{"id":29780,"date":"2025-06-12T17:32:59","date_gmt":"2025-06-12T09:32:59","guid":{"rendered":"http:\/\/192.168.10.115\/?p=29780"},"modified":"2025-06-12T17:32:59","modified_gmt":"2025-06-12T09:32:59","slug":"2025-06-12-%e7%ab%af%e5%88%b0%e7%ab%afsota%ef%bc%81%e4%b8%ad%e5%b1%b1%e5%a4%a7%e5%ad%a6gaussianfusion%ef%bc%9a%e9%ab%98%e6%96%af%e5%bb%ba%e6%a8%a1%e8%ae%a9%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%84%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/12\/29780\/","title":{"rendered":"2025-06-12 \u7aef\u5230\u7aefSOTA\uff01\u4e2d\u5c71\u5927\u5b66GaussianFusion\uff1a\u9ad8\u65af\u5efa\u6a21\u8ba9\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5-\u89c4\u5212\u4e00\u4f53\u5316\u6548\u7387\u98d9\u5347~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/gZ4fFcJxH_mKbEsEM1FrJg\">https:\/\/mp.weixin.qq.com\/s\/gZ4fFcJxH_mKbEsEM1FrJg<\/a><\/p>\n\n\n\n<p>\u4e2d\u5c71\u5927\u5b66\u56e2\u961f\u7684\u5de5\u4f5c\uff0c\u5f00\u95ed\u73af\u7684\u6548\u679c\u90fd\u8fd8\u4e0d\u9519\u3002\u5229\u7528\u9ad8\u65af\u8868\u5f81\u548c\u6269\u6563\u7aef\u5230\u7aef\u7684\u65b9\u6cd5\u7ed3\u5408\u5728\u4e00\u8d77\uff0c\u6700\u7ec8\u6548\u679c\u6bd4DiffusionDrive\u8981\u597d\u4e00\u4e9b\u3002<\/p>\n\n\n\n<p>\u591a\u4f20\u611f\u5668\u878d\u5408\u5bf9\u4e8e\u63d0\u9ad8\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6027\u80fd\u548c\u9c81\u68d2\u6027\u81f3\u5173\u91cd\u8981\u3002\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u91c7\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u6241\u5e73\u5316\u878d\u5408\u6216\u901a\u8fc7\u51e0\u4f55\u53d8\u6362\u7684\u9e1f\u77b0\u56fe\u878d\u5408\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u5728\u53ef\u89e3\u91ca\u6027\u4e0a\u6709\u9650\u6216\u8ba1\u7b97\u5f00\u9500\u8f83\u5927\u3002\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86GaussianFusion\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u9ad8\u65af\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u591a\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4f7f\u7528\u76f4\u89c2\u7d27\u51d1\u7684\u9ad8\u65af\u8868\u793a\u4f5c\u4e3a\u4e2d\u95f4\u8f7d\u4f53\uff0c\u4ee5\u805a\u5408\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5728\u9a7e\u9a76\u573a\u666f\u4e2d\u5747\u5300\u521d\u59cb\u5316\u4e00\u7ec4\u4e8c\u7ef4\u9ad8\u65af\u5206\u5e03\uff0c\u6bcf\u4e2a\u9ad8\u65af\u5206\u5e03\u7531\u7269\u7406\u5c5e\u6027\u53c2\u6570\u5316\uff0c\u5e76\u914d\u5907\u663e\u6027\u548c\u9690\u6027\u7279\u5f81\u3002\u8fd9\u4e9b\u9ad8\u65af\u5206\u5e03\u901a\u8fc7\u96c6\u6210\u591a\u6a21\u6001\u7279\u5f81\u9010\u6b65\u4f18\u5316\u3002\u663e\u6027\u7279\u5f81\u6355\u6349\u4ea4\u901a\u573a\u666f\u7684\u4e30\u5bcc\u8bed\u4e49\u548c\u7a7a\u95f4\u4fe1\u606f\uff0c\u800c\u9690\u6027\u7279\u5f81\u5219\u63d0\u4f9b\u5bf9\u8f68\u8ff9\u89c4\u5212\u6709\u76ca\u7684\u8865\u5145\u7ebf\u7d22\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528\u9ad8\u65af\u5206\u5e03\u4e2d\u7684\u4e30\u5bcc\u7a7a\u95f4\u548c\u8bed\u4e49\u4fe1\u606f\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7ea7\u8054\u89c4\u5212\u5934\uff0c\u901a\u8fc7\u4e0e\u9ad8\u65af\u5206\u5e03\u7684\u4ea4\u4e92\u8fed\u4ee3\u5730\u7cbe\u70bc\u8f68\u8ff9\u9884\u6d4b\u3002\u5728NAVSIM\u548cBench2Drive\u57fa\u51c6\u4e0a\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\u4e86\u6240\u63d0\u51fa\u7684GaussianFusion\u6846\u67b6\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2506.00034<\/li>\n\n\n\n<li>\u5f00\u6e90\u4ee3\u7801\uff1ahttps:\/\/github.com\/Say2L\/GaussianFusion<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\uff08E2E\uff09\u81ea\u52a8\u9a7e\u9a76\u56e0\u5176\u901a\u8fc7\u6df1\u5ea6\u5b66\u4e60\u76f4\u63a5\u5c06\u4f20\u611f\u5668\u8f93\u5165\u6620\u5c04\u4e3a\u9a7e\u9a76\u52a8\u4f5c\u7684\u6f5c\u529b\u800c\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u8fd9\u4e00\u8303\u5f0f\u51cf\u5c11\u4e86\u7cfb\u7edf\u590d\u6742\u6027\uff0c\u5e76\u5b9e\u73b0\u4e86\u8de8\u4efb\u52a1\u7684\u8054\u5408\u4f18\u5316\u3002\u7136\u800c\uff0c\u4ec5\u4f9d\u8d56\u5355\u4e00\u4f20\u611f\u5668\u5f80\u5f80\u9650\u5236\u4e86\u7cfb\u7edf\u5904\u7406\u591a\u6837\u5316\u548c\u6311\u6218