{"id":28032,"date":"2025-04-21T17:32:38","date_gmt":"2025-04-21T09:32:38","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28032"},"modified":"2025-04-21T17:32:38","modified_gmt":"2025-04-21T09:32:38","slug":"2025-04-21-%e5%bc%80%e9%97%ad%e7%8e%af%e5%8f%8csota%ef%bc%81%e5%9c%b0%e5%b9%b3%e7%ba%bfttog%ef%bc%9a%e7%ab%af%e5%88%b0%e7%ab%af%e6%80%a7%e8%83%bd%e6%9a%b4%e5%8a%9b%e6%8f%90%e5%8d%8722%ef%bc%8c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/21\/28032\/","title":{"rendered":"2025-04-21 \u5f00\u95ed\u73af\u53ccSOTA\uff01\u5730\u5e73\u7ebfTTOG\uff1a\u7aef\u5230\u7aef\u6027\u80fd\u66b4\u529b\u63d0\u534722%\uff0c\u5927\u5e45\u8d85\u8d8aSparseDrive~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1897451927333225588\">https:\/\/zhuanlan.zhihu.com\/p\/1897451927333225588<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&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>\u8fd1\u5e74\u6765\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u4ee5\u5f80\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u901a\u5e38\u5c06\u89c4\u5212\u548c\u8fd0\u52a8\u4efb\u52a1\u89e3\u8026\uff0c\u89c6\u4e3a\u72ec\u7acb\u6a21\u5757\u3002\u8fd9\u79cd\u5206\u79bb\u5ffd\u89c6\u4e86\u89c4\u5212\u53ef\u4ee5\u4ece\u8fd0\u52a8\u4efb\u52a1\u4e2d\u9047\u5230\u7684\u5206\u5e03\u5916\u6570\u636e\u4e2d\u5b66\u4e60\u7684\u6f5c\u5728\u597d\u5904\u3002\u7136\u800c\uff0c\u7edf\u4e00\u8fd9\u4e9b\u4efb\u52a1\u5e26\u6765\u4e86\u91cd\u5927\u6311\u6218\uff0c\u4f8b\u5982\u6784\u5efa\u5171\u4eab\u4e0a\u4e0b\u6587\u8868\u793a\u548c\u5904\u7406\u5176\u4ed6\u8f66\u8f86\u72b6\u6001\u7684\u4e0d\u53ef\u89c2\u6d4b\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86TTOG\uff0c\u4e00\u79cd\u65b0\u9896\u7684\u4e24\u9636\u6bb5\u8f68\u8ff9\u751f\u6210\u6846\u67b6\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u751f\u6210\u4e00\u7ec4\u591a\u6837\u7684\u8f68\u8ff9\u5019\u9009\uff0c\u800c\u7b2c\u4e8c\u9636\u6bb5\u5219\u901a\u8fc7\u8f66\u8f86\u72b6\u6001\u4fe1\u606f\u5bf9\u8fd9\u4e9b\u5019\u9009\u8fdb\u884c\u7ec6\u5316\u3002\u4e3a\u4e86\u7f13\u89e3\u5176\u4ed6\u8f66\u8f86\u72b6\u6001\u4e0d\u53ef\u7528\u7684\u95ee\u9898\uff0cTTOG\u91c7\u7528\u4e86\u4e00\u4e2a\u57fa\u4e8e\u81ea\u8f66\u6570\u636e\u8bad\u7ec3\u7684\u72b6\u6001\u4f30\u8ba1\u5668\uff0c\u5e76\u5c06\u5176\u6269\u5c55\u5230\u5176\u4ed6\u8f66\u8f86\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&amp;content_type=Article&amp;match_order=1&amp;q=ECSA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ECSA<\/a>\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AD%89%E5%8F%98%E4%B8%8A%E4%B8%8B%E6%96%87%E5%85%B1%E4%BA%AB%E5%9C%BA%E6%99%AF%E9%80%82%E9%85%8D%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7b49\u53d8\u4e0a\u4e0b\u6587\u