{"id":27840,"date":"2025-04-16T18:21:53","date_gmt":"2025-04-16T10:21:53","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27840"},"modified":"2025-04-16T18:21:53","modified_gmt":"2025-04-16T10:21:53","slug":"2025-04-16-cvpr25%e6%9c%80%e6%96%b0%ef%bc%81gaussianlss%ef%bc%9a%e8%bf%88%e5%90%91%e7%9c%9f%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\/16\/27840\/","title":{"rendered":"2025-04-16 CVPR&#8217;25\u6700\u65b0\uff01GaussianLSS\uff1a\u8fc8\u5411\u771f\u5b9e\u4e16\u754c\u7684BEV\u611f\u77e5~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1895567729823568547\">https:\/\/zhuanlan.zhihu.com\/p\/1895567729823568547<\/a><\/p>\n\n\n\n<p>\u9e1f\u77b0\u56fe\uff08BEV\uff09\u611f\u77e5\u4f5c\u4e3a\u4e09\u7ef4\u611f\u77e5\u4efb\u52a1\uff08\u5982\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b \u548c BEV \u5206\u5272\uff09\u7684\u57fa\u7840\uff0c\u5bf9\u4e8e\u7406\u89e3\u9a7e\u9a76\u73af\u5883\u81f3\u5173\u91cd\u8981\u3002\u51c6\u786e\u7684\u7a7a\u95f4\u7406\u89e3\u5728\u4e0b\u6e38\u7684\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u4e2d\u4e5f\u53d1\u6325\u7740\u5173\u952e\u4f5c\u7528\uff0c\u800cBEV \u901a\u8fc7\u4e3a\u4f20\u611f\u5668\u878d\u5408\u63d0\u4f9b\u4e00\u4e2a\u7a33\u5065\u7684\u4e2d\u95f4\u8868\u793a\uff0c\u4fc3\u8fdb\u4e86\u6709\u6548\u7684\u591a\u6a21\u6001\u878d\u5408\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<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/rxhYzi0TdACQnCE_t1O8Fg\" target=\"_blank\" rel=\"noreferrer noopener\">CVPR&#8217;25\u6700\u65b0\uff01GaussianLSS\uff1a\u8fc8\u5411\u771f\u5b9e\u4e16\u754c\u7684BEV\u611f\u77e5~<\/a><\/strong><\/p>\n<\/blockquote>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2504.01957\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2504.01957<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u94fe\u63a5\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<p>\u73b0\u6709\u7684 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256451589&amp;content_type=Article&amp;match_order=1&amp;q=BEV+%E6%84%9F%E7%9F%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV \u611f\u77e5<\/a><\/p>\n\n\n\n<p>\u65b9\u6cd5\u5927\u81f4\u53ef\u4ee5\u5206\u4e3a\u4e24\u7c7b\u8303\u5f0f\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>2D \u53cd\u6295\u5f71\u65b9\u6cd5\uff0c\u901a\u8fc7\u4f30\u8ba1\u6df1\u5ea6\u5e76\u5c06\u7279\u5f81\u53cd\u6295\u5f71\u5230 3D \u7a7a\u95f4\uff1b<br><\/li>\n\n\n\n<li>3D \u6295\u5f71\u65b9\u6cd5\uff0c\u5c06\u9884\u5b9a\u4e49\u7684 3D \u5750\u6807\u4f53\u79ef\u6295\u5f71\u5230\u76f8\u673a\u89c6\u56fe\u4e0a\u5e76\u805a\u5408\u56fe\u50cf\u7279\u5f81\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u8303\u5f0f\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u6d89\u53ca\u51c6\u786e\u5ea6\u3001\u8ba1\u7b97\u6210\u672c\u548c\u53ef\u6269\u5c55\u6027\u4e4b\u95f4\u7684\u6743\u8861\uff0c\u9650\u5236\u4e86\u5b83\u4eec\u5728\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u9002\u7528\u6027\u3002<br><\/li>\n<\/ol>\n\n\n\n<p>3D \u6295\u5f71\u65b9\u6cd5\u5728\u51c6\u786e\u5ea6\u65b9\u9762\u8fbe\u5230\u4e86SOTA\u7684\u6c34\u5e73\uff0c\u7136\u800c\uff0c\u5b83\u4eec\u5bf9 3D \u7f51\u683c\u7684\u4f9d\u8d56\u5bfc\u81f4\u4e86\u8f83\u9ad8\u7684\u8ba1\u7b97\u6210\u672c\uff0c\u4f7f\u5176\u4e0d\u592a\u9002\u5408\u5b9e\u65f6\u5e94\u7528\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e9b\u9650\u5236\uff0c\u4f5c\u8005\u5f15\u5165\u4e86 GaussianLSS\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e 2D \u53cd\u6295\u5f71\u7684\u65b9\u6cd5\uff0c\u901a\u8fc7\u5f15\u5165\u65b0\u9896\u7684\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u6280\u672f\uff0c\u5728\u51c6\u786e\u6027\u548c\u6548\u7387\u4e4b\u95f4\u53d6\u5f97\u4e86\u5e73\u8861\uff0c\u4ee5\u6ee1\u8db3\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u7684\u5b9e\u65f6\u6027\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u56fe1\u5c55\u793a\u4e86 GaussianLSS \u63a8\u7406\u901f\u5ea6\u548c\u6027\u80fd\u7684\u5bf9\u6bd4\uff0c\u53ef\u4ee5\u770b\u5230\u4f5c\u8005\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u63a8\u7406\u901f\u5ea6\u548c\u6548\u679c\u4e0a\u6709\u7740\u975e\u5e38\u4e0d\u9519\u7684\u6743\u8861\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-a1e24ae77aeda0280f65da2b8d8e5ca3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5f15\u5165\u4e86 GaussianLSS\uff0c\u8fd9\u662f\u4e00\u79cd\u9488\u5bf9 BEV \u611f\u77e5\u91cf\u8eab\u5b9a\u5236\u7684\u65b0\u578b\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u65b9\u6cd5\uff0c\u5b83\u6355\u83b7\u5e76\u5229\u7528\u6df1\u5ea6\u6a21\u7cca\u6027\u6765\u6539\u5584\u7a7a\u95f4\u8868\u793a\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u8ba1\u7b97\u6548\u7387\u9ad8\u7684\u65b9\u6cd5\uff0c\u5c06\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u8f6c\u6362\u4e3a 3D \u6982\u7387\u5206\u5e03\uff0c\u5e76\u5c06\u5176\u4e0e <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256451589&amp;content_type=Article&amp;match_order=1&amp;q=Gaussian+Splatting&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Gaussian Splatting<\/a><\/li>\n<\/ol>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u65e0\u7f1d\u96c6\u6210\uff0c\u4ee5\u5b9e\u73b0\u5feb\u901f\u51c6\u786e\u7684 BEV \u7279\u5f81\u805a\u5408\u3002<\/li>\n\n\n\n<li>GaussianLSS \u5728 2D \u975e\u6295\u5f71\u65b9\u6cd5\u4e2d\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\uff0c\u5e76\u4e14\u4e0e 3D \u6295\u5f71\u65b9\u6cd5\u5177\u6709\u7ade\u4e89\u529b\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u663e\u7740\u51cf\u5c11\u4e86\u5185\u5b58\u4f7f\u7528\u91cf\u548c\u63a8\u7406\u65f6\u95f4\uff0c\u4f7f\u5176\u975e\u5e38\u9002\u5408\u73b0\u5b9e\u4e16\u754c\u7684\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\">\u76f8\u5173\u5de5\u4f5c<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">3D \u6295\u5f71\u7684\u76ee\u6807\u68c0\u6d4b\/\u5206\u5272<\/h3>\n\n\n\n<p>3D \u6295\u5f71\u65b9\u6cd5\u5c06\u9884\u5b9a\u4e49\u7684 3D \u4f53\u7d20\u70b9\u6620\u5c04\u5230\u56fe\u50cf\u5e73\u9762\u4e0a\u4ee5\u91c7\u6837\u7279\u5f81\uff0c\u6d88\u9664\u4e86\u5bf9\u663e\u5f0f\u6df1\u5ea6\u4f30\u8ba1\u7684\u9700\u6c42\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u5c06\u7279\u5f81\u653e\u7f6e\u5728\u5408\u7406\u7684 3D \u4f4d\u7f6e\uff0c\u7ed5\u8fc7\u4e86\u76f4\u63a5\u6df1\u5ea6\u9884\u6d4b\u7684\u590d\u6742\u6027\u3002\u503c\u5f97\u5173\u6ce8\u7684\u5de5\u4f5c\u6709\uff0cBEVFormer \u548c SimpleBEV\u7b49\uff0c\u91c7\u7528\u7f51\u683c\u91c7\u6837\u6765\u9ad8\u6548\u5730\u5728 BEV \u5e73\u9762\u4e0a\u805a\u5408\u591a\u89c6\u56fe\u7279\u5f81\u3002\u4e3a\u4e86\u5e94\u5bf9\u7f51\u683c\u5206\u8fa8\u7387\u7684\u6311\u6218\uff0cPointBEV \u5f15\u5165\u4e86\u4e00\u79cd\u4ece\u7c97\u5230\u7ec6\u7684\u8bad\u7ec3\u7b56\u7565\uff0c\u4ece\u5bc6\u96c6\u7f51\u683c\u8fc7\u6e21\u5230\u7a00\u758f\u7f51\u683c\uff0c\u8fd9\u5728\u4fdd\u7559\u51c6\u786e\u5ea6\u7684\u540c\u65f6\u51cf\u5c11\u4e86\u5185\u5b58\u6d88\u8017\u3002\u5c3d\u7ba1\u53d6\u5f97\u4e86\u8fd9\u4e9b\u8fdb\u5c55\uff0c\u4e0e 2D \u53cd\u6295\u5f71\u65b9\u6cd5\u76f8\u6bd4\uff0c3D \u6295\u5f71\u65b9\u6cd5\u4ecd\u7136\u8ba1\u7b97\u5bc6\u96c6\uff0c\u9650\u5236\u4e86\u5b83\u4eec\u5728\u73b0\u5b9e\u5e94\u7528\u4e2d\u7684\u53ef\u6269\u5c55\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u9690\u5f0f 2D \u53cd\u6295\u5f71\u7684\u76ee\u6807\u68c0\u6d4b\/\u5206\u5272<\/h3>\n\n\n\n<p>\u9690\u5f0f 2D \u53cd\u6295\u5f71\u65b9\u6cd5\u5229\u7528\u57fa\u4e8e Transformer \u7684\u67b6\u6784\u548c MLP\uff0c\u4ece 2D \u56fe\u50cf\u5230 3D \u7a7a\u95f4\u8fdb\u884c\u5b66\u4e60\u6620\u5c04\uff0c\u800c\u65e0\u9700\u663e\u5f0f\u9884\u6d4b\u6df1\u5ea6\u3002\u8fd9\u4e9b\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u901a\u8fc7\u5728\u4ea4\u53c9\u6ce8\u610f\u529b\u6846\u67b6\u4e2d\u6574\u5408 BEV \u7f51\u683c\u67e5\u8be2\u548c\u76f8\u673a\u611f\u77e5\u4f4d\u7f6e\u5d4c\u5165\uff0c\u9690\u5f0f\u5730\u5b66\u4e60\u7a7a\u95f4\u5173\u7cfb\u548c\u6df1\u5ea6\u7ebf\u7d22\u3002\u7136\u800c\uff0c\u7531\u4e8e\u6295\u5f71\u662f\u9690\u5f0f\u7684\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u5904\u7406\u6df1\u5ea6\u6a21\u7cca\u6027\u65f6\u9762\u4e34\u6311\u6218\u3002\u53e6\u5916\uff0c\u968f\u7740 BEV \u7f51\u683c\u548c\u56fe\u50cf\u5206\u8fa8\u7387\u7684\u589e\u52a0\uff0c\u5b83\u4eec\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u663e\u8457\u589e\u52a0\uff0c\u4f7f\u5176\u5728\u9ad8\u5206\u8fa8\u7387\u5e94\u7528\u4e2d\u6548\u7387\u8f83\u4f4e\u4e14\u53ef\u6269\u5c55\u6027\u8f83\u5dee\u3002\u8fd9\u4e9b\u9650\u5236\u9650\u5236\u4e86\u5b83\u4eec\u5728\u9700\u8981\u7cbe\u786e\u7a7a\u95f4\u8868\u793a\u7684\u8be6\u7ec6\u573a\u666f\u4e2d\u7684\u5b9e\u7528\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u663e\u5f0f 2D \u53cd\u6295\u5f71\u7684\u76ee\u6807\u68c0\u6d4b\/\u5206\u5272<\/h3>\n\n\n\n<p>Lift-Splat-Shoot (LSS) \u5f15\u5165\u4e86\u4e00\u4e2a\u9ad8\u6548\u7684\u6d41\u7a0b\uff0c\u5c06 2D \u7279\u5f81\u63d0\u5347\u5230 3D\uff0c\u8fd9\u4e00\u8bbe\u8ba1\u5df2\u6210\u4e3a 3D \u611f\u77e5\u4efb\u52a1\u7684\u57fa\u7840\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e25\u91cd\u4f9d\u8d56\u4e8e\u51c6\u786e\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u8fd9\u4f7f\u5f97\u5b83\u5bf9\u6df1\u5ea6\u9884\u6d4b\u8bef\u5dee\u654f\u611f\uff0c\u8fd9\u4e9b\u8bef\u5dee\u53ef\u80fd\u4f1a\u4f20\u64ad\u5230 BEV \u8868\u793a\u4e2d\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e00\u95ee\u9898\uff0c\u540e\u7eed\u5de5\u4f5c\u589e\u52a0\u4e86\u6df1\u5ea6\u76d1\u7763\u4f5c\u4e3a\u8f85\u52a9\u635f\u5931\uff0c\u4ee5\u63d0\u9ad8\u6df1\u5ea6\u51c6\u786e\u6027\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u4f7f\u7528\u6982\u7387\u6df1\u5ea6\u5206\u5e03\u6765\u8f6f\u6027\u63d0\u5347\u7279\u5f81\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u7f3a\u4e4f\u5bf9\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u7684\u663e\u5f0f\u8868\u793a\u3002\u8fd9\u4e00\u9650\u5236\u963b\u788d\u4e86\u5b83\u4eec\u5728\u590d\u6742\u573a\u666f\u4e2d\u6709\u6548\u5904\u7406\u6df1\u5ea6\u6a21\u7cca\u6027\u7684\u80fd\u529b\u3002GaussianLSS \u901a\u8fc7\u5c06\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u663e\u5f0f\u5efa\u6a21\u4e3a\u6982\u7387\u5206\u5e03\u7684\u65b9\u5dee\u6765\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\u3002\u8fd9\u79cd\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684\u6df1\u5ea6\u8868\u793a\u51cf\u5c11\u4e86\u5bf9\u7cbe\u786e\u6df1\u5ea6\u4f30\u8ba1\u7684\u4f9d\u8d56\uff0c\u5141\u8bb8\u6a21\u578b\u6355\u6349\u56f4\u7ed5\u6df1\u5ea6\u5747\u503c\u7684\u53ef\u53d8\u7a7a\u95f4\u8303\u56f4\uff0c\u89c1\u56fe2\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-9d55e47437f80b9e2c6be2f38fa601db_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21<\/h3>\n\n\n\n<p>\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u662f\u4e00\u79cd\u5e7f\u6cdb\u91c7\u7528\u7684\u65b9\u6cd5\uff0c\u7528\u4e8e\u6355\u6349\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\u4e2d\u7684\u6a21\u7cca\u6027\uff0c\u5e94\u7528\u9886