\u6027\u9a7e\u9a76\u573a\u666f\u7684\u80fd\u529b\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u5c40\u9650\u6027\uff0c\u591a\u4f20\u611f\u5668\u878d\u5408\u53d8\u5f97\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u5b83\u5141\u8bb8\u6a21\u578b\u5229\u7528\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\uff08\u5982\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u96f7\u8fbe\uff09\u7684\u4e92\u8865\u4fe1\u606f\u3002\u8fd9\u79cd\u96c6\u6210\u589e\u5f3a\u4e86\u611f\u77e5\u7684\u53ef\u9760\u6027\uff0c\u5e76\u4e3a\u5b66\u4e60\u7a33\u5065\u7684\u9a7e\u9a76\u7b56\u7565\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4e2d\u73b0\u6709\u7684\u591a\u6a21\u6001\u878d\u5408\u7b56\u7565\u5927\u81f4\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u6241\u5e73\u5316\u878d\u5408\u548c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u878d\u5408\u3002\u6241\u5e73\u5316\u878d\u5408\u65b9\u6cd5\u901a\u5e38\u5c06\u4f20\u611f\u5668\u7279\u5f81\uff08\u5982\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u7279\u5f81\uff09\u538b\u7f29\u5230\u4e00\u4e2a\u5171\u4eab\u7684\u6f5c\u5728\u7a7a\u95f4\u4e2d\uff0c\u5728\u8be5\u7a7a\u95f4\u4e2d\u4f7f\u7528\u6ce8\u610f\u529b\u673a\u5236\u8fdb\u884c\u7279\u5f81\u4ea4\u4e92\uff0c\u5982\u56fe 1(a) \u6240\u793a\u3002\u8fd9\u4e9b\u65b9\u6cd5\u56e0\u5176\u7075\u6d3b\u6027\u548c\u6548\u7387\u800c\u5177\u6709\u5438\u5f15\u529b\uff0c\u901a\u5e38\u53ea\u9700\u8981\u6700\u5c0f\u7684\u51e0\u4f55\u6821\u51c6\u3002\u7136\u800c\uff0c\u7531\u4e8e\u7f3a\u4e4f\u660e\u786e\u7684\u7a7a\u95f4\u5b9a\u4f4d\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u89e3\u91ca\u6027\u6709\u9650\uff0c\u4f7f\u5f97\u5b83\u4eec\u5728\u9700\u8981\u7cbe\u786e\u7a7a\u95f4\u63a8\u7406\u7684\u573a\u666f\u4e2d\u6548\u679c\u4e0d\u4f73\u3002<\/p>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0cBEV \u878d\u5408\u65b9\u6cd5\u5c06\u591a\u6a21\u6001\u7279\u5f81\u6295\u5f71\u5230\u4e00\u4e2a\u901a\u7528\u7684 BEV \u5750\u6807\u7cfb\u4e2d\uff0c\u5229\u7528\u51e0\u4f55\u5148\u9a8c\u5bf9\u9f50\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u5982\u56fe 1(b) \u6240\u793a\u3002\u8fd9\u4fc3\u8fdb\u4e86\u7ed3\u6784\u5316\u7684\u7a7a\u95f4\u7406\u89e3\uff0c\u5e76\u63d0\u9ad8\u4e86\u4e0b\u6e38\u611f\u77e5\u4efb\u52a1\uff08\u5982\u4e09\u7ef4\u7269\u4f53\u68c0\u6d4b\u548c\u5730\u56fe\u6784\u5efa\uff09\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u7531\u4e8e BEV \u8868\u793a\u7684\u5bc6\u96c6\u6027\u8d28\uff0c\u7279\u522b\u662f\u5f53\u6d89\u53ca\u9ad8\u5206\u8fa8\u7387\u8f93\u5165\u6216\u7ec6\u7c92\u5ea6\u7279\u5f81\u65f6\uff0cBEV \u878d\u5408\u4f1a\u5e26\u6765\u663e\u8457\u7684\u8ba1\u7b97\u548c\u5185\u5b58\u5f00\u9500\u3002\u56e0\u6b64\uff0c\u5728\u590d\u6742\u7684\u9a7e\u9a76\u73af\u5883\u4e2d\u5f00\u53d1\u80fd\u591f\u5728\u7a7a\u95f4\u611f\u77e5\u3001\u6548\u7387\u548c\u53ef\u6269\u5c55\u6027\u4e4b\u95f4\u53d6\u5f97\u5e73\u8861\u7684\u878d\u5408\u6846\u67b6\u4ecd\u7136\u662f\u4e00\u4e2a\u6301\u7eed\u7684\u6311\u6218\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"725\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168-725x1024.png\" alt=\"\" class=\"wp-image-29782\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168-725x1024.png 725w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168-213x300.png 213w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168-768x1084.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168-708x1000.png 708w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-168.png 782w\" sizes=\"(max-width: 725px) 100vw, 725px\" \/><\/figure>\n\n\n\n<p>\u6700\u8fd1\uff0c\u4e09\u7ef4\u9ad8\u65af\u5206\u5e03\u5728\u57fa\u4e8e\u76f8\u673a\u7684\u4e09\u7ef4\u573a\u666f\u8868\u793a\u548c\u91cd\u5efa\u4e2d\u83b7\u5f97\u4e86\u5173\u6ce8\uff0c\u56e0\u4e3a\u5b83\u4eec\u5177\u6709\u7269\u7406\u53ef\u89e3\u91ca\u6027\u3001\u7d27\u51d1\u6027\u548c\u56fa\u6709\u7684\u7a00\u758f\u6027\u3002\u8fd9\u4e9b\u7279\u6027\u4f7f\u5b83\u4eec\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u6709\u5e0c\u671b\u7684\u5019\u9009\u8005\uff0c\u5728\u8fd9\u91cc\u6548\u7387\u548c\u7ed3\u6784\u5316\u7684\u7a7a\u95f4\u7406\u89e3\u662f\u5173\u952e\u3002\u7136\u800c\uff0c\u5728\u8fd9\u4e2a\u80cc\u666f\u4e0b\u5e94\u7528\u9ad8\u65af\u8868\u793a\u5f15\u5165\u4e86\u51e0\u4e2a\u6311\u6218\u3002\u9996\u5148\uff0c\u7531\u4e8e\u73b0\u6709\u7684 