{"id":28731,"date":"2025-05-20T17:31:44","date_gmt":"2025-05-20T09:31:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28731"},"modified":"2025-05-20T17:31:44","modified_gmt":"2025-05-20T09:31:44","slug":"2025-05-20-%e4%bd%90%e6%b2%bb%e4%ba%9a%e7%90%86%e5%b7%a5%e5%ad%a6%e9%99%a2%e6%9c%80%e6%96%b0%ef%bc%81gaussianformer3d%ef%bc%9a%e5%9f%ba%e4%ba%8e%e5%a4%9a%e6%a8%a1%e6%80%81%e9%ab%98%e6%96%af%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/20\/28731\/","title":{"rendered":"2025-05-20 \u4f50\u6cbb\u4e9a\u7406\u5de5\u5b66\u9662\u6700\u65b0\uff01GaussianFormer3D\uff1a\u57fa\u4e8e\u591a\u6a21\u6001\u9ad8\u65af\u7684\u4e09\u7ef4\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u8bed\u4e49OCC\u9884\u6d4b~"},"content":{"rendered":"\n<p><a href=\"https:\/\/www.zhihu.com\/people\/7-1-78-3\" target=\"_blank\" rel=\"noreferrer noopener\"><\/a>\u539f\u6587\u8fde\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1907889795356664403\">https:\/\/zhuanlan.zhihu.com\/p\/1907889795356664403<\/a><\/p>\n\n\n\n<p>\u4e09\u7ef4\u8bed\u4e49OCC\u9884\u6d4b\u5bf9\u4e8e\u5b9e\u73b0\u5b89\u5168\u53ef\u9760\u7684\u81ea\u52a8\u9a7e\u9a76\u81f3\u5173\u91cd\u8981\u3002\u4e0e\u7eaf\u89c6\u89c9\u7684\u611f\u77e5\u7cfb\u7edf\u76f8\u6bd4\uff0c\u591a\u6a21\u6001\u65b9\u6cd5\uff0c\u5c24\u5176\u662f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257937756&amp;content_type=Article&amp;match_order=1&amp;q=%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE-%E8%A7%86%E8%A7%89%E8%9E%8D%E5%90%88&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408<\/a>\u65b9\u6cd5\uff0c\u80fd\u591f\u4ea7\u751f\u66f4\u51c6\u786e\u548c\u8be6\u7ec6\u7684\u9884\u6d4b\u3002\u5c3d\u7ba1\u5927\u591a\u6570\u73b0\u6709\u5de5\u4f5c\u4f7f\u7528\u5bc6\u96c6\u7684\u57fa\u4e8e\u7f51\u683c\u7684\u8868\u793a\uff0c\u5728\u8fd9\u79cd\u8868\u793a\u4e2d\u6574\u4e2a3D\u7a7a\u95f4\u88ab\u5747\u5300\u5730\u5212\u5206\u4e3a\u79bb\u6563\u4f53\u7d20\uff0c\u4f463D\u9ad8\u65af\u63d0\u4f9b\u4e86\u4e00\u79cd\u7d27\u51d1\u4e14\u8fde\u7eed\u7684\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u8868\u793a\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257937756&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E9%AB%98%E6%96%AF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u9ad8\u65af<\/a>\u7684\u8bed\u4e49OCC\u9884\u6d4b\u6846\u67b6\uff0c\u5229\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257937756&amp;content_type=Article&amp;match_order=1&amp;q=3D%E5%8F%AF%E5%8F%98%E5%BD%A2%E6%B3%A8%E6%84%8F%E5%8A%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">3D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b<\/a><\/p>\n\n\n\n<p>\uff0c\u547d\u540d\u4e3aGaussianFormer3D\u3002\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u4ece\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u4e2d\u521d\u59cb\u53163D\u9ad8\u65af\u7684\u4f53\u7d20\u5230\u9ad8\u65af\u7b56\u7565\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u79cd\u7531\u6fc0\u5149\u96f7\u8fbe\u5f15\u5bfc\u76843D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff0c\u7528\u4e8e\u5728\u63d0\u5347\u76843D\u7a7a\u95f4\u4e2d\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408\u7279\u5f81\u6765\u4f18\u53163D\u9ad