{"id":30245,"date":"2025-06-24T17:55:02","date_gmt":"2025-06-24T09:55:02","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30245"},"modified":"2025-06-24T17:55:02","modified_gmt":"2025-06-24T09:55:02","slug":"2025-06-24-bev-%e6%84%9f%e7%9f%a5%e7%ae%97%e6%b3%95%e8%af%84%e4%bb%b7%e6%8c%87%e6%a0%87%e7%ae%80%e4%bb%8b","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/24\/30245\/","title":{"rendered":"2025-06-24 BEV \u611f\u77e5\u7b97\u6cd5\u8bc4\u4ef7\u6307\u6807\u7b80\u4ecb"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1917708806827250010\">https:\/\/zhuanlan.zhihu.com\/p\/1917708806827250010<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u5f15\u8a00<\/h2>\n\n\n\n<p>\u667a\u80fd\u9a7e\u9a76\u611f\u77e5\u6a21\u5757\u53ef\u4ee5\u6839\u636e\u76ee\u6807\u7684\u5c5e\u6027\u548c\u73af\u5883\u4fe1\u606f\uff0c\u5206\u4e3a\u4e09\u7c7b\u5173\u952e\u4efb\u52a1\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8A%A8%E6%80%81%E6%84%9F%E7%9F%A5%E4%BB%BB%E5%8A%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u52a8\u6001\u611f\u77e5\u4efb\u52a1<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=%E9%9D%99%E6%80%81%E7%BB%93%E6%9E%84%E6%84%9F%E7%9F%A5%E4%BB%BB%E5%8A%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9759\u6001\u7ed3\u6784\u611f\u77e5\u4efb\u52a1<\/a>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8F%AF%E9%80%9A%E8%A1%8C%E5%8C%BA%E5%9F%9F&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u53ef\u901a\u884c\u533a\u57df<\/a>\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=Freespace&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Freespace<\/a><\/p>\n\n\n\n<p>\uff09\u611f\u77e5\u4efb\u52a1\u3002\u672c\u6587\u5c06\u4ecb\u7ecd\u4e09\u5927\u4efb\u52a1\u4e2d\u5e38\u89c1\u7684\u7cbe\u5ea6\u8bc4\u4ef7\u6307\u6807\u3002\u5982\u679c\u6709\u4e0d\u6b63\u786e\u7684\u5730\u65b9\uff0c\u6b22\u8fce\u8bc4\u8bba\u6307\u6b63\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u52a8\u6001\u5e38\u89c1\u6307\u6807<\/h2>\n\n\n\n<p>\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=BEV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEV<\/a><\/p>\n\n\n\n<p>\uff08Bird\u2019s Eye View\uff09\u52a8\u6001\u4efb\u52a1\u4e2d\uff0c\u6838\u5fc3\u76ee\u6807\u901a\u5e38\u662f\u68c0\u6d4b\u548c\u8ddf\u8e2a\u7a7a\u95f4\u4e2d\u52a8\u6001\u7684\u7269\u4f53\uff0c\u6bd4\u5982\u6c7d\u8f66\u3001\u884c\u4eba\u3001\u81ea\u884c\u8f66\u7b49\u3002\u4e3a\u4e86\u5168\u9762\u8bc4\u4f30\u8fd9\u7c7b\u7b97\u6cd5\u7684\u6027\u80fd\uff0c\u7814\u7a76\u8005\u901a\u5e38\u91c7\u7528\u4e00\u7ec4\u8861\u91cf\u68c0\u6d4b\u8d28\u91cf\u4e0e\u51e0\u4f55\u7cbe\u5ea6\u7684\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u662f BEV \u52a8\u6001\u4efb\u52a1\u4e2d\u5e38\u7528\u7684\u6307\u6807\u8be6\u89e3\uff0c\u5305\u62ec F1-score\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=Recall&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Recall<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=Precision&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Precision<\/a><\/p>\n\n\n\n<p>\u3001Angle Distance \u7b49\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.1 Precision\uff08\u67e5\u51c6\u7387\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\u4e3a\u9884\u6d4b\u4e3a\u6b63\u6837\u672c\u4e2d\uff0c\u5b9e\u9645\u4e3a\u6b63\u7684\u6bd4\u4f8b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>TP\uff08True Positives\uff09\uff1a\u6b63\u786e\u68c0\u6d4b\u7684\u76ee\u6807<\/li>\n\n\n\n<li>FP\uff08False Positives\uff09\uff1a\u8bef\u68c0\u4e3a\u76ee\u6807\u7684\u975e\u76ee\u6807\u533a\u57df<\/li>\n<\/ul>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>3D\/BEV \u4f7f\u7528 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=IoU&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">IoU<\/a><\/p>\n<\/blockquote>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\uff08\u4ea4\u5e76\u6bd4\uff09 \u6765\u5224\u65ad\u9884\u6d4b\u6846\u548c GT \u6846\u662f\u5426\u5339\u914d\uff08\u5982 BEV IoU &gt; 0.5\uff09\uff1a\u5339\u914d\u6210\u529f\u4e3a TP\uff0c\u5426\u5219\u4e3a FP \u6216 FN<\/p>\n<\/blockquote>\n\n\n\n<h3 class=\"wp-block-heading\">2.2 Recall\uff08\u67e5\u5168\u7387\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\u4e3a\u5b9e\u9645\u4e3a\u6b63\u6837\u672c\u4e2d\uff0c\u88ab\u6b63\u786e\u9884\u6d4b\u51fa\u6765\u7684\u6bd4\u4f8b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-740882139778e556a25a904f44c00020_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>FN\uff08False Negatives\uff09\uff1a\u6f0f\u68c0\u7684\u76ee\u6807<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2.3 F1-score\uff08\u8c03\u548c\u5e73\u5747\uff09<\/h3>\n\n\n\n<p>Precision \u548c Recall \u7684\u7efc\u5408\u6307\u6807\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ca947971ef69ace8c0ac0da1d9411667_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>F1-score\u3001Recall\u3001Precision \u662f\u68c0\u6d4b\u4efb\u52a1\u4e2d\u6700\u57fa\u7840\u4e5f\u6700\u6838\u5fc3\u7684\u6307\u6807\uff0c\u5b83\u4eec\u4e4b\u95f4\u4e92\u4e3a\u8865\u5145\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Precision \u9ad8\uff1a\u8bef\u68c0\u5c11<\/li>\n\n\n\n<li>Recall \u9ad8\uff1a\u6f0f\u68c0\u5c11<\/li>\n\n\n\n<li>F1-score \u9ad8\uff1a\u4e24\u8005\u90fd\u517c\u987e<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2.4 Angle Distance<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"130\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/062401.png\" alt=\"\" class=\"wp-image-30246\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/062401.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/062401-300x58.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-f72824e51e6996647f7004bff227eb20_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u6709\u65f6\u4e5f\u4f1a\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-d35fe4ad982f79e769f7e9117ad41105_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u6709\u65f6\u8fd8\u53ef\u4ee5\u8fd9\u4e48\u5b9a\u4e49\uff08\u89d2\u5ea6\u662f\u5706\u5468\u503c\uff0c\u8981\u533a\u5206\u597d\uff0c\u4fdd\u8bc1 179\u00b0 \u4e0e -179\u00b0 \u7684\u5dee\u4e3a 2\u00b0 \u800c\u975e 358\u00b0\uff0c-178% 