E2E \u9a7e\u9a76\u6570\u636e\u96c6\u4e2d\u7f3a\u4e4f\u7ec6\u7c92\u5ea6\u7684\u4e09\u7ef4\u573a\u666f\u6ce8\u91ca\uff0c\u5f88\u96be\u6709\u6548\u5730\u76d1\u7763\u9ad8\u65af\u53c2\u6570\u3002\u5176\u6b21\uff0c\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u96c6\u4e2d\u5728\u4e09\u7ef4\u573a\u666f\u8868\u793a\uff0c\u7559\u4e0b\u4e86\u5176\u5728\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\u4e2d\u7684\u9002\u7528\u6027\u672a\u5145\u5206\u63a2\u7d22\u3002\u7b2c\u4e09\uff0c\u9ad8\u6548\u5730\u5229\u7528\u9ad8\u65af\u8868\u793a\u8fdb\u884c\u51c6\u786e\u7684\u8f68\u8ff9\u751f\u6210\u9700\u8981\u4ed4\u7ec6\u7684\u67b6\u6784\u8bbe\u8ba1\u3002\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u5bf9\u4e8e\u5728 E2E \u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u4e2d\u542f\u7528\u57fa\u4e8e\u9ad8\u65af\u7684\u8868\u793a\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u4e0a\u8ff0\u521b\u65b0\u548c\u8003\u8651\u56e0\u7d20\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 GaussianFusion\uff0c\u4e00\u79cd\u57fa\u4e8e\u9ad8\u65af\u7684\u7528\u4e8e E2E \u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5229\u7528\u4e8c\u7ef4\u9ad8\u65af\u6765\u8868\u793a\u4ea4\u901a\u573a\u666f\uff0c\u4e0e\u4e09\u7ef4\u9ad8\u65af\u76f8\u6bd4\u63d0\u9ad8\u4e86\u6548\u7387\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e8c\u7ef4\u9ad8\u65af\u53ea\u9700\u8981\u4ece BEV \u8bed\u4e49\u56fe\u4e2d\u83b7\u5f97\u76d1\u7763\uff0c\u8fd9\u5728 E2E \u6570\u636e\u96c6\u4e2d\u5e7f\u6cdb\u53ef\u7528\u3002\u4e3a\u4e86\u5c06\u878d\u5408\u8fc7\u7a0b\u5b9a\u5236\u5230\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u53cc\u5206\u652f\u878d\u5408\u7ba1\u9053\u3002\u7b2c\u4e00\u4e2a\u5206\u652f\u6355\u83b7\u6bcf\u4e2a\u9ad8\u65af\u7684\u591a\u4f20\u611f\u5668\u8f93\u5165\u7684\u5c40\u90e8\u7279\u5f81\uff0c\u4e3b\u8981\u7528\u4e8e\u4ea4\u901a\u573a\u666f\u91cd\u5efa\u3002\u7b2c\u4e8c\u4e2a\u5206\u652f\u4ece\u76f8\u540c\u7684\u8f93\u5165\u4e2d\u805a\u5408\u5168\u5c40\u89c4\u5212\u7ebf\u7d22\uff0c\u5e76\u4e13\u95e8\u7528\u4e8e\u8fd0\u52a8\u89c4\u5212\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u5145\u5206\u5229\u7528\u9ad8\u65af\u8868\u793a\u7684\u8868\u5f81\u80fd\u529b\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u7ea7\u8054\u89c4\u5212\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u901a\u8fc7\u4ee5\u7ea7\u8054\u65b9\u5f0f\u67e5\u8be2\u9ad8\u65af\u8868\u793a\u6765\u7cbe\u70bc\u951a\u5b9a\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5728\u9762\u5411\u89c4\u5212\u7684 NAVSIM \u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u4e86 GaussianFusion\u3002\u4f7f\u7528\u4e0e\u4e4b\u524d\u65b9\u6cd5\u4e00\u81f4\u7684 ResNet-34 \u9aa8\u5e72\u7f51\u7edc\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u8fbe\u5230\u4e86 85.0 EPDMS\u548c 88.9 PDMS\uff0c\u663e\u8457\u8d85\u8d8a\u4e86\u5f53\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u8bc4\u4f30\u6211\u4eec\u6846\u67b6\u7684\u6cdb\u5316\u6027\u548c\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u5728\u95ed\u73af\u57fa\u51c6 Bench2Drive\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u7ed3\u679c\u4e00\u81f4\u8868\u660e\u4e86 GaussianFusion \u7684\u6709\u6548\u6027\u3002\u672c\u5de5\u4f5c\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u6b21\u5c06\u9ad8\u65af\u8868\u793a\u5f15\u5165\u5230\u7528\u4e8e E2E \u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u9886\u57df\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u9488\u5bf9\u4ee5\u89c4\u5212\u4e3a\u4e2d\u5fc3\u7684\u4efb\u52a1\u7684\u53cc\u5206\u652f\u878d\u5408\u7ba1\u9053\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4e13\u95e8\u9002\u5e94\u4e8e\u9ad8\u65af\u8868\u793a\u7684\u7ea7\u8054\u89c4\u5212\u5934\uff0c\u8be5\u5934\u901a\u8fc7\u5206\u5c42\u9ad8\u65af\u67e5\u8be2\u8fed\u4ee3\u5730\u7cbe\u70bc\u8f68\u8ff9\u3002<\/li>\n\n\n\n<li>\u5728\u5f00\u73af (NAVSIM) \u548c\u95ed\u73af (Bench2Drive) \u57fa\u51c6\u4e0a\u7684\u5e7f\u6cdb\u8bc4\u4f30\u8868\u660e\u4e86 GaussianFusion \u7684\u4f18\u8d8a\u6027\u80fd\u548c\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061201.png\" alt=\"\" class=\"wp-image-29783\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061201.