\u57df\u5305\u62ec\u8bed\u4e49\u5206\u5272\u3001\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u548c\u65b0\u89c6\u56fe\u5408\u6210\u3002\u4f30\u8ba1\u4e0d\u786e\u5b9a\u6027\u7684\u5e38\u89c1\u65b9\u6cd5\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9884\u6d4b\u5206\u5e03\u7684\u65b9\u5dee<\/strong>\uff1a\u57fa\u4e8e\u9884\u6d4b\u6982\u7387\u5206\u5e03\u7684\u65b9\u5dee\u6765\u8861\u91cf\u4e0d\u786e\u5b9a\u6027\uff0c\u76f4\u63a5\u8868\u660e\u5bf9\u8f93\u51fa\u7684\u7f6e\u4fe1\u5ea6\u3002<\/li>\n\n\n\n<li><strong>\u57fa\u4e8e MLP \u7684\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1<\/strong>\uff1a\u4f7f\u7528\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u8f93\u51fa\u5355\u4e2a\u4e0d\u786e\u5b9a\u6027\u5206\u6570\u6216\u9884\u6d4b\u7531\u5747\u503c\u548c\u65b9\u5dee\u63cf\u8ff0\u7684\u5206\u5e03\uff0c\u5176\u4e2d\u65b9\u5dee\u4f5c\u4e3a\u4e0d\u786e\u5b9a\u6027\u5ea6\u91cf\u3002<\/li>\n\n\n\n<li><strong>\u8d1d\u53f6\u65af\u7f51\u7edc<\/strong>\uff1a\u5f15\u5165\u6982\u7387\u5148\u9a8c\u5206\u5e03\uff0c\u4ee5\u539f\u7406\u6027\u6846\u67b6\u5bf9\u4e0d\u786e\u5b9a\u6027\u8fdb\u884c\u5efa\u6a21\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8fd9\u4e9b\u65b9\u6cd5\u5404\u81ea\u63d0\u4f9b\u4e86\u72ec\u7279\u7684\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u65b9\u5f0f\uff0c\u652f\u6301\u5728\u5404\u79cd\u573a\u666f\u4e2d\u8fdb\u884c\u66f4\u7a33\u5065\u7684\u9884\u6d4b\u3002\u5728\u4f5c\u8005\u7684\u5de5\u4f5c\u4e2d\uff0c\u4f5c\u8005\u901a\u8fc7\u5173\u6ce8\u6df1\u5ea6\u5206\u5e03\u7684\u65b9\u5dee\u6765\u91c7\u7528\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\uff0c\u5229\u7528\u5b83\u589e\u5f3a BEV \u5206\u5272\u6027\u80fd\uff0c\u7279\u522b\u662f\u5728\u5b58\u5728\u6df1\u5ea6\u6a21\u7cca\u6027\u7684\u60c5\u51b5\u4e0b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">GaussianLSS \u6a21\u578b<\/h2>\n\n\n\n<p>\u4f5c\u8005\u7684\u76ee\u6807\u662f\u5c06\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u6574\u5408\u5230 BEV \u8868\u793a\u6d41\u7a0b\u4e2d\uff0c\u4ee5\u5e94\u5bf9\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u6df1\u5ea6\u6a21\u7cca\u6027\u6311\u6218\u3002GaussianLSS \u7684\u6982\u8ff0\u5982\u56fe 3 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-f923f8ede7913a9e67ee5eed111b4163_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>GaussianLSS \u9996\u5148\u9884\u6d4b\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u5206\u5e03\uff0c\u63d0\u4f9b\u76f8\u5e94\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u7684\u4f30\u8ba1\u3002\u5229\u7528\u76f8\u673a\u7684\u6295\u5f71\u77e9\u9635\uff0c\u4f5c\u8005\u5b9a\u4e49\u4e86\u4e00\u4e2a\u76f8\u673a\u89c6\u9525\u7a7a\u95f4\uff0c\u5c06\u8fd9\u79cd\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u8f6c\u6362\u4e3a\u7531\u5747\u503c\u548c\u534f\u65b9\u5dee\u77e9\u9635\u8868\u793a\u7684 