{"id":27381,"date":"2025-04-08T17:29:44","date_gmt":"2025-04-08T09:29:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27381"},"modified":"2025-04-08T17:29:44","modified_gmt":"2025-04-08T09:29:44","slug":"2025-04-08gsbev%ef%bc%9a%e8%bf%88%e5%90%91%e7%8e%b0%e5%ae%9e%e4%b8%96%e7%95%8c%e7%9a%84bev%e6%84%9f%e7%9f%a5","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/08\/27381\/","title":{"rendered":"2025-04-08GS+BEV\uff1a\u8fc8\u5411\u73b0\u5b9e\u4e16\u754c\u7684BEV\u611f\u77e5~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1892984568358880566\">https:\/\/zhuanlan.zhihu.com\/p\/1892984568358880566<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1892984568358880566_0\">Toward Real-world BEV Perception<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aToward Real-world BEV Perception: Depth Uncertainty Estimation via Gaussian Splatting<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2504.01957\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2504.01957<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/hcis-lab.github.io\/GaussianLSS\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/hcis-lab.github.io\/GaussianLSS\/<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-589792be5c39507e6f721c6aeaff9417_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u57fa\u4e8e\u6982\u7387\u6df1\u5ea6\u5206\u5e03\u7684\u65b9\u5dee\u8ba1\u7b97\u65b9\u6cd5\uff0c\u663e\u5f0f\u5efa\u6a21\u6df1\u5ea6\u4f30\u8ba1\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u901a\u8fc7\u9884\u6d4b\u6df1\u5ea6\u5206\u5e03\u7684\u5747\u503c\uff08\u03bc\uff09\u4e0e\u6807\u51c6\u5dee\uff08\u03c3\uff09\uff0c\u6784\u5efa\u52a8\u6001\u6df1\u5ea6\u8303\u56f4[\u03bc\u2212k\u03c3, \u03bc+k\u03c3]\uff0c\u91cf\u5316\u6df1\u5ea6\u4f30\u8ba1\u7684\u7f6e\u4fe1\u5ea6\uff0c\u89e3\u51b3\u4f20\u7edfLSS\u65b9\u6cd5\u5bf9\u7cbe\u786e\u6df1\u5ea6\u654f\u611f\u7684\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. 3D\u9ad8\u65af\u8868\u793a\u4e0e\u5149\u6805\u5316<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c062D\u56fe\u50cf\u7279\u5f81\u901a\u8fc7\u76f8\u673a\u53c2\u6570\u53cd\u6295\u5f71\u81f33D\u7a7a\u95f4\uff0c\u751f\u6210\u5177\u6709\u534f\u65b9\u5dee\u77e9\u9635\uff08\u03a3\uff09\u76843D\u9ad8\u65af\u5206\u5e03\u3002\u7ed3\u5408\u9ad8\u65af\u6cfc\u6e85\uff08Gaussian Splatting\uff09\u6280\u672f\uff0c\u901a\u8fc7alpha\u6df7\u5408\u5b9e\u73b0\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684BEV\u7279\u5f81\u805a\u5408\uff0c\u63d0\u5347\u8fdc\u8ddd\u79bb\u76ee\u6807\u4e0e\u8fb9\u754c\u6a21\u7cca\u533a\u57df\u7684\u8868\u5f81\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u591a\u5c3a\u5ea6BEV\u6e32\u67d3\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba1\u591a\u5206\u8fa8\u7387\uff0850\u00d750\/100\u00d7100\/200\u00d7200\uff09\u7279\u5f81\u878d\u5408\u673a\u5236\uff0c\u7f13\u89e3\u76f8\u90bb\u50cf\u7d20\u6df1\u5ea6\u5747\u503c\u4e0d\u4e00\u81f4\u5bfc\u81f4\u7684BEV\u7279\u5f81\u7578\u53d8\u95ee\u9898\uff0c\u589e\u5f3a\u573a\u666f\u7684\u7a7a\u95f4\u5c42\u6b21\u8868\u8fbe\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u6548\u7387\u4e0e\u7cbe\u5ea6\u5e73\u8861<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76f8\u6bd4\u6295\u5f71\u7c7b\u65b9\u6cd5\uff08\u5982BEVFormer\uff09\uff0c\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b02.5\u500d\u63a8\u7406\u52a0\u901f\uff0880.2 