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061201-300x76.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"605\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-169-1024x605.png\" alt=\"\" class=\"wp-image-29784\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-169-1024x605.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-169-300x177.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-169-768x454.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-169.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"129\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061202.png\" alt=\"\" class=\"wp-image-29785\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061202.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061202-300x58.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u7f16\u7801\u5668\uff1a\u6765\u81ea\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u9ad8\u65af<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5b66\u4e60\u6709\u610f\u4e49\u7684\u9ad8\u65af\u8868\u793a\uff0c\u6211\u4eec\u9996\u5148\u5229\u7528\u4e24\u4e2a\u72ec\u7acb\u7684\u9aa8\u5e72\u7f51\u7edc\u4ece\u56fe\u50cf\u548cLiDAR\u70b9\u4e91\u4e2d\u63d0\u53d6\u591a\u5c3a\u5ea6\u7279\u5f81\u3002\u7136\u540e\u8fd9\u4e9b\u7279\u5f81\u7528\u4e8e\u8fed\u4ee3\u5730\u4f18\u5316\u9ad8\u65af\u7684\u7269\u7406\u5c5e\u6027\u548c\u9690\u85cf\u7279\u5f81\u3002\u6bcf\u6b21\u8fed\u4ee3\u5305\u62ec\u4e00\u4e2a\u70b9\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\u3001\u4e00\u4e2a\u56fe\u50cf\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\u3001\u4e00\u4e2a\u9ad8\u65af\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u548c\u4e00\u4e2a\u4f18\u5316\u6a21\u5757\u3002\u6bcf\u4e2a\u9ad8\u65af\u7684\u9690\u85cf\u7279\u5f81\u5206\u4e3a\u663e\u6027\u548c\u9690\u6027\u4e24\u90e8\u5206\uff0c\u5404\u81ea\u627f\u62c5\u4e0d\u540c\u7684\u89d2\u8272\u3002\u663e\u6027\u7279\u5f81\u901a\u8fc7\u663e\u6027\u7684\u51e0\u4f55\u53d8\u6362\u4ece\u591a\u4f20\u611f\u5668\u8f93\u5165\u7684\u5c40\u90e8\u533a\u57df\u5bfc\u51fa\uff0c\u5e76\u8d1f\u8d23\u66f4\u65b0\u9ad8\u65af\u7684\u7269\u7406\u5c5e\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u9690\u6027\u7279\u5f81\u4e0e\u5168\u5c40\u591a\u4f20\u611f\u5668\u7279\u5f81\u4ea4\u4e92\uff0c\u4e0d\u4f9d\u8d56\u4e8e\u51e0\u4f55\u53d8\u6362\uff0c\u4ec5\u7528\u4e8e\u8f68\u8ff9\u89c4\u5212\u3002<\/p>\n\n\n\n<p><strong>point\u4ea4\u53c9\u6ce8\u610f\u529b\uff1a\u6765\u81ea\u70b9\u7684\u9ad8\u65af<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"409\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061203.png\" alt=\"\" class=\"wp-image-29786\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061203.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061203-300x183.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u56fe\u50cf\u4ea4\u53c9\u6ce8\u610f\u529b\uff1a\u6765\u81ea\u56fe\u50cf\u7684\u9ad8\u65af<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061204.png\" alt=\"\" class=\"wp-image-29787\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061204.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061204-300x146.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u4f18\u5316\u6a21\u5757<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"306\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061205.png\" alt=\"\" class=\"wp-image-29788\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061205.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061205-300x135.