360 = 182\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-2fba5e5de06c9cd4abd715b0a5b1339b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u5177\u4f53\u600e\u4e48\u5b9a\u4e49\u5927\u5bb6\u8fd8\u53ef\u4ee5\u81ea\u884c\u4fee\u6539\u3002<\/p>\n\n\n\n<p>\u4e3a\u4ec0\u4e48 Angle Distance \u91cd\u8981\u5462\uff1f\u5728 BEV \u52a8\u6001\u4efb\u52a1\u4e2d\uff0c\u76ee\u6807\u4e0d\u4ec5\u8981\u88ab\u6b63\u786e\u68c0\u6d4b\u51fa\u6765\uff0c\u8fd8\u8981\u7ed9\u51fa\u51c6\u786e\u7684 3D \u65b9\u5411\uff0c\u4f8b\u5982\u8f66\u8f86\u524d\u8fdb\u65b9\u5411\u3002\u5982\u679c\u671d\u5411\u4f30\u8ba1\u9519\u4e86\uff1a\u4f1a\u5bfc\u81f4\u8fd0\u52a8\u8f68\u8ff9\u9884\u6d4b\u504f\u5dee\uff0c\u4f1a\u5f71\u54cd\u4e0b\u6e38\u884c\u4e3a\u89c4\u5212\u3001\u907f\u969c\u51b3\u7b56\uff0c\u4e5f\u4f1a\u5f71\u54cd\u591a\u8f66\u534f\u540c\u5b9a\u4f4d\u3001\u8f66\u9053\u4fdd\u6301\u7b49\u529f\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u9759\u6001\u5e38\u89c1\u6307\u6807<\/h2>\n\n\n\n<p>\u5728\u667a\u80fd\u9a7e\u9a76\u4e2d\u7684\u9759\u6001\u611f\u77e5\u4efb\u52a1\u91cc\uff0c\u4e3b\u8981\u5173\u6ce8\u8f66\u9053\u7ebf\u3001\u9053\u8def\u8fb9\u754c\u3001\u505c\u6b62\u7ebf\u7b49\u9759\u6001\u76ee\u6807\u3002\u8fd9\u7c7b\u4fe1\u606f\u5bf9\u5730\u56fe\u6784\u5efa\u3001\u5b9a\u4f4d\u3001\u884c\u4e3a\u89c4\u5212\u7b49\u5f88\u91cd\u8981\u3002\u5177\u4f53\u505a\u6cd5\u662f\u8f93\u51fa BEV \u89c6\u89d2\u4e0b\u7684\u591a\u7c7b\u522b \u77e2\u91cf\u56fe\u7ed3\u6784\uff08\u5982 divider \u8f66\u9053\u5206\u9694\u7ebf\u3001boundary \u9053\u8def\u8fb9\u754c\u3001stopline \u505c\u6b62\u7ebf\u3001arrow \u7bad\u5934\uff09\uff0c\u8868\u793a\u4e3a\u591a\u6bb5 polyline\uff08\u6298\u7ebf\u70b9\u5e8f\u5217\uff09\u3002\u5728\u6307\u6807\u5c42\u9762\uff0c\u901a\u5e38\u4f1a\u7528 Recall \/ Precision \/ F1-score\u3001angle distance \u7b49\u4e00\u4e9b\u6307\u6807\u6765\u8861\u91cf\u7ed3\u6784\u3001\u5f62\u72b6\u7b49\u591a\u65b9\u9762\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.1 Recall \/ Precision \/ F1-score<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u6bcf\u7c7b\u7ed3\u6784\uff08\u5982 divider\uff0c boundary\uff0c arrow\uff0c stopline\uff09\u5206\u522b\u7edf\u8ba1\u68c0\u6d4b\u60c5\u51b5\uff1a<\/li>\n\n\n\n<li>Precision\uff1a\u9884\u6d4b\u4e2d\u6709\u591a\u5c11\u662f\u771f\u7684\u3002<\/li>\n\n\n\n<li>Recall\uff1aGT \u4e2d\u88ab\u68c0\u6d4b\u5230\u7684\u6bd4\u4f8b\u3002<\/li>\n\n\n\n<li>F1-score\uff1aPR \u7684\u7efc\u5408\u8bc4\u4ef7\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u7279\u522b\u9002\u7528\u4e8e\u4e0d\u540c\u8bed\u4e49\u7ed3\u6784\u7684\u5efa\u56fe\u68c0\u6d4b\u8bc4\u4f30\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.2 Angle Distance<\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"232\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/06\/062402.png\" alt=\"\" class=\"wp-image-30247\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/062402.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/06\/062402-300x105.