8\u65af\u3002\u6211\u4eec\u5728\u516c\u8def\u548c\u975e\u516c\u8def\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\u6211\u4eec\u7684GaussianFormer3D\u5728\u5177\u6709\u51cf\u5c11\u5185\u5b58\u6d88\u8017\u548c\u63d0\u9ad8\u6548\u7387\u7684\u60c5\u51b5\u4e0b\uff0c\u8fbe\u5230\u4e86\u4e0e\u6700\u5148\u8fdb\u7684\u591a\u6a21\u6001\u878d\u5408\u65b9\u6cd5\u76f8\u5f53\u7684\u9ad8\u9884\u6d4b\u7cbe\u5ea6\u3002<\/p>\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\/2505.10685\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2505.10685<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/lunarlab-gatech.github.io\/GaussianFormer3D\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/lunarlab-gatech.github.io\/GaussianFormer3D\/<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1907889795356664403_1\">\u672c\u6587\u7b80\u4ecb<\/h2>\n\n\n\n<p>\u611f\u77e5\u7cfb\u7edf\u5bf9\u4e8e\u6784\u5efa\u5b89\u5168\u53ef\u9760\u7684\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u81f3\u5173\u91cd\u8981\u3002\u5728\u5404\u79cd\u611f\u77e5\u4efb\u52a1\u4e2d\uff0c3D\u8bed\u4e49OCC\u9884\u6d4b\u5c24\u4e3a\u91cd\u8981\uff0c\u56e0\u4e3a\u5b83\u80fd\u591f\u7ec6\u7c92\u5ea6\u7406\u89e3\u73af\u5883\u7684\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\u3002\u57fa\u4e8e\u89c6\u89c9\u7684OCC\u9884\u6d4b\u7684\u6700\u65b0\u8fdb\u5c55\u5728\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e0a\u5c55\u793a\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u89c6\u89c9\u4f20\u611f\u5668\u5bf9\u5149\u7167\u6761\u4ef6\u654f\u611f\u4e14\u7f3a\u4e4f\u51c6\u786e\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u8fd9\u4fc3\u4f7f\u7814\u7a76\u4eba\u5458\u7ed3\u5408\u5176\u4ed6\u4f20\u611f\u5668\u6a21\u6001\u4ee5\u589e\u5f3a\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-9e519794b43e85c82693684901cb2772_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u59823D\u76ee\u6807\u68c0\u6d4b\u3002\u4e0e\u89c6\u89c9\u76f8\u6bd4\uff0c\u6fc0\u5149\u96f7\u8fbe\u63d0\u4f9b\u4e86\u66f4\u7cbe\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u5e76\u6355\u6349\u4e86\u7269\u4f53\u7684\u66f4\u7cbe\u7ec6\u7684\u51e0\u4f55\u5173\u7cfb\uff0c\u4f7f\u5f97\u6fc0\u5149\u96f7\u8fbe\u7279\u522b\u9002\u5408\u4e8e3D\u8bed\u4e49OCC\u9884\u6d4b\u3002\u7136\u800c\uff0c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684pipeline\u53ef\u80fd\u96be\u4ee5\u6355\u83b7\u5c0f\u76ee\u6807\u7684\u51c6\u786e\u8bed\u4e49\u4fe1\u606f\uff0c\u800c\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u5728\u8fd9\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002\u4e3a\u4e86\u5e73\u8861\u8bed\u4e49\u548c\u51e0\u4f55\uff0c\u5df2\u7ecf\u63d0\u51fa\u4e86\u591a\u6a21\u6001\u878d\u5408\u7b97\u6cd5\uff0c\u4ee5\u5229\u7528\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4f18\u52bf\u3002\u57fa\u4e8e\u878d\u5408\u7684\u8bed\u4e49OCC\u9884\u6d4b\u65b9\u6cd5\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408\u3001\u89c6\u89c9-\u96f7\u8fbe\u878d\u5408\u548c\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9-\u96f7\u8fbe\u878d\u5408\u3002\u5728\u8fd9\u4e9b\u4f20\u611f\u5668\u914d\u7f6e\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408\u662f\u6700\u6d41\u884c\u4