5171\u4eab\u573a\u666f\u9002\u914d\u5668<\/a>\uff09\u4ee5\u589e\u5f3a\u4e0d\u540c\u4ee3\u7406\u4e4b\u95f4\u7684\u573a\u666f\u8868\u793a\u6cdb\u5316\u80fd\u529b\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cTTOG\u5728\u89c4\u5212\u548c\u8fd0\u52a8\u4efb\u52a1\u4e0a\u5747\u8fbe\u5230\u4e86\u6700SOTA\u7684\u6027\u80fd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u5f00\u73af<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a><\/p>\n\n\n\n<p>\u6570\u636e\u96c6\u4e0a\uff0cTTOG\u5c06L2\u8ddd\u79bb\u8bef\u5dee\u51cf\u5c11\u4e8636.06%\u3002\u6b64\u5916\uff0c\u5728\u95ed\u73afBench2Drive\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u9a7e\u9a76\u5f97\u5206(DS)\u63d0\u9ad822%\uff0c\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u57fa\u7ebf\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\/lQKQp9WZfNAiyTaxv89EgA\" target=\"_blank\" rel=\"noreferrer noopener\">\u5f00\u95ed\u73af\u53ccSOTA\uff01\u5730\u5e73\u7ebfTTOG\uff1a\u7aef\u5230\u7aef\u6027\u80fd\u66b4\u529b\u63d0\u534722%\uff0c\u5927\u5e45\u8d85\u8d8aSparseDrive~<\/a><\/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\/abs\/2504.12667\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2504.12667<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1897451927333225588_1\">\u7b80\u4ecb<\/h2>\n\n\n\n<p>\u968f\u7740\u6df1\u5ea6\u5b66\u4e60\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u6b63\u4ece\u4f20\u7edf\u7684\u624b\u5de5\u8bbe\u8ba1\u3001\u6a21\u5757\u5316\u67b6\u6784\u5411\u7aef\u5230\u7aef\u67b6\u6784\u6f14\u8fdb\u3002\u4e0e\u5206\u522b\u5904\u7406\u591a\u4e2a\u5b50\u4efb\u52a1\u7684\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u529b\u6c42\u65e0\u7f1d\u96c6\u6210\u5e76\u8054\u5408\u4f18\u5316\u591a\u4e2a\u5b50\u4efb\u52a1\u3002\u8fd9\u4e9b\u7cfb\u7edf\u4ee5\u4f20\u611f\u5668\u6570\u636e\u4f5c\u4e3a\u8f93\u5165\uff0c\u76f4\u63a5\u8f93\u51fa\u672a\u6765\u8f68\u8ff9\u6216\u63a7\u5236\u4fe1\u53f7\u3002\u7531\u4e8e\u5176\u6574\u4f53\u4f18\u5316\u80fd\u529b\u548c\u907f\u514d\u8de8\u6a21\u5757\u8bef\u5dee\u7d2f\u79ef\u7684\u4f18\u52bf\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u6700\u8fd1\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002<\/p>\n\n\n\n<p>\u4f5c\u4e3a\u89c4\u5212\u4efb\u52a1\u7684\u5173\u952e\u8f93\u5165\uff0c\u8fd0\u52a8\u9884\u6d4b\u7684\u6027\u80fd\u76f4\u63a5\u5f71\u54cd\u89c4\u5212\u7ed3\u679c\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002\u76ee\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u901a\u5e38\u4f7f\u7528\u4e32\u884c\u7ed3\u6784\u8fde\u63a5\u8fd0\u52a8\u6a21\u5757\u548c\u89c4\u5212\u6a21\u5757\uff0c\u6216\u5c06\u4e24\u8005\u8bbe\u8ba1\u4e3a\u5e76\u884c\u7ed3\u6784\u3002\u8fd9\u79cd\u4e32\u884c\u6216\u5e76\u884c\u8bbe