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<p><strong>\u9ad8\u65af\u89e3\u7801\u5668\uff1a\u9ad8\u65af\u5230\u573a\u666f\u63a8\u7406<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u6709\u6548\u8c03\u8282\u4e8c\u7ef4\u9ad8\u65af\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5305\u542b\u4e24\u4e2a\u7ec4\u4ef6\u7684\u9ad8\u65af\u89e3\u7801\u5668\uff1a\u5730\u56fe\u6784\u5efa\u548c\u7ea7\u8054\u89c4\u5212\u3002\u5730\u56fe\u6784\u5efa\u6a21\u5757\u663e\u5f0f\u91cd\u5efa\u4ea4\u901a\u573a\u666f\uff0c\u63d0\u4f9b\u53cd\u5411\u4f20\u64ad\u68af\u5ea6\u4ee5\u6307\u5bfc\u9ad8\u65af\u7f16\u7801\u5668\u4f18\u5316\u7269\u7406\u5c5e\u6027\u548c\u663e\u6027\u7279\u5f81\u3002\u6309\u7167[16]\uff0c\u6211\u4eec\u4f7f\u7528\u6982\u7387\u9ad8\u65af\u53e0\u52a0\u5b9e\u73b0\u6b64\u6a21\u5757\uff1b\u66f4\u591a\u7ec6\u8282\u89c1\u9644\u5f55A\u3002\u7ea7\u8054\u89c4\u5212\u6a21\u5757\u4ee5\u7ea7\u8054\u65b9\u5f0f\u751f\u6210\u8f68\u8ff9\u9884\u6d4b\uff0c\u5176\u4e2d\u6bcf\u4e2a\u540e\u7eed\u8f93\u51fa\u57fa\u4e8e\u524d\u4e00\u4e2a\u8fdb\u884c\u4f18\u5316\u3002\u9664\u4e86\u5229\u7528\u663e\u6027\u7279\u5f81\u5916\uff0c\u5b83\u8fd8\u7ed3\u5408\u4e86\u4ece\u9ad8\u65af\u9690\u6027\u878d\u5408\u5206\u652f\u83b7\u5f97\u7684\u9690\u6027\u7279\u5f81\u3002<\/p>\n\n\n\n<p><strong>\u7ea7\u8054\u89c4\u5212<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"677\" height=\"409\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/061206.png\" alt=\"\" class=\"wp-image-29789\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061206.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/061206-300x181.png 300w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u5728NAVSIM\u548cBench2Drive\u57fa\u51c6\u4e0a\u8bc4\u4f30\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u5bf9\u4e8e NAVSIM \u57fa\u51c6\uff0c\u6211\u4eec\u4f7f\u7528 NAVSIM \u8bad\u7ec3\u5206\u5272\u8fdb\u884c\u8bad\u7ec3\u3002\u5bf9\u4e8e Bench2Drive \u57fa\u51c6\uff0c\u8bad\u7ec3\u6570\u636e\u9075\u5faa TF++\u7684 &#8220;12 only&#8221; \u8bbe\u7f6e\u3002\u6211\u4eec\u5229\u7528\u524d\u3001\u5de6\u524d\u548c\u53f3\u524d\u6444\u50cf\u5934\u4ee5\u53ca LiDAR \u70b9\u4e91\u8f93\u5165\u3002\u76f8\u673a\u56fe\u50cf\u88c1\u526a\u81f3\u5206\u8fa8\u7387\u4e3a 448 \u00d7 250\u3002LiDAR \u70b9\u6295\u5f71\u5230 BEV \u5e73\u9762\uff0c\u65b9\u6cd5\u4e0e TransFuser\u76f8\u540c\u3002\u4e3a\u4e86\u4e0e\u5148\u524d\u5de5\u4f5c \u8fdb\u884c\u516c\u5e73\u6bd4\u8f83\uff0c\u6211\u4eec\u91c7\u7528 ResNet-34\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\u3002\u5728\u6211\u4eec\u7684\u4e3b\u8981\u5b9e\u9a8c\u4e2d\uff0c\u9ad8\u65af\u6570\u8bbe\u7f6e\u4e3a 512\uff0c\u6bcf\u4e2a\u9ad8\u65af\u7279\u5f81\u7ef4\u5ea6\u4e3a 128\u3002\u6211\u4eec\u91c7\u7528 4 \u4e2a GaussianEncoder \u5757\u548c 2 \u4e2a\u7ea7\u8054\u89c4\u5212\u5757\u3002\u951a\u5b9a\u8f68\u8ff9\u7684\u6570\u91cf\u6309\u7167 [30] \u8bbe\u7f6e\u4e3a 20\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e3a\u4e86\u63d0\u9ad8\u6548\u7387\uff0c\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\uff0cGaussianDecoder \u4e2d\u7684\u5730\u56fe\u6784\u5efa\u6a21\u5757\u88ab\u65ad\u5f00\u3002\u8bad\u7ec3\u4f7f\u7528 AdamW \u4f18\u5316\u5668\u8fdb\u884c\uff0c\u5171 50 \u4e2a\u5468\u671f\uff0c\u6743\u91cd\u8870\u51cf\u4e3a 1 \u00d7 10\u22124\uff0c\u6700\u5927\u5b66\u4e60\u7387\u4e3a 6 \u00d7 10\u22124\uff0c\u5e76\u9075\u5faa\u4f59\u5f26\u9000\u706b\u8c03\u5ea6\u8fdb\u884c\u5b66\u4e60\u7387\u8870\u51cf\u3002\u8d85\u53c2\u6570\u5206\u6790\u89c1\u9644\u5f55 C\u3002<\/p>\n\n\n\n<p><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p><strong>NAVSIM \u4e0a\u7684\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5728 NAVSIM navtest \u5206\u5272\u4e0a\u5bf9 GaussianFusion \u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\uff0c\u4e0e\u9886\u5148\u7684\u6700\u5148\u8fdb\uff08SOTA\uff09\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u4e3a\u4e86\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u6240\u6709\u6a21\u578b\u5747\u4f7f\u7528 ResNet-34\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\u3002\u5982\u8868 1 \u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86 85.0 EPDMS\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cEPDMS \u901a\u8fc7\u5f15\u5165\u66f4\u7ec6\u5fae\u7684\u9a7e\u9a76\u6807\u51c6\uff0c\u6bd4 PDMS \u63d0\u51fa\u4e86\u66f4\u4e25\u683c\u7684\u6311\u6218\u3002\u8fdb\u4e00\u6b65\u89c2\u5bdf\u53d1\u73b0\uff0c\u5927\u90e8\u5206\u63d0\u5347\u6765\u81ea\u4e8e\u53ef\u9a7e\u9a76\u533a\u57df\u5408\u89c4\u6027\uff08DAC\uff09\u548c\u8f66\u9053\u4fdd\u6301\uff08LK\uff09\u5b50\u6307\u6807\uff0c\u8fd9\u8868\u660e