e14\u8868\u73b0\u6700\u597d\u7684\u3002<\/p>\n\n\n\n<p>\u73b0\u6709\u7684\u5927\u591a\u6570\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u5360\u636e\u7f51\u7edc\u91c7\u75283D\u4f53\u7d20-based\u62162D\u9e1f\u77b0\u56fe(BEV)-based\u8868\u793a\uff0c\u4e24\u8005\u90fd\u5c063D\u573a\u666f\u63cf\u7ed8\u4e3a\u5bc6\u96c6\u7684\u7f51\u683c\u7ed3\u6784\u3002\u5c3d\u7ba1\u53d6\u5f97\u4e86\u53ef\u6bd4\u7684\u6027\u80fd\uff0c\u4f46\u5b83\u4eec\u4e0d\u53ef\u907f\u514d\u5730\u5728\u5197\u4f59\u7684\u7a7a\u7f51\u683c\u548c\u9ad8\u8ba1\u7b97\u6210\u672c\u4e0a\u5b58\u5728\u56f0\u96be\u3002\u6700\u8fd1\uff0c\u53d73D\u9ad8\u65af\u6cfc\u6e85\u6210\u529f\u7684\u542f\u53d1\uff0c\u4e00\u79cd\u65b0\u7684\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u8868\u793a\u9996\u6b21\u5728\u57fa\u4e8e\u89c6\u89c9\u76843D\u8bed\u4e49OCC\u9884\u6d4b\u4e2d\u5f97\u5230\u63a2\u7d22\u3002GaussianFormer\u5c063D\u573a\u666f\u8868\u793a\u4e3a\u4e00\u7ec43D\u9ad8\u65af\uff0c\u6bcf\u4e2a\u9ad8\u65af\u7531\u5747\u503c\u3001\u534f\u65b9\u5dee\u548c\u8bed\u4e49\u6807\u7b7e\u7ec4\u6210\u3002\u8fd9\u4e9b\u9ad8\u65af\u901a\u8fc72D\u53ef\u53d8\u5f62\u6ce8\u610f\u673a\u5236\u8fdb\u884c\u4f18\u5316\uff0c\u5e76\u901a\u8fc7\u9ad8\u6548\u7684\u9ad8\u65af\u5230\u4f53\u7d20\u6cfc\u6e85\u6a21\u5757\u9884\u6d4b\u8bed\u4e49\u5360\u636e\u3002\u7136\u800c\uff0c\u5f53\u524d\u7684\u9ad8\u65af\u57fa\u65b9\u6cd5\u4ec5\u4f9d\u8d56\u4e8e2D\u56fe\u50cf\u53cd\u9988\u6765\u66f4\u65b03D\u9ad8\u65af\uff0c\u9650\u5236\u4e86\u5176\u5efa\u6a21\u5177\u6709\u51c6\u786e\u6df1\u5ea6\u4fe1\u606f\u548c\u7ec6\u7c92\u5ea6\u51e0\u4f55\u7ed3\u6784\u76843D\u7a7a\u95f4\u7684\u80fd\u529b\u3002\u5982\u4f55\u5229\u7528\u6765\u81ea\u5176\u4ed6\u6a21\u6001\uff08\u5982\u6fc0\u5149\u96f7\u8fbe\uff09\u7684\u6570\u636e\u6765\u4f18\u5316\u548c\u83b7\u5f97\u66f4\u51c6\u786e\u76843D\u9ad8\u65af\u8868\u793a\uff0c\u4ee5\u5b9e\u73b0\u9ad8\u6548\u7684\u8bed\u4e49OCC\u9884\u6d4b\uff0c\u4ecd\u6709\u5f85\u63a2\u7d22\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u4e0a\u8ff0\u89c2\u5bdf\uff0c\u6211\u4eec\u63d0\u51fa\u4e86GaussianFormer3D\uff1a\u4e00\u79cd\u57fa\u4e8e\u591a\u6a21\u6001\u9ad8\u65af\u7684\u8bed\u4e49OCC\u9884\u6d4b\u6846\u67b6\uff0c\u7ed3\u54083D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\uff0c\u5982\u56fe1\u6240\u793a\u3002GaussianFormer3D\u4f7f\u7528\u4ece\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20\u7279\u5f81\u521d\u59cb\u5316\u76843D\u9ad8\u65af\u5efa\u6a21\u573a\u666f\uff0c\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u7edf\u4e00\u76843D\u7279\u5f81\u7a7a\u95f4\u4e2d\u76843D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u66f4\u65b0\u9ad8\u65af\uff0c\u5e76\u6700\u7ec8\u901a\u8fc7\u9ad8\u65af\u5230\u4f53\u7d20\u6cfc\u6e85\u9884\u6d4b\u8bed\u4e49\u5360\u636e\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0cGaussianFormer3D\u662f\u7b2c\u4e00\u4e2a\u91c7\u7528\u9ad8\u65af\u57fa\u4ee5\u76ee\u6807\u4e3a\u4e2d\u5fc3\u7684\u573a\u666f\u8868\u793a\u7684\u591a\u6a21\u6001\u8bed\u4e49\u5360\u636e\u7f51\u7edc\u3002\u7efc\u4e0a\u6240\u8ff0\uff0c\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u57fa\u4e8e\u591a\u6a21\u6001\u9ad8\u65af\u7684\u8bed\u4e49OCC\u9884\u6d4b\u6846\u67b6