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u6846\u67b6\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684\u8303\u5f0f\uff0c\u5de7\u5999\u5730\u5c06\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u6307\u4ee4\u7406\u89e3\u80fd\u529b\u4e0e\u4e13\u6709\u68c0\u6d4b\u6a21\u578b\u7684\u7cbe\u51c6\u7269\u4f53\u5b9a\u4f4d\u80fd\u529b\u7ed3\u5408\u8d77\u6765\uff0c\u5982\u56fe1(c)\u6240\u793a\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u91c7\u7528\u57fa\u4e8eBEV\u7684\u68c0\u6d4b\u5668\u63d0\u53d6\u7a20\u5bc6\u7684BEV\u7279\u5f81\uff0c\u5e76\u751f\u6210\u5e26\u67093D\u51e0\u4f55\u5148\u9a8c\u7684\u5b9e\u4f8b\u7ea7\u7269\u4f53query\u3002\u5176\u6b21\uff0c\u6211\u4eec\u5c06\u5355\u4e00\u4efb\u52a1token\u89e3\u8026\u4e3a\u6587\u672c\u63d0\u793atoken\u548c\u4e0b\u6e38\u5d4c\u5165token\uff0c\u5e2e\u52a9\u6211\u4eec\u9884\u5b9a\u4e49\u7684\u4e0a\u4e0b\u6587query\u805a\u54083D\u51e0\u4f55\u4fe1\u606f\u548c\u8bed\u4e49\u6307\u4ee4\u3002\u6700\u540e\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u878d\u5408\u89e3\u7801\u5668\uff0c\u5c06\u8bed\u4e49\u4fe1\u606f\u4e0e3D\u7a7a\u95f4\u7ec6\u8282\u8fdb\u884c\u6574\u5408\uff0c\u4ece\u800c\u9884\u6d4b\u7269\u4f53\u8fb9\u754c\u6846\u3002\u8be5\u6846\u67b6\u5b9e\u73b0\u4e86\u590d\u6742\u4eba\u7c7b\u6307\u4ee4\u7406\u89e3\u4e0e\u591a\u89c6\u89d2\u573a\u666f\u611f\u77e5\u6765\u8fdb\u884c\u7cbe\u786e\u7684\u7269\u4f53\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u8d21\u732e\u53ef\u4ee5\u603b\u7ed3\u4e3a\u4ee5\u4e0b\u51e0\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6211\u4eec\u5f15\u5165\u4e86NuGrounding\u6570\u636e\u96c6\uff0c\u8fd9\u662f\u9996\u4e2a\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u5927\u89c4\u6a21\u6570\u636e\u96c6\u3002\u4e3a\u786e\u4fdd\u6570\u636e\u96c6\u7684\u591a\u6837\u6027\u3001\u53ef\u6269\u5c55\u6027\u548c\u6cdb\u5316\u80fd\u529b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u5c42\u6b21\u5316\u6784\u5efa\uff08HoG\uff09\u65b9\u6cd5\u6765\u6784\u5efaNuGrounding\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u63d0\u51fa\u4e86\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u6846\u67b6\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684\u8303\u5f0f\uff0c\u5de7\u5999\u5730\u5c06\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u6307\u4ee4\u7406\u89e3\u80fd\u529b\u4e0e\u4e13\u6709\u68c0\u6d4b\u6a21\u578b\u7684\u7cbe\u786e\u7269\u4f53\u5b9a\u4f4d\u80fd\u529b\u7ed3\u5408\u8d77\u6765\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u5c06\u73b0\u6709\u7684\u4e3b\u6d41\u65b9\u6cd5\u9002\u914d\u5230NuGrounding\u6570\u636e\u96c6\u4e0a\u5e76\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u5efa\u7acb\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u57fa\u51c6\