FPS\uff09\u4e0e0.3\u500d\u5185\u5b58\u5360\u7528\uff080.33 GiB\uff09\uff0c\u540c\u65f6\u4fdd\u6301\u8f66\u8f86\u5206\u5272IoU\u4ec5\u4e0b\u964d0.4%\uff0838.3 vs. 38.7\uff09\uff0c\u9a8c\u8bc1\u4e86\u65b9\u6cd5\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\u7684\u9ad8\u6548\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1892984568358880566_1\">MinkOcc<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aMinkOcc: Towards real-time label-efficient semantic occupancy prediction<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2504.02270\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2504.02270<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-a44109ca4d84a8215eb2273def7696af_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u534a\u76d1\u7763\u8bad\u7ec3\u8303\u5f0f\u521b\u65b0<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e24\u9636\u6bb5\u534a\u76d1\u7763\u8bad\u7ec3\u6846\u67b6\uff1a\u2460 \u4f7f\u752810%\u7684\u5bc6\u96c63D\u6807\u6ce8\u6570\u636e\u8fdb\u884c\u9884\u70ed\u542f\u52a8\uff1b\u2461 \u901a\u8fc7\u7d2f\u79efLiDAR\u626b\u63cf\uff08LiDAR-accumulated sweeps\uff09\u548c\u57fa\u4e8e\u89c6\u89c9\u57fa\u7840\u6a21\u578b\uff08Grounding-DINO\/SAM\uff09\u751f\u6210\u76842D\u8bed\u4e49\u4f2a\u6807\u7b7e\u8fdb\u884c\u540e\u7eed\u8bad\u7ec3\uff0c\u5c063D\u6807\u6ce8\u4f9d\u8d56\u964d\u4f4e90%\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u591a\u6a21\u6001\u7a00\u758f\u878d\u5408\u67b6\u6784<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u65e9\u671f\u878d\u5408\u673a\u5236 \uff1a\u901a\u8fc7LiDAR\u70b9\u4e91\u7684\u7a7a\u95f4\u951a\u5b9a\u6295\u5f71\u4e0e\u591a\u89c6\u89d2\u76f8\u673a\u7279\u5f81\u91c7\u6837\uff0c\u6784\u5efa\u7a00\u758f\u591a\u6a21\u6001\u7279\u5f81\u4f53\u7d20\u7f51\u683c<\/li>\n\n\n\n<li>\u7a00\u758f\u5377\u79ef backbone \uff1a\u57fa\u4e8eMinkowski Engine\u5b9e\u73b0\u5168\u7a00\u758f\u7279\u5f81\u5904\u7406\uff0c\u7ed3\u5408\u751f\u6210\u5f0fUNet\uff08Mink-GenUNet\uff09\u5b8c\u6210\u7a00\u758f\u5230\u7a20\u5bc6\u7684\u573a\u666f\u8865\u5168<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u53ef\u5fae\u5206\u6e32\u67d3\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u91c7\u7528Pulsar\u7403\u4f53\u6e32\u67d3\u5f15\u64ce\u5b9e\u73b0\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f53\u7d20\u5230\u7403\u4f53\u7684\u51e0\u4f55\u53c2\u6570\u5316\u5efa\u6a21\uff08\u4f4d\u7f6e\/\u534a\u5f84\/\u4e0d\u900f\u660e\u5ea6\uff09<\/li>\n\n\n\n<li>\u6df1\u5ea6\u611f\u77e5\u52a0\u6743\u51fd\u6570\uff08\u5f0f2\uff09\u5b9e\u73b0\u591a\u89c6\u89d2\u4e00\u81f4\u6027\u4f18\u5316<\/li>\n\n\n\n<li>\u4e0e2D\u4f2a\u6807\u7b7e\u7684\u7aef\u5230\u7aef\u53ef\u5fae\u5206\u8bad\u7ec3<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u5b9e\u65f6\u6027\u7a81\u7834<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5728Occ3D-nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u5b9e\u73b044.69ms\u5355\u5e27\u63a8\u7406\u5ef6\u8fdf\uff0823 