GaussianFusion \u5728\u590d\u6742\u73af\u5883\u4e2d\u80fd\u591f\u5b9e\u73b0\u66f4\u7a33\u5b9a\u548c\u60c5\u5883\u611f\u77e5\u7684\u884c\u4e3a\u3002\u540c\u6837\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u663e\u8457\u4f18\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5\uff0c\u5c24\u5176\u662f\u5728 DAC \u548c\u81ea\u8f66\u8fdb\u5c55\uff08EP\uff09\u7b49\u5173\u952e\u5b50\u6307\u6807\u4e0a\u3002\u8fd9\u4e9b\u7ed3\u679c\u4e00\u81f4\u5730\u8bc1\u5b9e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u591a\u79cd\u8bc4\u4f30\u534f\u8bae\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"381\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-170-1024x381.png\" alt=\"\" class=\"wp-image-29790\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-170-1024x381.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-170-300x112.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-170-768x286.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-170.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Bench2Drive \u4e0a\u7684\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u8fdb\u4e00\u6b65\u5728\u95ed\u73af\u57fa\u51c6 Bench2Drive \u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u4ee5\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u73b0\u6709\u7684 SOTA E2E \u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u5982\u8868 2 \u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5 GaussianFusion \u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\uff0879.4 DS\uff09\uff0c\u8d85\u8fc7\u4e86\u6240\u6709\u57fa\u4e8e\u5b66\u4e60\u7684\u57fa\u7ebf\u65b9\u6cd5\u3002\u5b83\u5728\u5404\u79cd\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u5747\u8861\u7684\u4f18\u52bf\uff0c\u7279\u522b\u662f\u5728\u8d85\u8f66\u548c\u4ea4\u901a\u6807\u5fd7\u5408\u89c4\u6027\u65b9\u9762\u3002\u4e0e\u57fa\u4e8e\u89c4\u5219\u7684\u7279\u6743\u65b9\u6cd5 PDM-Lite \u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u7136\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u6709\u6240\u4e0d\u8db3\uff0c\u8fd9\u8868\u660e\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u65b9\u6cd5\u4ecd\u6709\u5f88\u5927\u7684\u6539\u8fdb\u7a7a\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-171-1024x472.png\" alt=\"\" class=\"wp-image-29791\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-171-1024x472.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-171-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-171-768x354.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-171.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p><strong>\u4e0d\u540c\u7ec4\u4ef6\u7684\u6548\u679c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u4e86\u89e3 GaussianFusion \u4e2d\u6bcf\u4e2a\u8bbe\u8ba1\u9009\u62e9\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u901a\u8fc7\u9010\u6b65\u6dfb\u52a0\u9ad8\u65af\u663e\u6027\u878d\u5408\uff08Gaussian Exp. Fusion\uff09\u3001\u9ad8\u65af\u9690\u6027\u878d\u5408\uff08Gaussian Imp. Fusion\uff09\u3001\u7ea7\u8054\u89c4\u5212\u5934\uff08Cascade Planning\uff09\u548c\u4ee3\u7406\u9884\u6d4b\u5934\uff08Agent Pred.\uff09\u5230 TransFuser \u57fa\u7ebf\u4e2d\u6765\u8fdb\u884c\u53d7\u63a7\u6d88\u878d\u7814\u7a76\u3002\u7ed3\u679c\u5982\u8868 3 \u6240\u793a\u3002\u5f15\u5165\u9ad8\u65af\u663e\u6027\u878d\u5408\u5bfc\u81f4 EPDMS \u663e\u8457\u589e\u52a0\u4e86+2.4\uff0c\u540c\u65f6\u51cf\u5c11\u4e86\u53c2\u6570\u6570\u91cf\u3002\u6dfb\u52a0\u9ad8\u65af\u9690\u6027\u878d\u5408\u8fdb\u4e00\u6b65\u5c06\u6027\u80fd\u63d0\u5347\u81f3 84.5 EPDMS\uff0c\u4ec5\u7565\u5fae\u589e\u52a0\u53c2\u6570\u6570\u91cf\u3002\u6b64\u5916\uff0c\u5305\u542b\u7ea7\u8054\u89c4\u5212\u5934\u5c06\u5f97\u5206\u63a8\u9ad8\u81f3 85.0 