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u663e\u8457\u8d85\u8d8a\u4e86\u6539\u7f16\u7684\u57fa\u7ebf\uff0c\u7cbe\u5ea6\u63d0\u9ad8\u4e8650.8%\uff0c\u53ec\u56de\u7387\u63d0\u9ad8\u4e8654.7%\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1892402191970591541_2\">NuGrounding\u6570\u636e\u96c6<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-a20a91a51d7853818aa8f266bc5525ee_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u73b0\u6709\u7684\u9a7e\u9a76\u89c6\u89c9\u7406\u89e3\u6570\u636e\u96c6\u7531\u4e8e\u63d0\u793a\u8fc7\u4e8e\u7b80\u5316\u3001\u89c4\u6a21\u6709\u9650\u4ee5\u53ca\u4efb\u52a1\u7c97\u7c92\u5ea6\uff0c\u4e0d\u9002\u5408\u7528\u4e8e\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u9996\u4e2a\u591a\u89c6\u89d23D\u89c6\u89c9\u5b9a\u4f4d\u6570\u636e\u96c6NuGrounding\uff0c\u8be5\u6570\u636e\u96c6\u57fa\u4e8eNuScenes\u6784\u5efa\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u63d0\u51fa\u4e86\u5c42\u6b21\u5316\u6784\u5efa\uff08HoG\uff09\u65b9\u6cd5\uff0c\u7528\u4e8e\u751f\u6210\u5206\u5c42\u7684\u591a\u7ea7\u6587\u672c\u63d0\u793a\u3002\u5177\u4f53\u5982\u56fe2\u6240\u793a\uff0c\u6211\u4eec\u9996\u5148\u4e3a\u6bcf\u4e2a\u7269\u4f53\u6ce8\u91ca\u591a\u79cd\u7684\u5e38\u89c1\u5c5e\u6027\u3002\u7136\u540e\uff0c\u5c06\u8fd9\u4e9b\u5c5e\u6027\u586b\u5165HoG\u65b9\u6cd5\u4e2d\uff0c\u4ee5\u83b7\u5f97\u6587\u672c\u6307\u4ee4\u3002<\/p>\n\n\n\n<h3 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alt=\"\"\/><\/figure>\n\n\n\n<p>NuGrounding\u4eceNuScenes\u4e2d\u7684850\u4e2a\u89c6\u9891\u4e2d\u63d0\u53d6\u4e8634,149\u4e2a\u5173\u952e\u5e27\uff0c\u751f\u6210\u4e86220\u4e07\u4e2a\u6587\u672c\u63d0\u793a\uff08\u6bcf\u5e2763.7\u4e2a\u63d0\u793a\uff09\u3002\u6570\u636e\u96c6\u5206\u4e3a180\u4e07\u4e2a\u7528\u4e8e\u8bad\u7ec3\u7684\u63d0\u793a\u548c40\u4e07\u4e2a\u7528\u4e8e\u6d4b\u8bd5\u7684\u63d0\u793a\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cNuGrounding\u901a\u8fc7\u5206\u5c42\u751f\u6210\u5177\u6709\u4e0d\u540c\u5c5e\u6027\u7ec4\u5408\u7684\u63d0\u793a\uff0c\u4ee5\u5e73\u8861\u96be\u5ea6\u7ea7\u522b\u3002\u5982\u56fe3(b)\u6240\u793a\uff0c\u6bcf\u4e2a\u5c42\u7684\u5b50\u96c6\u4fdd\u6301\u5927\u81f4\u76f8\u7b49\u7684\u6bd4\u4f8b\uff0c\u63d0\u9ad8\u6cdb\u5316\u80fd\u529b\u5e76\u9632\u6b62\u6a21\u578b\u91c7\u7528\u6587\u672c\u6377\u5f84\u3002\u6b64\u5916\uff0cNuGrounding\u652f\u6301\u6bcf\u4e2a\u63d0\u793a\u591a\u7269\u4f53\u5f15\u7528\uff0c\u6bcf\u4e2a\u63d0\u793a\u5e73\u5747\u5f15\u75283.7\u4e2a\u7269\u4f53\uff0c\u5982\u56fe3(c)\u6240\u793a\u3002<\/p>\n\n\n\n<h2 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-dabc38845e176c194fc4e12d945bb16b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" 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