3D \u5206\u5e03\u3002\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u6548\u7684 BEV \u7279\u5f81\u7ed8\u5236\uff0c\u4f5c\u8005\u5728 3D \u9ad8\u65af\u8868\u793a\u4e2d\u5f15\u5165\u4e86\u4e00\u4e2a\u4e0d\u900f\u660e\u5ea6\u53c2\u6570\uff0c\u4ece\u800c\u53ef\u4ee5\u4f7f\u7528\u9ad8\u65af\u7ed8\u5236\u5149\u6805\u5316\u3002\u7136\u800c\uff0c\u4f5c\u8005\u89c2\u5bdf\u5230\u7531\u4e8e\u76f8\u90bb\u50cf\u7d20\u4e4b\u95f4\u6df1\u5ea6\u5747\u503c\u4e0d\u4e00\u81f4\uff0cBEV \u7279\u5f81\u53ef\u80fd\u4f1a\u51fa\u73b0\u5931\u771f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f5c\u8005\u91c7\u7528\u4e86\u591a\u5c3a\u5ea6 BEV \u6e32\u67d3\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u6df1\u5ea6\u4e0d\u786e\u5b9a\u5ea6\u5efa\u6a21<\/h3>\n\n\n\n<p>\u4f5c\u8005\u9996\u5148\u56de\u987e\u5f00\u521b\u6027\u5de5\u4f5c Lift-Splat-Shoot\u3002\u5b83\u9996\u5148\u5c06\u6df1\u5ea6\u8303\u56f4 [d_min, d_max] \u79bb\u6563\u5316\u4e3a B \u4e2a\u7bb1\u5b50\u3002\u8fd9\u521b\u5efa\u4e86\u4e00\u4e2a\u79bb\u6563\u6df1\u5ea6\u96c6\u5408 D\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"674\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/041601.png\" alt=\"\" class=\"wp-image-27841\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041601.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041601-297x300.png 297w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041601-150x150.png 150w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"862\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/041602.png\" alt=\"\" class=\"wp-image-27842\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041602.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041602-235x300.png 235w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"697\" height=\"871\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/041603.png\" alt=\"\" class=\"wp-image-27843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041603.png 697w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041603-240x300.png 240w\" sizes=\"(max-width: 697px) 100vw, 697px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"135\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/041604.png\" alt=\"\" class=\"wp-image-27844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041604.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/041604-300x61.