\u8ba1\u4e0d\u4ec5\u9650\u5236\u4e86\u4efb\u52a1\u4e4b\u95f4\u7684\u6df1\u5165\u4fe1\u606f\u4ea4\u4e92\uff0c\u8fd8\u53ef\u80fd\u5bfc\u81f4\u9519\u8bef\u4f20\u64ad\u548c\u6027\u80fd\u74f6\u9888\uff0c\u672a\u80fd\u5145\u5206\u5229\u7528\u4e24\u9879\u4efb\u52a1\u4e4b\u95f4\u7684\u534f\u540c\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-e8a55227e39383cb083c8ee889bd52c5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6700\u8fd1\uff0c\u4e00\u4e9b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u5c1d\u8bd5\u6574\u5408\u6765\u81ea\u89c4\u5212\u548c\u8fd0\u52a8\u4efb\u52a1\u7684\u8f93\u5165\uff0c\u5e76\u8bbe\u8ba1\u590d\u6742\u7684\u4ea4\u4e92\u6a21\u5757\u6765\u6a21\u62df\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u4efb\u52a1\u4ea4\u4e92\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5f80\u5f80\u4f9d\u8d56\u4e8e\u5927\u91cf\u624b\u5de5\u89c4\u5219\u6216\u590d\u6742\u7ed3\u6784\uff0c\u672a\u80fd\u5145\u5206\u6316\u6398\u4efb\u52a1\u95f4\u7684\u5185\u5728\u5173\u7cfb\u3002\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86TTOG\uff0c\u4e00\u79cd\u91cd\u65b0\u5b9a\u4e49\u89c4\u5212\u4efb\u52a1\u4f5c\u4e3a\u8fd0\u52a8\u9884\u6d4b\u7279\u6b8a\u60c5\u51b5\u7684\u65b0\u65b9\u6cd5\u3002\u8fd9\u4f7f\u5f97\u89c4\u5212\u4efb\u52a1\u80fd\u591f\u5229\u7528\u5176\u4ed6\u8f66\u8f86\u7684\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ece\u800c\u5b66\u4e60\u6570\u636e\u96c6\u4e2d\u81ea\u8f66\u672a\u66fe\u9047\u5230\u7684\u573a\u666f\u3002\u4e00\u4e2a\u7b80\u5355\u7684\u65b9\u6cd5\u662f\u8bad\u7ec3\u4e00\u4e2a\u4e0d\u533a\u5206\u5176\u4ed6\u8f66\u8f86\u548c\u81ea\u8f66\u7684\u7edf\u4e00\u89e3\u7801\u5668\uff0c\u540c\u65f6\u6267\u884c\u8fd0\u52a8\u548c\u89c4\u5212\u4efb\u52a1\u7684\u9884\u6d4b\uff0c\u4ece\u800c\u5b9e\u73b0\u8fd0\u52a8\u6570\u636e\u7684\u91cd\u7528\u3002\u901a\u8fc7\u5171\u4eab\u89e3\u7801\u5668\u53c2\u6570\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u5c06\u5176\u4ed6\u8f66\u8f86\u6570\u636e\u7684\u77e5\u8bc6\u8f6c\u79fb\u5230\u81ea\u8f66\u7684\u89c4\u5212\u4efb\u52a1\u4e2d\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5c06\u8fd0\u52a8\u6570\u636e\u7528\u4e8e\u89c4\u5212\u4efb\u52a1\u9762\u4e34\u4e24\u4e2a\u5173\u952e\u6311\u6218\u3002\u9996\u5148\uff0c\u5176\u4ed6\u8f66\u8f86\u7684\u81ea\u72b6\u6001\u672c\u8d28\u4e0a\u662f\u4e0d\u53ef\u7528\u7684\uff0c\u5bfc\u81f4\u76f4\u63a5\u4f7f\u7528\u8fd0\u52a8\u6570\u636e\u8bad\u7ec3\u65f6\u6570\u636e\u4e0d\u5b8c\u6574\u3002\u5176\u6b21\uff0c\u89c4\u5212\u4efb\u52a1\u7684\u8f93\u5165\u901a\u5e38\u662f\u4ece\u81ea\u8f66\u89c6\u89d2\u6536\u96c6\u7684\uff0c\u800c\u8fd0\u52a8\u6570\u636e\u662f\u4ece\u5176\u4ed6\u8f66\u8f86\u89c6\u89d2\u89c2\u5bdf\u7684\u3002\u8fd9\u79cd\u89c6\u89d2\u5dee\u5f