\u3002\u901a\u8fc7\u6574\u5408\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u6570\u636e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u76f8\u4f3c\u5185\u5b58\u4f7f\u7528\u60c5\u51b5\u4e0b\u663e\u8457\u4f18\u4e8e\u4ec5\u4f7f\u7528\u89c6\u89c9\u7684\u57fa\u7ebf\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4ece\u4f53\u7d20\u5230\u9ad8\u65af\u7684\u521d\u59cb\u5316\u6a21\u5757\uff0c\u4e3a3D\u9ad8\u65af\u63d0\u4f9b\u6765\u81ea\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u51e0\u4f55\u5148\u9a8c\u3002\u6211\u4eec\u8fd8\u5f00\u53d1\u4e86\u4e00\u79cd\u589e\u5f3a\u76843D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff0c\u901a\u8fc7\u5728\u63d0\u5347\u76843D\u7a7a\u95f4\u4e2d\u805a\u5408\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408\u7279\u5f81\u6765\u66f4\u65b0\u9ad8\u65af\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u5728\u4e24\u4e2a\u516c\u8def\u6570\u636e\u96c6<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257937756&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a><\/li>\n\n\n\n<li>-SurroundOcc\u548cnuScenes-Occ3D\u4ee5\u53ca\u4e00\u4e2a\u975e\u516c\u8def\u6570\u636e\u96c6RELLIS3D-WildOcc\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u8bc4\u4f30\u3002\u7ed3\u679c\u663e\u793a\uff0cGaussianFormer3D\u5728\u51cf\u5c11\u5185\u5b58\u6d88\u8017\u548c\u63d0\u9ad8\u6548\u7387\u7684\u60c5\u51b5\u4e0b\uff0c\u8868\u73b0\u4e0e\u6700\u5148\u8fdb\u7684\u5bc6\u96c6\u7f51\u683c\u57fa\u65b9\u6cd5\u76f8\u5f53\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1907889795356664403_2\">\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/h2>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u8bed\u4e49OCC\u9884\u6d4b<\/strong>\u3002\u591a\u6a21\u6001\u5360\u636e\u65b9\u6cd5\u901a\u5e38\u4f18\u4e8e\u5355\u6a21\u6001\u65b9\u6cd5\uff0c\u56e0\u4e3a\u4e0d\u540c\u7684\u6a21\u6001\u53ef\u4ee5\u76f8\u4e92\u8865\u5145\u3002\u5e38\u89c1\u7684\u591a\u6a21\u6001\u4f20\u611f\u5668\u914d\u7f6e\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u3001\u89c6\u89c9-\u96f7\u8fbe\u548c\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9-\u96f7\u8fbe\u3002\u5176\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u662f\u8868\u73b0\u6700\u597d\u7684\uff0c\u56e0\u4e3a\u5b83\u7ed3\u5408\u4e86\u6fc0\u5149\u96f7\u8fbe\u7684\u51c6\u786e\u6df1\u5ea6\u548c\u51e0\u4f55\u4f20\u611f\u4ee5\u53ca\u89c6\u89c9\u5f3a\u5927\u7684\u8bed\u4e49\u611f\u77e5\u80fd\u529b\u3002\u7c7b\u4f3c\u4e8e\u5355\u6a21\u6001\u6d41\u6c34\u7ebf\uff0c\u73b0\u6709\u7684\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u5360\u636e\u7f51\u7edc\u4e3b\u8981\u5efa\u7acb\u5728\u4f53\u7d20-based\u6216BEV-based\u8868\u793a\u4e4b\u4e0a\u3002CONet\u63d0\u51fa\u4e86\u4e00\u79cd\u7c97\u5230\u7cbe\u7684\u6d41\u6c34\u7ebf\u6765\u91c7\u68373D\u4f53\u7d20\u7279\u5f81\u4ee5\u4f18\u5316\u7c97\u7cd9\u7684OCC\u9884\u6d4b\u3002Co-Occ\u901a\u8fc7\u51e0\u4f55\u548c\u8bed\u4e49\u611f\u77e5\u878d\u5408\u6a21\u5757\u83b7\u53d6\u591a\u6a21\u6001\u4f53\u7d20\u7279\u5f81\uff0c\u5e76\u91c7\u7528\u57fa\u4e8eNeRF\u7684\u9690\u5f0f\u4f53\u79ef\u6e32\u67d3\u6b63\u5219\u5316\u6765\u589e\u5f3a\u878d\u5408\u8868\u793a\u3002OccGen\u548cOccMamba\u7f16\u7801\u591a\u6a21\u6001\u8