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-37602972c21d5af5d276acf299e7281b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>Angle Distance\u03b8\u53ef\u4ee5\u8868\u793a\u4e3a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-98f62154692065c7923ad0c2db90273d_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u7528\u89d2\u5ea6\uff08\u5355\u4f4d\u901a\u5e38\u4e3a\u5ea6\uff09\u6765\u8868\u793a\u89d2\u5ea6\u8ddd\u79bb\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u03b8 = 0\u00b0\uff1a\u65b9\u5411\u5b8c\u5168\u4e00\u81f4\uff1b<\/li>\n\n\n\n<li>\u03b8 \u2192 180\u00b0\uff1a\u65b9\u5411\u5b8c\u5168\u76f8\u53cd\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5bf9\u4e8e\u591a\u6bb5 polyline\uff0c\u7531\u591a\u4e2a\u70b9\u6bb5\u7ec4\u6210\uff0c\u89d2\u5ea6\u8ddd\u79bb\u53ef\u4ee5\u6709\u4ee5\u4e0b\u51e0\u79cd\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u9996\u5c3e\u5411\u91cf\u6cd5\uff08\u5e38\u7528\uff09\uff1a\u53d6 polyline \u7684\u9996\u5c3e\u4e24\u70b9\u6784\u5efa\u6574\u4f53\u65b9\u5411\u5411\u91cf\u8fdb\u884c\u89d2\u5ea6\u6bd4\u8f83\u3002<\/li>\n\n\n\n<li>\u5e73\u5747\u5411\u91cf\u65b9\u5411\u6cd5\uff1a\u6bcf\u6bb5\u76f8\u90bb\u70b9\u6784\u5efa\u5411\u91cf\uff0c\u8ba1\u7b97\u6240\u6709\u89d2\u5ea6\u8bef\u5dee\u7684\u5e73\u5747\u503c\u3002<\/li>\n\n\n\n<li>\u52a0\u6743\u5e73\u5747\u65b9\u5411\u6cd5\uff1a\u8003\u8651\u6bb5\u957f\u6743\u91cd\uff0c\u5bf9\u89d2\u5ea6\u8bef\u5dee\u52a0\u6743\u5e73\u5747\u3002<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">3.3 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259120653&amp;content_type=Article&amp;match_order=1&amp;q=mAP&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">mAP<\/a><\/h3>\n\n\n\n<p>mAP\uff08mean Average Precision\uff09\u539f\u672c\u7528\u4e8e\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\uff0c\u7528\u4e8e\u8861\u91cf\u9884\u6d4b\u7ed3\u679c\u548c\u771f\u5b9e\u76ee\u6807\u4e4b\u95f4\u7684 \u7cbe\u5ea6\u548c\u53ec\u56de\u7684\u7efc\u5408\u6027\u80fd\u3002\u5728 MapTR \u4e2d\uff0c\u5b83\u88ab\u9002\u914d\u5230\u4e86 \u77e2\u91cf\u5316\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u4efb\u52a1 \u4e2d\u3002<\/p>\n\n\n\n<p>divider \u8f66\u9053\u5206\u9694\u7ebf\u3001boundary \u9053\u8def\u8fb9\u754c\u3001stopline \u505c\u6b62\u7ebf\u7b49\u5143\u7d20\u662f\u4ee5 \u4e00\u7cfb\u5217\u4e8c\u7ef4\u70b9 \u7684\u5f62\u5f0f\u8f93\u51fa\uff08\u5982 [x1\uff0cy1\uff0cx2\uff0cy2\uff0c\u2026]\uff09\uff0c\u9884\u6d4b\u548c GT \u7684\u5339\u914d\u9700\u8981\u4f7f\u7528\u66f4\u590d\u6742\u7684\u5339\u914d\u7b56\u7565\u3002\u6b63\u786e\u5339\u914d\uff08True Positive\uff0c TP\uff09\u6761\u4ef6\uff1a\u6ee1\u8db3\u4ee5\u4e0b\u6240\u6709\u6761\u4ef6\uff08\u53ef\u4ee5\u66f4\u591a or \u66f4\u5c11\uff09\uff0c\u624d\u88ab\u8ba4\u4e3a\u662f TP\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e0e GT \u7684 \u70b9\u95f4\u8ddd\u79bb\u5747\u65b9\u5dee\uff08Chamfer \u6216 L1\uff09 \u5c0f\u4e8e\u9608\u503c\uff1b<\/li>\n\n\n\n<li>\u5e73\u5747\u89d2\u5ea6\u8bef\u5dee\uff08\u5982 angle_distance\uff09\u4f4e\u4e8e\u8bbe\u5b9a\u503c\uff1b<\/li>\n\n\n\n<li>\u540c\u7c7b\uff08\u5982 divider \u5bf9 