02\u5bfc\u81f4\u6570\u636e\u5206\u5e03\u548c\u4e0a\u4e0b\u6587\u8868\u793a\u7684\u91cd\u5927\u4e0d\u4e00\u81f4\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u672c\u6587\u8bbe\u8ba1\u57fa\u4e8e\u4e24\u4e2a\u5173\u952e\u7ec4\u4ef6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7b49\u53d8\u4e0a\u4e0b\u6587\u5171\u4eab\u573a\u666f\u9002\u914d\u5668\uff1a\u4e3a\u4e86\u786e\u4fdd\u63d0\u53d6\u7684\u573a\u666f\u7279\u5f81\u5bf9\u4e8e\u65cb\u8f6c\u548c\u5e73\u79fb\u662f\u4e0d\u53d8\u7684\uff0c\u540c\u65f6\u80fd\u591f\u9ad8\u6548\u5730\u5728\u591a\u4e2a\u4ee3\u7406\u4e4b\u95f4\u5171\u4eab\uff0cTTOG \u96c6\u6210\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AD%89%E5%8F%98%E5%9B%BE%E7%A5%9E%E7%BB%8F%E7%BD%91%E7%BB%9C&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7b49\u53d8\u56fe\u795e\u7ecf\u7f51\u7edc<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256649638&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9B%86%E5%90%88%E6%B3%A8%E6%84%8F%E5%8A%9B%E6%9C%BA%E5%88%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer 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class=\"wp-block-heading\" id=\"h_1897451927333225588_7\">3) 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class=\"wp-block-heading\" id=\"h_1897451927333225588_8\">\u65b9\u6cd5\u8be6\u89e3<\/h2>\n\n\n\n<p>\u56fe2\u5c55\u793a\u4e86\u6240\u63d0\u51fa\u7684TTOG\u7684\u67b6\u6784\uff0c\u8be5\u67b6\u6784\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7aef\u5230\u7aef\u8303\u5f0f\uff0c\u6574\u5408\u4e86\u8fd0\u52a8\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u3002\u8be5\u6846\u67b6\u901a\u8fc7\u8054\u5408\u5b66\u4e60\uff0c\u80fd\u591f\u4ece\u8fd0\u52a8\u6570\u636e\u4e2d\u5168\u9762\u8f6c\u79fb\u77e5\u8bc6\uff0c\u4ece\u800c\u589e\u5f3a\u89c4\u5212\u6027\u80fd\u3002\u6838\u5fc3\u521b\u65b0\u5305\u62ec\u4e24\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a1) 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alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"74\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/042105.png\" alt=\"\" class=\"wp-image-28037\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/042105.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/042105-300x34.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-5abb3fcb439c71dc7654e5cb658ff01b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>TTOG\u7684\u5353\u8d8a\u6027\u80fd\u6e90\u4e8e\u5176\u65b0\u9896\u7684\u8fd0\u52a8\u611f\u77e5\u7edf\u4e00\u8bad\u7ec3\u6574\u5408\uff0c\u4f7f\u5f97\u53ef\u4ee5\u5728\u591a\u6837\u5316\u7684\u89c4\u5212\u4efb\u52a1\u4e2d\u8fdb\u884c\u8054\u5408\u4f18\u5316\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u72ec\u7acb\u5904\u7406\u9a7e\u9