f93\u5165\u4ee5\u751f\u6210\u4f53\u7d20\u878d\u5408\u7279\u5f81\uff0c\u7136\u540e\u5206\u522b\u4f7f\u7528\u6269\u6563\u53bb\u566a\u548c\u5206\u5c42Mamba\u6a21\u5757\u89e3\u7801\u7279\u5f81\u4ee5\u9884\u6d4b\u8bed\u4e49\u5360\u636e\u3002OccFusion\u901a\u8fc72D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u5c06\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u8f93\u5165\u8f6c\u6362\u4e3a\u591a\u6a21\u6001\u4f53\u7d20\u7279\u5f81\uff0c\u7136\u540e\u901a\u8fc7\u5360\u636e\u5934\u3002<\/p>\n\n\n\n<p><strong>3D\u9ad8\u65af\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76<\/strong>\u3002\u7531\u4e8e\u663e\u5f0f\u548c\u8fde\u7eed\u5efa\u6a21\u573a\u666f\u7684\u56fa\u6709\u4f18\u52bf\uff0c3D\u9ad8\u65af\u5df2\u88ab\u7528\u4f5c3D\u8bed\u4e49OCC\u9884\u6d4b\u548c4D\u8bed\u4e49OCC\u9884\u6d4b\u7684\u4f20\u7edf\u57fa\u4e8e\u7f51\u683c\u89e3\u51b3\u65b9\u6848\u7684\u573a\u666f\u8868\u793a\u30023D\u9ad8\u65af\u8fd8\u5728\u5b9e\u65f6\u56fe\u50cf\u6e32\u67d3\u548c\u65b0\u89c6\u56fe\u5408\u6210\u65b9\u9762\u5c55\u793a\u4e86\u5176\u4f18\u8d8a\u6027\uff0c\u56e0\u6b64\u5df2\u88ab\u7528\u4e8e\u9a7e\u9a76\u573a\u666f\u91cd\u5efa\u548c\u6a21\u62df\u3002\u6b64\u5916\uff0c\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u548c\u89c6\u89c9\u9884\u8bad\u7ec3\u5229\u75283D\u9ad8\u65af\u4f5c\u4e3a\u9a71\u52a8\u4e16\u754c\u8868\u793a\uff0c\u7528\u4e8e\u5404\u79cd\u4e0b\u6e38\u611f\u77e5\u548c\u89c4\u5212\u4efb\u52a1\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e3b\u8981\u662f\u4e3a\u4ec5\u4f7f\u7528\u89c6\u89c9\u7684\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u7684\uff0c\u5ffd\u7565\u4e86\u591a\u6a21\u6001\u6570\u636e\u5728\u9ad8\u65af\u521d\u59cb\u5316\u548c\u66f4\u65b0\u4e2d\u7684\u6f5c\u529b\u3002GSPR\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u9ad8\u65af\u7684\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u7b97\u6cd5\uff0cSplatAD\u8bbe\u8ba1\u4e86\u7b2c\u4e00\u4e2a3D\u9ad8\u65af\u6cfc\u6e85\u6d41\u6c34\u7ebf\u6765\u6e32\u67d3\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u6570\u636e\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63a2\u7d22\u5229\u7528\u591a\u6a21\u6001\u6570\u636e\uff0c\u7279\u522b\u662f\u6765\u81ea\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u7684\u6570\u636e\uff0c\u5b66\u4e60\u66f4\u597d\u76843D\u9ad8\u65af\u8868\u793a\uff0c\u4ee5\u5b9e\u73b0\u66f4\u51c6\u786e\u548c\u9ad8\u6548\u7684\u8bed\u4e49OCC\u9884\u6d4b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1907889795356664403_3\">GaussianFormer3D\u65b9\u6cd5\u8be6\u89e3<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-41e1da136db30ba5fa36feae9fa2b281_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>GaussianFormer3D\u7684\u6982\u8ff0\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907889795356664403_4\">\u573a\u666f\u4f5c\u4e3a3D\u9ad8\u65af\u8868\u793a<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"713\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052001.png\" alt=\"\" class=\"wp-image-28733\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052001.