FPS\uff09<\/li>\n\n\n\n<li>\u76f8\u8f83TensorRT\u4f18\u5316\u7684FastOcc\u63d0\u901f2\u500d\uff0c\u5185\u5b58\u5360\u7528\u4ec51.65GB<\/li>\n\n\n\n<li>\u901a\u8fc7\u7a00\u758f\u5f20\u91cf\u8fd0\u7b97\u4e0e\u751f\u6210\u5f0f\u4e0a\u91c7\u6837\u7b56\u7565\uff0c\u57280.4m\u4f53\u7d20\u5206\u8fa8\u7387\u4e0b\u5e73\u8861\u7cbe\u5ea6\u4e0e\u6548\u7387\uff08RayIoU 40.90\/mIoU 44.85\uff09<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1892984568358880566_2\">XLRS-Bench<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aXLRS-Bench: Could Your Multimodal LLMs Understand Extremely Large Ultra-High-Resolution Remote Sensing Imagery?<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2503.23771\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2503.23771<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/xlrs-bench.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/xlrs-bench.github.io\/<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-31daf15d8ecc23f7ebf843e736238568_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u8d85\u5927\u89c4\u6a21\u9ad8\u5206\u9065\u611f\u57fa\u51c6\u6784\u5efa<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u521bXLRS-Bench\u57fa\u51c6\uff0c\u5305\u542b1,400\u5f20\u5e73\u5747\u5206\u8fa8\u73878,500\u00d78,500\u50cf\u7d20\u7684\u8d85\u5927\u9065\u611f\u5f71\u50cf\uff0c\u8986\u76d6\u68c0\u6d4b\uff08DOTA-v2\uff09\u4e0e\u5206\u5272\uff08MiniFrance\uff09\u6570\u636e\u6e90<\/li>\n\n\n\n<li>45\u4f4d\u4e13\u5bb6\u6807\u6ce845,942\u6761\u591a\u6a21\u6001\u6807\u6ce8\uff0c\u542b32,389\u7ec4\u89c6\u89c9\u95ee\u7b54\uff08VQA\uff09\u300112,619\u4e2a\u89c6\u89c9\u5b9a\u4f4d\uff08Visual Grounding\uff09\u5b9e\u4f8b\u53ca934\u6761\u7ec6\u7c92\u5ea6\u56fe\u50cf\u63cf\u8ff0<\/li>\n\n\n\n<li>\u652f\u6301\u4e2d\u82f1\u53cc\u8bed\uff0c\u8d85\u8d8a\u73b0\u6709\u9065\u611f\u57fa\u51c6\u7684\u5355\u8bed\u9650\u5236<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u591a\u7ef4\u5ea6\u8ba4\u77e5\u8bc4\u4f30\u4f53\u7cfb<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u8ba13\u7ea7\u8bc4\u4f30\u6846\u67b6\uff08\u611f\u77e5\/\u63a8\u7406\u80fd\u529b\uff09\uff0c\u5305\u542b16\u4e2a\u5b50\u4efb\u52a1\uff1a\n<ul class=\"wp-block-list\">\n<li>\u611f\u77e5\u7ef4\u5ea6\uff1a\u76ee\u6807\u5206\u7c7b\u3001\u989c\u8272\u8bc6\u522b\u3001\u8fd0\u52a8\u72b6\u6001\u68c0\u6d4b\u3001\u533a\u57df\u5b9a\u4f4d\u7b49<\/li>\n\n\n\n<li>\u63a8\u7406\u7ef4\u5ea6\uff1a\u73af\u5883\u6761\u4ef6\u63a8\u7406\u3001\u590d\u6742\u8ba1\u6570\u63a8\u7406\u3001\u65f6\u7a7a\u53d8\u5316\u68c0\u6d4b\u7b49<\/li>\n\n\n\n<li>\u5f02\u5e38\u68c0\u6d4b\u7b49\u9ad8\u7ea7\u8ba4\u77e5\u4efb\u52a1<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>3. \u6a21\u578b\u6027\u80fd\u7a81\u7834\u6027\u53d1\u73b0<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63ed\u793a\u73b0\u6709MLLMs\uff08\u5982Qwen2-VL\u3001LLaVA\uff09\u5728\u8d85\u9ad8\u5206\u573a\u666f\u7684\u5173\u952e\u74f6\u9888\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5206\u8fa8\u7387\u654f\u611f\u6027\uff1a\u9ad8\u5206\u8fa8\u7387\u8f93\u5165\u6a21\u578b\uff08Qwen2-VL