a76\u5b50\u4efb\u52a1\u4e0d\u540c\uff0cTTOG\u5229\u7528\u8fd0\u52a8\u5148\u9a8c\u6765\u589e\u5f3a\u6cdb\u5316\u80fd\u529b\uff0c\u4ece\u800c\u4ea7\u751f\u66f4\u5f3a\u5927\u548c\u81ea\u9002\u5e94\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002\u8fd9\u79cd\u7edf\u4e00\u7684\u5b66\u4e60\u8303\u5f0f\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u7279\u5b9a\u4efb\u52a1\u7684\u6027\u80fd\uff0c\u8fd8\u786e\u4fdd\u4e86\u5728\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u53ef\u6269\u5c55\u6027\uff0c\u7a81\u663e\u4e86TTOG\u4f5c\u4e3a\u4e0b\u4e00\u4ee3\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u57fa\u7840\u6846\u67b6\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u5728Bench2Drive-fs\u548cnuScenes-fs\uff08\u5f00\u73af\uff09\uff0c\u88683\u603b\u7ed3\u4e86\u5728NuScene-fs\u548cBench2Drive-fs\u9a8c\u8bc1\u6570\u636e\u96c6\u4e0a\u7684\u89c4\u5212\u6027\u80fd\uff0c\u8bc4\u4f30\u4e86\u5173\u952e\u6307\u6807\uff1aL2\u8bef\u5dee\u548c\u78b0\u649e\u7387\u3002\u6211\u4eec\u5c06TTOG\u4e0eSparseDrive\uff08\u57fa\u7ebf\uff09\u3001VAD\u548cUniAD\uff08\u5148\u524d\u7684\u6700\u5148\u8fdb\u65b9\u6cd5\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7ed3\u679c\u8868\u660e\uff0cTTOG\u5728\u5c11\u6837\u672c\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\uff0c\u7279\u522b\u662f\u5728\u5e73\u8861\u9884\u6d4b\u7cbe\u5ea6\u548c\u5b89\u5168\u6027\u65b9\u9762\u3002\u5728NuScene-f 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class=\"wp-block-heading\" id=\"h_1897451927333225588_20\">\u6d88\u878d\u5b9e\u9a8c<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1897451927333225588_21\">TTOG\u4e2d\u4e0d\u540c\u6a21\u5757\u7684\u4f5c\u7528 \u5728NuScens\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\uff1a<\/h3>\n\n\n\n<p>\u88686\u5c55\u793a\u4e86TTOG\u6a21\u578b\u5728NuScenes\u548cBench2Drive\u6570\u636e\u96c6\u4e0a\u7684\u6d88\u878d\u7814\u7a76\uff0c\u5206\u6790\u4e86\u4e0d\u540c\u6a21\u5757\uff08UMP\u3001ESCA\u548cUTTD\uff09\u5bf9\u6027\u80fd\u6307\u6807\u7684\u5f71\u54cd\uff0c\u5305\u62ecL2(m)\u3001Col. Rate\u548cCEGR(L2)\u3002UMP\u6a21\u5757\u901a\u8fc7\u7edf\u4e00\u8fd0\u52a8\u548c\u89c4\u5212\u4efb\u52a1\u7b80\u5316\u4e86\u6a21\u578b\u67b6\u6784\u3002\u7136\u800c\uff0c\u5b9e\u8bc1\u7ed3\u679c\u63ed\u793a\u4e86\u5728NuScenes\u4e0a\u7684\u6b21\u4f18\u8868\u73b0\uff0c\u7279\u522b\u662f\u5728L2(m)\u548cCEGR(L2)\u6307\u6807\u4e0a\u3002\u8fd9\u8868\u660e\u7b80\u5355\u5730\u7edf\u4e00\u4efb\u52a1\u65e0\u6cd5\u8003\u8651\u5230\u8fd0\u52a8\u548c\u89c4\u5212\u4efb\u52a1\u4e4b\u95f4\u7684\u56fa\u6709\u5dee\u5f02\uff0c\u4ece\u800c\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002\u968f\u7740ESCA\u6a21\u5757\u7684\u5f15\u5165\uff0cTTOG\u5728Bench2Drive