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052001-281x300.png 281w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u4f53\u7d20\u5230\u9ad8\u65af\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"561\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052002.png\" alt=\"\" class=\"wp-image-28734\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052002.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052002-300x252.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u6fc0\u5149\u96f7\u8fbe\u5f15\u5bfc\u76843D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"795\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052003.png\" alt=\"\" class=\"wp-image-28735\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052003.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052003-253x300.png 253w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"110\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/052004.png\" alt=\"\" class=\"wp-image-28736\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052004.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/052004-300x50.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1907889795356664403_7\">\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907889795356664403_8\">\u6570\u636e\u96c6<\/h3>\n\n\n\n<p>NuScenes\u6570\u636e\u96c6\u63d0\u4f9b\u4e861000\u4e2a\u9a7e\u9a76\u573a\u666f\u5e8f\u5217\uff0c\u4f7f\u75286\u4e2a\u73af\u89c6\u6444\u50cf\u5934\u30011\u4e2a\u6fc0\u5149\u96f7\u8fbe\u30015\u4e2a\u96f7\u8fbe\u548c1\u4e2aIMU\u91c7\u96c6\u3002\u6bcf\u4e2a\u5e8f\u5217\u6301\u7eed20\u79d2\uff0c\u5e76\u4ee52Hz\u9891\u7387\u6807\u6ce8\u3002SurroundOcc\u548cOcc3D\u90fd\u63d0\u4f9b\u4e86nuScenes\u6570\u636e\u96c6\u7684\u8bed\u4e49\u5360\u636e\u6ce8\u91ca\uff0c\u5206\u522b\u5305\u62ec700\u4e2a\u548c150\u4e2a\u573a\u666f\u7528\u4e8e\u8bad\u7ec3\u548c\u9a8c\u8bc1\uff0c\u6db5\u76d618\u4e2a\u7c7b\u522b\uff08\u537316\u4e2a\u8bed\u4e49\u7c7b\u522b\u30011\u4e2a\u566a\u58f0\u7c7b\u522b\u548c1\u4e2a\u7a7a\u7c7b\u522b\uff09\u3002\u4e0d\u540c\u7684\u662f\uff0cSurroundOcc\u5c06\u6bcf\u4e2a\u573a\u666f\u5212\u5206\u5728\u8303\u56f4[-50m, 50m]\u00d7[-50m, 50m]\u00d7[-5m, 3m]\u5185\uff0c\u4f53\u7d20\u5206\u8fa8\u7387\u4e3a0.5m\uff0c\u800cOcc3D\u5c06\u573a\u666f\u5212\u5206\u5728[-40m, 40m] \u00d7 [-40m, 40m] \u00d7 [-1m, 5.4m]\u8303\u56f4\u5185\uff0c\u4f53\u7d20\u5206\u8fa8\u7387\u4e3a0.4m\u3002\u63d0\u4f9b\u4e86\u89c6\u89c9\u53ef\u89c1\u6027\u63a9\u7801\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=257937756&amp;content_type=Article&amp;match_order=1&amp;q=RELLIS-3D&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">RELLIS-3D<\/a><\/p>\n\n\n\n<p>\u6570\u636e\u96c6\u662f\u4e00\u4e2a\u591a\u6a21\u6001\u7684\u975e\u516c\u8def\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u5305\u542bRGB\u56fe\u50cf\u3001\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3001\u7acb\u4f53\u56fe\u50cf\u3001GPS\u548cIMU\u6570\u636e\u3002WildOcc\u63d0\u4f9b\u4e86RELLIS-3D\u7684\u7b2c\u4e00\u4e2a\u975e\u516c\u8def\u5360\u636e\u6ce8\u91ca\uff0c\u5206\u4e3a7399\/1249\/1399\u5e27\u7528\u4e8e\u8bad\u7ec3\u3001\u9a8c\u8bc1\u548c\u6d4b\u8bd5\u3002\u6ce8\u91ca\u8303\u56f4\u4e3a[-20m, 0m] \u00d7 [-10m, 10m] \u00d7 [-2m, 