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u5b9e\u9a8c\u53ca\u7ed3\u679c<\/h2>\n\n\n\n<p>\u4f5c\u8005\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256451589&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes+%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes \u6570\u636e\u96c6<\/a><\/p>\n\n\n\n<p>\u4e0a\u8bc4\u4f30\u4e86 GaussianLSS\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u4e0e\u73b0\u5b58\u65b9\u6848\u7684\u5bf9\u6bd4<\/h3>\n\n\n\n<p>\u4f5c\u8005\u5c06 GaussianLSS \u4e0e\u57fa\u4e8e\u53cd\u6295\u5f71\u548c\u6295\u5f71\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5982\u8868 1 \u6240\u793a\uff0cGaussianLSS \u5728\u6240\u6709\u57fa\u4e8e\u53cd\u6295\u5f71\u7684\u65b9\u6cd5\u4e2d\u8868\u73b0\u6700\u4f73\uff0c\u5e76\u4e14\u4e0e\u57fa\u4e8e\u6295\u5f71\u7684\u65b9\u6cd5\u76f8\u6bd4\u5177\u6709\u76f8\u5f53\u7684\u6027\u80fd\u3002\u4f5c\u8005\u89c2\u5bdf\u5230\uff0c\u5373\u4f7f\u4f7f\u7528\u591a\u5c3a\u5ea6\u6e32\u67d3\uff0cGaussianLSS \u5728\u9884\u6d4b\u5bf9\u8c61\u5f62\u72b6\u65b9\u9762\u4ecd\u7136\u6bd4\u57fa\u4e8e\u6295\u5f71\u7684\u65b9\u6cd5\u5dee\uff0c\u4f46\u80fd\u591f\u6355\u6349\u5230\u66f4\u8fdc\u8ddd\u79bb\u7684\u5bf9\u8c61\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-3b9d4f0478584a0ff677354d8e9c9bf8_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u8868 2 \u6bd4\u8f83\u4e86\u884c\u4eba\u7c7b\u522b\u5206\u5272\uff0c\u800c\u8868 3 \u663e\u793a\u4e86\u63a8\u7406\u901f\u5ea6\u548c\u5185\u5b58\u6d88\u8017\u3002GaussianLSS \u5b9e\u73b0\u4e86 80.2 FPS\uff0c\u6bd4 PointBEV \u5feb 2.5 \u500d\uff0c\u5c55\u793a\u4e86\u5176\u6548\u7387\u3002\u9664\u4e86\u5217\u51fa\u7684\u4efb\u52a1\u5916\uff0c\u4f5c\u8005\u8fd8\u5728\u5176\u4ed6\u5e94\u7528\u4e2d\u8bc4\u4f30\u4e86 GaussianLSS\uff0c\u5305\u62ec\u5730\u56fe\u5206\u5272\u548c 3D \u76ee\u6807\u68c0\u6d4b\u3002\u8fd9\u4e9b\u7ed3\u679c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86 GaussianLSS \u5728\u4e0d\u540c\u4efb\u52a1\u4e2d\u7684\u591a\u529f\u80fd\u6027\uff0c\u663e\u793a\u4e86\u4e0d\u786e\u5b9a\u6027\u8868\u793a\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-a3b58c1194153c92c99e585041396114_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-746bd03c0253256e24ef48fadf9f7e40_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">\u8bef\u5dee\u5bb9\u5dee\u7cfb\u7684\u6d88\u878d\u5b9e\u9a8c<\/h3>\n\n\n\n<p>\u8bef\u5dee\u5bb9\u5dee\u7cfb\u6570 k \u662f\u4f5c\u8005\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\u65b9\u6cd5\u4e2d\u7684\u4e00\u4e2a\u5173\u952e\u53c2\u6570\u3002\u5b83\u901a\u8fc7\u63a7\u5236\u56f4\u7ed5\u6bcf\u4e2a 3D \u70b9\u7684\u692d\u7403\u4f53\u7684\u5927\u5c0f\uff0c\u5b9a\u4e49\u4e86 3D \u4e0d\u786e\u5b9a\u6027\u8868\u793a\u7684\u7a7a\u95f4\u8303\u56f4\u3002\u8f83\u5c0f\u7684 k \u9650\u5236\u4e86\u7ed8\u5236\u5230\u9ad8\u7f6e\u4fe1\u5ea6\u533a\u57df\uff0c\u4f46\u53ef\u80fd\u4f1a\u5ffd\u7565\u7269\u4f53\u7684\u6709\u6548\u8303\u56f4\uff1b\u800c\u8f83\u5927\u7684 k 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