\u548cNuScenes\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u51fa\u663e\u8457\u6539\u8fdb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-fbe2bf64cf363fba47bd3436b43c1b59_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u7279\u522b\u662f\u5728NuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u5728t=2\u65f6\uff0cL2(m)\u8bef\u5dee\u964d\u81f30.51\u7c73\uff0c\u78b0\u649e\u7387(Col. Rate)\u964d\u81f30.22%\uff0cCEGR(avg)\u8fbe\u52304.89\u3002ESCA\u6a21\u5757\u901a\u8fc7\u7b49\u53d8\u64cd\u4f5c\u7edf\u4e00\u89c6\u89d2\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u66f4\u597d\u5730\u4ece\u8fd0\u52a8\u6570\u636e\u4e2d\u5b66\u4e60\u3002\u968f\u7740UTTD\u6a21\u5757\u7684\u5f15\u5165\uff0cTTOG\u7684\u6574\u4f53\u6027\u80fd\u8fdb\u4e00\u6b65\u663e\u8457\u63d0\u9ad8\u3002\u5728NuScenes\u6570\u636e\u96c6\u548cBench2Drive\u4e0a\uff0cCEGR(L2)\u5206\u522b\u8fbe\u5230\u4e8612.58\u548c2.56\uff0c\u8868\u660e\u6a21\u578b\u5728\u8fd0\u52a8\u5b66\u4e60\u548c\u8f68\u8ff9\u9884\u6d4b\u65b9\u9762\u7684\u5f3a\u5927\u80fd\u529b\u3002\u4e0e\u5176\u4ed6\u6a21\u5757\u76f8\u6bd4\uff0cUTTD\u6709\u6548\u5730\u7edf\u4e00\u4e86\u8fd0\u52a8\u548c\u89c4\u5212\u4efb\u52a1\uff0c\u5bfc\u81f4\u6a21\u578b\u6027\u80fd\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-3e3023b43a506b0e86c72899cb766864_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728NuScens-fs\u548cBench2Drive-fs\u6570\u636e\u96c6\u4e0a\uff1a\u88687\u5c55\u793a\u4e86TTOG\u6a21\u578b\u5728NuScenes-fs\u548cBench2Drive-fs\u6570\u636e\u96c6\u4e0a\u7684\u6d88\u878d\u7814\u7a76\u7ed3\u679c\u3002\u5b9e\u9a8c\u5206\u6790\u4e86\u4e0d\u540c\u6a21\u5757\uff08UMP\u3001ESCA\u548cUTTD\uff09\u5bf9\u5173\u952e\u6307\u6807\u7684\u5f71\u54cd\uff0c\u5305\u62ecL2(m)\u3001Col.Rate\u548cCEGR(L2)\u3002UMP\u6a21\u5757\u901a\u8fc7\u7edf\u4e00\u8fd0\u52a8\u548c\u89c4\u5212\u4efb\u52a1\u7b80\u5316\u4e86\u6a21\u578b\u67b6\u6784\u3002\u7136\u800c\uff0c\u5176\u5728\u4e24\u4e2a\u5c11\u6837\u672c\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u5e76\u4e0d\u4ee4\u4eba\u6ee1\u610f\uff0c\u7279\u522b\u662f\u5728CEGR(L2)\u6307\u6807\u4e0a\u3002\u5728NuScenes-fs\u548cBench2Drive\u5728t=2s\u65f6\uff0cUMP\u7684CEGR(L2)\u4e3a-4.30\u548c-2.28\uff0c\u8868\u660e\u8fd0\u52a8\u5b66\u4e60\u5b58\u5728\u663e\u8457\u56f0\u96be\u3002\u8fd9\u4e00\u5c40\u9650\u6027\u6e90\u4e8eUMP\u672a\u80fd\u8003\u8651\u4efb\u52a1\u5dee\u5f02\u548c\u89c6\u89d2\u53d8\u5316\uff0c\u635f\u5bb3\u4e86\u5c11\u6837\u672c\u9002\u5e94\u80fd\u529b\u3002ESCA\u5229\u7528\u7b49\u53d8\u64cd\u4f5c\u589e\u5f3a\u8fd0\u52a8\u5b66\u4e60\u548c\u89c6\u89d2\u9002\u5e94\uff0c\u5728NuScenes-fs(t=2s)\u4e0a\u5b9e\u73b0\u4e860.57m L2\u30010.18%(Col. 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