6m]\uff0c\u6bcf\u4e2a\u4f53\u7d20\u5206\u8fa8\u7387\u4e3a0.2m\uff0c\u5e76\u6807\u8bb0\u4e3a9\u4e2a\u7c7b\u522b\u4e4b\u4e00\uff087\u4e2a\u8bed\u4e49\u7c7b\u522b\uff0c1\u4e2a\u5176\u4ed6\u7c7b\u522b\u548c1\u4e2a\u7a7a\u7c7b\u522b\uff09\u3002WildOcc\u7528\u4e8e\u8bc4\u4f30\u6211\u4eec\u7684\u6a21\u578b\u5728\u975e\u516c\u8def\u573a\u666f\u4e0b\u7684\u6027\u80fd\uff0c\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe-\u5355\u76ee\u8bbe\u7f6e\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1907889795356664403_9\">\u5b9e\u73b0\u548c\u8bc4\u6d4b\u7ec6\u8282<\/h3>\n\n\n\n<p>\u5bf9\u4e8e\u89c6\u89c9\u5206\u652f\uff0c\u6211\u4eec\u5c06\u8f93\u5165\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u8bbe\u7f6e\u4e3anuScenes\u6570\u636e\u96c6\u7684900 \u00d7 1600\u548cRELLIS-3D\u6570\u636e\u96c6\u76841200 \u00d7 1920\u3002\u6211\u4eec\u5229\u7528\u4eceFCOS3D\u9884\u8bad\u7ec3\u7684ResNet101-DCN\u68c0\u67e5\u70b9\u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\uff0c\u5e76\u4f7f\u7528FPN\u4f5c\u4e3a\u9888\u90e8\u7f51\u7edc\u3002\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u5206\u652f\uff0c\u6211\u4eec\u805a\u5408\u5e76\u4f53\u7d20\u5316\u524d10\u6b21\u7684\u70b9\u4e91\uff0c\u5e76\u901a\u8fc7\u4f53\u7d20\u7279\u5f81\u7f16\u7801\u5668\u83b7\u53d6\u5e73\u5747\u7279\u5f81\u3002\u6fc0\u5149\u96f7\u8fbe\u6df1\u5ea6\u56fe\u5728\u8bad\u7ec3\u524d\u6309\u7167[31, 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id=\"h_1907889795356664403_10\">\u5b9a\u91cf\u7ed3\u679c\u5206\u6790<\/h3>\n\n\n\n<p>3D\u8bed\u4e49OCC\u9884\u6d4b\u6027\u80fd\u3002\u6211\u4eec\u5728\u88681\u3001\u88682\u548c\u88683\u4e2d\u5206\u522b\u62a5\u544a\u4e86GaussianFormer3D\u5728SurroundOcc\u3001Occ3D\u548cWildOcc\u4e0a\u7684\u6027\u80fd\u3002\u5bf9\u4e8e\u88681\u548c\u88682\u4e2d\u7684\u516c\u8def\u573a\u666f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u7c7b\u522b\u4e0a\u90fd\u8d85\u8fc7\u4e86GaussianFormer\uff0c\u5206\u522b\u5728SurroundOcc\u4e0a\u63d0\u5347\u4e8613.5\u548c8.0\u7684IoU\u548cmIoU\uff0c\u5728Occ3D\u4e0a\u63d0\u5347\u4e8610.9\u7684mIoU\u3002\u4e0e\u6700\u5148\u8fdb\u7684\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u878d\u5408\u65b9\u6cd5\u76f8\u6bd4\uff0cGaussianFormer3D\u5b9e\u73b0\u4e86\u76f8\u5f53\u7684\u6574\u4f53\u6027\u80fd\uff0c\u540c\u65f6\u5728\u9884\u6d4b\u5c0f\u578b\u7269\u4f53\uff08\u5982\u6469\u6258\u8f66\u3001\u884c\u4eba\uff09\u3001\u52a8\u6001\u8f66\u8f86\uff08\u5982\u6c7d\u8f66\u3001\u65bd\u5de5\u8f66\u8f86\u3001\u5361\u8f66\uff09\u548c\u5468\u56f4\u8868\u9762\uff08\u5982\u4eba\u9020\u7269\u3001\u690d\u88ab\uff09\u65b9\u9762\u8868\u73b0\u4f18\u5f02\uff0c\u8fd9\u4e9b\u7c7b\u522b\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u8fd9\u4e00\u6539\u8fdb\u5f52\u529f\u4e8e\u9ad8\u65af\u5bf9\u7075\u6d3b\u89c4\u6a21\u548c\u5f62\u72b6\u7269\u4f53\u5efa\u6a21\u7684\u901a\u7528\u903c\u8fd1\u80fd\u529b\u3002\u5bf9\u4e8e\u88683\u4e2d\u7684\u975e\u516c\u8def\u7ed3\u679c\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4f7f\u7528\u5355\u5e27\u56fe\u50cf\u8f93\u5165\u6bd4\u4f7f\u75284\u5e27\u8fde\u7eed\u56fe\u50cf\u7684M-OFFOcc\u5728IoU\u4e0a\u63d0\u9ad8\u4e861.1\uff0c\u5e76\u5728mIoU\u4e0a\u8868\u73b0\u76f8\u5f53\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6d4b\u8bd5\u96c6\u4e0a\u6bd4GaussianFormer\u5728IoU\u4e0a\u63d0\u9ad8\u