EPDMS\uff0c\u8bbe\u7f6e\u4e86\u4e00\u4e2a\u65b0\u7684\u8bb0\u5f55\uff0c\u603b\u53c2\u6570\u6570\u91cf\u4e0e\u57fa\u7ebf\u76f8\u5f53\u3002\u8fd9\u4e9b\u53d1\u73b0\u8bc1\u5b9e\u4e86\u6211\u4eec\u7684\u67b6\u6784\u7ec4\u4ef6\u5728\u4e0d\u663e\u8457\u589e\u52a0\u6a21\u578b\u590d\u6742\u6027\u7684\u60c5\u51b5\u4e0b\u63d0\u4f9b\u5f3a\u5927\u7684\u6027\u80fd\u63d0\u5347\u3002\u6700\u540e\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u52a0\u5165\u4ee3\u7406\u9884\u6d4b\u5934\u4f1a\u964d\u4f4e\u6027\u80fd\u3002\u6211\u4eec\u8ba4\u4e3a\u8fd9\u662f\u56e0\u4e3a\u4ee3\u7406\u9884\u6d4b\u4efb\u52a1\u672a\u80fd\u4e3a\u9ad8\u65af\u4f18\u5316\u8fc7\u7a0b\u63d0\u4f9b\u6709\u6548\u7684\u6307\u5bfc\uff0c\u53cd\u800c\u5f15\u5165\u4e86\u6a21\u7cca\u6027\u2014\u2014\u6211\u4eec\u79f0\u4e4b\u4e3a\u9ad8\u65af\u6df7\u6dc6\u3002\u9274\u4e8e\u8bed\u4e49\u5730\u56fe\u5df2\u7ecf\u7f16\u7801\u4e86\u8db3\u591f\u7684\u4ee3\u7406\u76f8\u5173\u4fe1\u606f\uff0c\u6211\u4eec\u5728\u6700\u7ec8\u8bbe\u8ba1\u4e2d\u79fb\u9664\u4e86\u4ee3\u7406\u9884\u6d4b\u5934\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-172-1024x284.png\" alt=\"\" class=\"wp-image-29792\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-172-1024x284.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-172-300x83.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-172-768x213.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-172.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0d\u540c\u591a\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u8868 4 \u5c55\u793a\u4e86\u5404\u79cd\u591a\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5\u5728\u6a21\u578b\u53c2\u6570\u3001\u8bed\u4e49\u5730\u56fe\u6784\u5efa\u3001\u8f68\u8ff9\u89c4\u5212\u548c\u63a8\u7406\u5ef6\u8fdf\u65b9\u9762\u7684\u7efc\u5408\u6bd4\u8f83\u3002\u5ef6\u8fdf\u662f\u901a\u8fc7 RTX3090 \u6d4b\u91cf\u7684\u3002\u4e3a\u4e86\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u6240\u6709\u65b9\u6cd5\u90fd\u91c7\u7528\u76f8\u540c\u7684\u4e3b\u5e72\u7f51\u7edc\u548c\u4efb\u52a1\u5934\u3002\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5 GaussianFusion \u5728\u8bed\u4e49\u5730\u56fe\u6784\u5efa\u548c\u8f68\u8ff9\u89c4\u5212\u65b9\u9762\u5747\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u540c\u65f6\u4f7f\u7528\u6700\u5c11\u7684\u53c2\u6570\uff0c\u7a81\u51fa\u4e86\u6211\u4eec\u7684\u878d\u5408\u7b56\u7565\u7684\u6709\u6548\u6027\u548c\u9ad8\u65af\u8868\u793a\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6f5c\u529b\u3002\u53d7\u76ca\u4e8e\u9ad8\u65af\u8868\u793a\u7684\u7a00\u758f\u6027\uff0cGaussianFusion \u5728\u63a8\u7406\u901f\u5ea6\u4e0a\u4e5f\u4f18\u4e8e\u5bc6\u96c6 BEV \u878d\u5408\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u5c3d\u7ba1\u4f7f\u7528\u8f83\u5c11\u7684\u53c2\u6570\uff0c\u5176\u5ef6\u8fdf\u4ecd\u7136\u9ad8\u4e8e\u6241\u5e73\u878d\u5408\u65b9\u6cd5\u3002\u6211\u4eec\u5c06\u6b64\u5f52\u56e0\u4e8e\u6211\u4eec\u5b9e\u73b0\u4e2d\u7684\u5b9a\u5236 CUDA \u64cd\u4f5c\uff0c\u76ee\u524d\u8fd9\u4e9b\u64cd\u4f5c\u4e0d\u5982\u539f\u751f PyTorch \u64cd\u4f5c\u4f18\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"770\" height=\"300\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-173.png\" alt=\"\" class=\"wp-image-29793\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-173.png 770w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-173-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-173-768x299.png 768w\" sizes=\"(max-width: 770px) 100vw, 770px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u76f4\u89c2\u7406\u89e3\u9ad8\u65af\u7f16\u7801\u5668\u4e2d\u7684\u4f18\u5316\u8fc7\u7a0b\uff0c\u6211\u4eec\u53ef\u89c6\u5316\u4e86\u4e0d\u540c\u4f18\u5316\u9636\u6bb5\u7684\u9ad8\u65af\u7a7a\u95f4\u5206\u5e03\uff0c\u5982\u56fe 3 \u6240\u793a\u3002\u5728\u521d\u59cb\u9636\u6bb5\uff0c\u9ad8\u65af\u5728\u6574\u4e2a\u573a\u666f\u4e2d\u5747\u5300\u5206\u5e03\u3002\u968f\u7740\u4f18\u5316\u7684\u8fdb\u884c\uff0c\u5b83\u4eec\u9010\u6e10\u5411\u524d\u666f\u533a\u57df\u6536\u655b\u3002\u8fd9\u79cd\u884c\u4e3a\u7a81\u51fa\u4e86\u9ad8\u65af\u8868\u793a\u7684\u4f18\u52bf\uff0c\u5b83\u63d0\u4f9b\u4e86\u6bd4\u4f20\u7edf\u5bc6\u96c6 BEV \u5730\u56fe\u66f4\u7d27\u51d1\u548c\u7075\u6d3b\u7684\u66ff\u4ee3\u65b9\u6848\u3002\u66f4\u591a\u7684\u9ad8\u65af\u53ef\u89c6\u5316\u663e\u793a\u5728\u9644\u5f55\u7684\u56fe 5 \u4e2d\u3002\u6211\u4eec\u8fd8\u5c55\u793a\u4e86\u5728\u5404\u79cd\u4ea4\u901a\u573a\u666f\u4e0b\u7684\u9884\u6d4b\u81ea\u8f66\u8f68\u8ff9\uff0c\u5982\u56fe 