\uff09\u663e\u8457\u4f18\u4e8eCLIP-based\u6a21\u578b<\/li>\n\n\n\n<li>\u63a8\u7406\u5c40\u9650\u6027\uff1a\u590d\u6742\u573a\u666f\u7684\u62bd\u8c61\u63a8\u7406\uff08\u5982\u533a\u57df\u7ea7\u53d8\u5316\u68c0\u6d4b\uff09\u51c6\u786e\u7387\u4f4e\u4e8e60%<\/li>\n\n\n\n<li>\u8bed\u4e49\u9e3f\u6c9f\uff1aGPT-4o\u5728\u9065\u611f\u573a\u666f\u63cf\u8ff0\u4e2d\u51fa\u73b031%\u7684\u63a8\u7406\u8bef\u5dee<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p><strong>4. \u65b9\u6cd5\u8bba\u521b\u65b0<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u534a\u81ea\u52a8\u5316\u6807\u6ce8\u6d41\u6c34\u7ebf\uff0c\u5b9e\u73b0\u7ec6\u7c92\u5ea6\u63cf\u8ff0\u6269\u5c55<\/li>\n\n\n\n<li>\u91c7\u7528&#8221;\u7ea2\u5708\u6807\u6ce8\u6cd5&#8221;\u8fdb\u884c\u533a\u57df\u7ea7\u6807\u6ce8\uff0c\u589e\u5f3a\u4eba\u673a\u4ea4\u4e92\u6807\u6ce8\u7cbe\u5ea6<\/li>\n\n\n\n<li>\u5f00\u6e90\u591a\u6a21\u6001\u8bc4\u4f30\u534f\u8bae\uff0c\u652f\u6301\u6a21\u578b\u6a2a\u5411\u5bf9\u6bd4\uff08\u5df2\u96c6\u621020+\u4e3b\u6d41\u6a21\u578b\uff09<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1892984568358880566_3\">Advances and Challenges in Foundation Agents<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aAdvances and Challenges in Foundation Agents: From Brain-Inspired Intelligence to Evolutionary, Collaborative, and Safe Systems<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2504.01990\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2504.01990<\/a><\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-8a596437aea07de377b3a67f6987c8de_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong>\u6838\u5fc3\u521b\u65b0\u70b9\uff1a<\/strong><\/p>\n\n\n\n<p><strong>1. \u7ed3\u6784\u5316\u7ecf\u9a8c\u8bc4\u4f30\u4e0e\u4f18\u5316\u5faa\u73af\uff08Structured Experience Evaluation\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a8\u6001\u77e5\u8bc6\u9002\u5e94\u6846\u67b6 \uff1a\u63d0\u51fa&#8221;Chain-of-Knowledge&#8221;\u673a\u5236\uff0c\u901a\u8fc7\u52a8\u6001\u6574\u5408\u5f02\u6784\u77e5\u8bc6\u6e90\uff08\u5982\u79d1\u5b66\u6587\u732e\u3001\u4ee3\u7801\u5e93\uff09\u63d0\u5347LLM\u7684\u63a8\u7406\u53ef\u9760\u6027<\/li>\n\n\n\n<li>\u8fed\u4ee3\u5f0f\u81ea\u6211\u8fdb\u5316 \uff1aMobile-Agent-E\u6846\u67b6\u5b9e\u73b0\u79fb\u52a8\u52a9\u624b\u5728\u590d\u6742\u4efb\u52a1\u4e2d\u7684\u81ea\u4e3b\u8fdb\u5316\u80fd\u529b\uff0c\u7ed3\u5408RLHF\uff08Reinforcement Learning from Human Feedback\uff09\u4e0eReFT\uff08Reasoning Fine-Tuning\uff09\u6280\u672f<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u5de5\u5177\u589e\u5f3a\u7684\u63a8\u7406\u8303\u5f0f\uff08Tool-Augmented Reasoning\uff09<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u795e\u7ecf\u7b26\u53f7\u7cfb\u7edf\u96c6\u6210 \uff1aCREATOR\u6846\u67b6\u901a\u8fc7\u56db\u9636\u6bb5\u751f\u547d\u5468\u671f\uff08Creation-Decision-Execution-Rectification\uff09\u5b9e\u73b0\u5de5\u5177\u591a\u6837\u6027\u4e0e\u9519\u8bef\u6062\u590d\u673a\u5236\uff0c\u5206\u79bb\u62bd\u8c61\/\u5177\u8c61\u63a8\u7406\u8fc7\u7a0b<\/li>\n\n\n\n<li>\u5b9a\u5236\u5316\u5de5\u5177\u84b8\u998f 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