4e8614.4\uff0c\u5728mIoU\u4e0a\u63d0\u9ad8\u4e866.8\uff0c\u7a81\u51fa\u4e86\u6fc0\u5149\u96f7\u8fbe\u5728\u7406\u89e3\u590d\u6742\u975e\u516c\u8def\u5730\u5f62\u51e0\u4f55\u7ed3\u6784\u4e2d\u7684\u4f5c\u7528\u3002GaussianFormer3D\u5728\u9884\u6d4b\u5927\u9762\u79ef\u533a\u57df\uff08\u5982\u8349\u5730\u3001\u6811\u6728\u548c\u6c34\u5751\uff09\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u800c\u5728\u7ec6\u5fae\u5730\u5f62\u53d8\u5316\uff08\u5982\u6ce5\u6cde\uff09\u4e0a\u4ecd\u4e0d\u591f\u7406\u60f3\u3002\u5bf9\u4e8e\u969c\u788d\u7269\u548c\u788e\u77f3\uff0c\u7531\u4e8e\u6d4b\u8bd5\u96c6\u4e2d\u51fa\u73b0\u7387\u4f4e\uff08\u5360\u636e\u4f53\u7d20\u76840.001%\uff09\uff0c\u7f3a\u4e4f\u8db3\u591f\u7279\u5f81\u8fdb\u884c\u53ef\u9760\u9884\u6d4b\uff0c\u8fd9\u6784\u6210\u4e86\u6311\u6218\u3002\u66f4\u591a\u5206\u6790\u8bf7\u53c2\u89c1\u8865\u5145\u6750\u6599\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-b5b4c74fd702ae0d4f011c91fbe3ead4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-a8f4ed462f1bcb976a6d8c6cb8e00480_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-ce27267ea4a6cae3cbb4ed27eabb481a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6a21\u578b\u6548\u7387\u8bc4\u4f30\u548c\u9ad8\u65af\u6570\u91cf\u7684\u5f71\u54cd\u3002\u6211\u4eec\u5728\u88684\u4e2d\u8bc4\u4f30\u548c\u6bd4\u8f83\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u5176\u4ed6\u65b9\u6cd5\u7684\u8017\u65f6\u548c\u5185\u5b58\u6d88\u8017\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728\u4fdd\u6301\u4e0e\u4ec5\u4f7f\u7528\u89c6\u89c9\u65b9\u6cd5\u5927\u81f4\u76f8\u540c\u7684\u4f4e\u5185\u5b58\u4f7f\u7528\u7684\u540c\u65f6\uff0c\u5b9e\u73b0\u4e86\u591a\u6a21\u6001\u878d\u5408\u9884\u6d4b\u6027\u80fd\u3002\u4e0eCo-Occ\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u8282\u7701\u4e86\u7ea650%\u7684\u5185\u5b58\u6d88\u8017\uff0c\u4f7f\u5176\u66f4\u9002\u5408\u5728\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e0a\u8fd0\u884c\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ec5\u4f7f\u752825,600\u4e2a\u9ad8\u65af\u548c28\u4e2a\u901a\u9053\uff0c\u800cCo-Occ\u9700\u898180,000\u4e2a\u67e5\u8be2\u548c128\u4e2a\u901a\u9053\u4ee5\u8fbe\u5230\u76f8\u4f3c\u6027\u80fd\uff0c\u5c55\u793a\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u542f\u7528\u8fde\u63a5\u8f66\u8f86\u6216\u591a\u673a\u5668\u4eba\u534f\u4f5c\u4e2d\u66f4\u9ad8\u6548\u901a\u4fe1\u7684\u6f5c\u529b\u3002\u6211\u4eec\u65b9\u6cd5\u7684\u8017\u65f6\u9ad8\u4e8e\u57fa\u4e8e\u89c6\u89c9\u7684\u6d41\u6c34\u7ebf\uff0c\u8fd9\u4e3b\u8981\u662f\u7531\u4e8e3D\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u64cd\u4f5c\u5f15\u5165\u7684\u8ba1\u7b97\u5f00\u9500\u3002\u6211\u4eec\u8fd8\u7814\u7a76\u4e86\u9ad8\u65af\u6570\u91cf\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\uff0c\u5982\u88684\u6240\u793a\u3002\u968f\u7740\u9ad8\u65af\u6570\u91cf\u7684\u589e\u52a0\uff0c\u8017\u65f6\u548c\u5185\u5b58\u6d88\u8017\u4e0a\u5347\uff0c\u800cIoU\u548cmIoU\u6307\u6807\u7a33\u6b65\u63d0\u9ad8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-d31c3a69d5640181e6a2d08eebc6f099_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" 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