4 \u6240\u793a\u3002\u4e3a\u4e86\u5b9a\u6027\u8bc4\u4f30\u9884\u6d4b\u51c6\u786e\u6027\uff0c\u6211\u4eec\u5c06\u8fd9\u4e9b\u8f68\u8ff9\u4e0e\u5730\u9762\u5b9e\u51b5\u6570\u636e\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5728\u56fe 4 \u7684\u6700\u5de6\u4fa7\u573a\u666f\u4e2d\uff0c\u8f66\u8f86\u5728\u6ca1\u6709\u4fe1\u53f7\u5f15\u5bfc\u7684\u60c5\u51b5\u4e0b\u8fdb\u884c\u65e0\u4fdd\u62a4\u5de6\u8f6c\u2014\u2014\u8fd9\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u60c5\u51b5\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u7136\u9884\u6d4b\u51fa\u4e0e\u5730\u9762\u5b9e\u51b5\u975e\u5e38\u63a5\u8fd1\u7684\u8f68\u8ff9\u3002\u6b64\u5916\uff0c\u5982\u56fe 4 \u7684\u4e24\u4e2a\u6700\u53f3\u4fa7\u573a\u666f\u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5373\u4f7f\u5728\u5bc6\u96c6\u4ea4\u901a\u6761\u4ef6\u4e0b\u4e5f\u80fd\u751f\u6210\u51c6\u786e\u7684\u8f68\u8ff9\u8ba1\u5212\uff0c\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u5176\u9c81\u68d2\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"216\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-174-1024x216.png\" alt=\"\" class=\"wp-image-29794\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-174-1024x216.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-174-300x63.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-174-768x162.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-174.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"895\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-175-1024x895.png\" alt=\"\" class=\"wp-image-29795\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-175-1024x895.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-175-300x262.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-175-768x671.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/\u56fe\u7247-175.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 GaussianFusion\uff0c\u4e00\u79cd\u57fa\u4e8e\u9ad8\u65af\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u591a\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u3002\u901a\u8fc7\u5229\u7528\u7d27\u51d1\u4e14\u7075\u6d3b\u7684\u4e8c\u7ef4\u9ad8\u65af\u8868\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u7a7a\u95f4\u611f\u77e5\u548c\u8ba1\u7b97\u6548\u7387\u4e4b\u95f4\u53d6\u5f97\u4e86\u5e73\u8861\u3002\u53cc\u5206\u652f\u878d\u5408\u67b6\u6784\u6355\u6349\u4e86\u6765\u81ea\u591a\u6a21\u6001\u8f93\u5165\u7684\u5c40\u90e8\u7ec6\u8282\u548c\u5168\u5c40\u89c4\u5212\u7ebf\u7d22\uff0c\u800c\u7ea7\u8054\u89c4\u5212\u6a21\u5757\u9010\u6b65\u7ec6\u5316\u8f68\u8ff9\u9884\u6d4b\u3002\u5728 NAVSIM \u548c Bench2Drive \u57fa\u51c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cGaussianFusion \u5728\u9ad8\u6548\u89c4\u5212\u6027\u80fd\u65b9\u9762\u663e\u8457\u63d0\u9ad8\u4e86\u6027\u80fd\u3002\u8fd9\u4e9b\u7ed3\u679c\u7a81\u51fa\u4e86\u9ad8\u65af\u8868\u793a\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u9ad8\u6548\u4e14\u53ef\u89e3\u91ca\u7684\u4f20\u611f\u5668\u878d\u5408\u7684\u6f5c\u529b\u3002GaussianFusion \u7684\u5c40\u9650\u6027\u5728\u4e8e\u5176\u5b9a\u5236\u7684 CUDA \u64cd\u4f5c\u5c1a\u672a\u5b8c\u5168\u4f18\u5316\u3002\u5728\u672a\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u8ba1\u5212\u8fdb\u4e00\u6b65\u4f18\u5316\u8fd9\u4e9b\u64cd\u4f5c\u6216\u7528\u5df2\u5efa\u7acb\u7684\u795e\u7ecf\u7f51\u7edc\u5e93\u7684\u64cd\u4f5c\u66ff\u6362\u5b83\u4eec\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-29780","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":5,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29780"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=29780"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29780\/revisions"}],"predecessor-version":[{"id":29796,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/29780\/revisions\/29796"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=29780"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=29780"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=29780"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}