divider\uff09\uff1b<\/li>\n\n\n\n<li>\u957f\u5ea6\u5dee\u5728\u4e00\u5b9a\u8303\u56f4\u5185\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5426\u5219\u5224\u4e3a FP\uff08False Positive\uff09\u3002\u5bf9\u4e8e\u6bcf\u4e00\u7c7b\u5143\u7d20\uff08\u5982 Lane\u3001Divider\u3001Boundary\uff09\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u9884\u6d4b\u7ed3\u679c\u548c GT \u5339\u914d\uff1b<\/li>\n\n\n\n<li>\u8ba1\u7b97\u6bcf\u4e2a Recall \u70b9\u4e0b\u7684 Precision\uff1b<\/li>\n\n\n\n<li>\u753b\u51fa PR \u66f2\u7ebf\uff0c\u8ba1\u7b97\u66f2\u7ebf\u4e0b\u7684\u9762\u79ef\uff08AP\uff09\uff1b<\/li>\n<\/ul>\n\n\n\n<p>\u5bf9\u6240\u6709\u7c7b\u522b\u7684 AP \u6c42\u5e73\u5747\uff0c\u5f97\u51fa mAP\u3002<\/p>\n\n\n\n<p>\u4e3e\u4e2a\u4f8b\u5b50\uff1a\u5047\u8bbe\u9884\u6d4b\u4e86\u5982\u4e0b 3 \u6761 lane\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Lane1\uff1a\u4e0e GT \u5b8c\u5168\u91cd\u5408 \u2192 TP<\/li>\n\n\n\n<li>Lane2\uff1a\u7565\u5fae\u504f\u79bb\u4f46\u5728\u9608\u503c\u5185 \u2192 TP<\/li>\n\n\n\n<li>Lane3\uff1a\u504f\u79bb\u592a\u5927 \u2192 FP<\/li>\n<\/ul>\n\n\n\n<p>GT \u6709 4 \u6761 lane \u2192 \u6709 1 \u4e2a FN\uff08\u6f0f\u68c0\uff09\uff0c\u7136\u540e\u57fa\u4e8e\u8fd9\u4e9b TP\u3001FP\u3001FN\uff0c\u753b\u51fa Precision-Recall \u66f2\u7ebf\uff0c\u8ba1\u7b97 AP\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001Freespace<\/h2>\n\n\n\n<p>Freespace \u4efb\u52a1\u65e8\u5728\u9884\u6d4b\u73af\u5883\u4e2d\u53ef\u901a\u884c\u533a\u57df\u4e0e\u969c\u788d\u7269\u4f4d\u7f6e\u3002\u901a\u8fc7\u5bf9\u5468\u56f4\u4e09\u7ef4\u7a7a\u95f4\u8fdb\u884c\u4f53\u7d20\u5212\u5206\uff0c\u8f93\u51fa\u6bcf\u4e2a voxel\uff08\u4f53\u7d20\uff09\u7684\u5360\u7528\u72b6\u6001\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.1 \u4ea4\u5e76\u6bd4\uff08IoU\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\uff1a\u5728 Freespace OCC \u4efb\u52a1\u4e2d\uff0c\u901a\u5e38\u5c06\u9884\u6d4b\u7684\u53ef\u884c\u9a76\u533a\u57df\u4e0e\u771f\u5b9e\u7684\u53ef\u884c\u9a76\u533a\u57df\u770b\u4f5c\u4e24\u4e2a\u96c6\u5408\uff0c\u4ea4\u5e76\u6bd4\u5c31\u662f\u8fd9\u4e24\u4e2a\u96c6\u5408\u4ea4\u96c6\u7684\u5143\u7d20\u4e2a\u6570\u4e0e\u5e76\u96c6\u7684\u5143\u7d20\u4e2a\u6570\u7684\u6bd4\u503c\u3002<\/p>\n\n\n\n<p>\u8ba1\u7b97\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-f71c20eb6098e39e4dcf1b3bff69c345_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u5176\u4e2d TP\uff08True Positive\uff09\u662f\u6307\u6b63\u786e\u9884\u6d4b\u4e3a\u53ef\u884c\u9a76\u533a\u57df\u7684\u6570\u91cf\uff0cFP\uff08False Positive\uff09\u662f\u6307\u9519\u8bef\u9884\u6d4b\u4e3a\u53ef\u884c\u9a76\u533a\u57df\u7684\u6570\u91cf\uff0cFN\uff08False Negative\uff09\u662f\u6307\u5c06\u5b9e\u9645\u53ef\u884c\u9a76\u533a\u57df\u9519\u8bef\u9884\u6d4b\u4e3a\u975e\u53ef\u884c\u9a76\u533a\u57df\u7684\u6570\u91cf\u3002<\/p>\n\n\n\n<p>\u4f5c\u7528\uff1a\u7528\u4e8e\u8861\u91cf\u9884\u6d4b\u7ed3\u679c\u4e0e\u771f\u5b9e\u60c5\u51b5\u7684\u91cd\u53e0\u7a0b\u5ea6\uff0c\u53d6\u503c\u8303\u56f4\u5728 0 \u5230 1 \u4e4b\u95f4\uff0c\u503c\u8d8a\u63a5\u8fd1 1\uff0c\u8868\u793a\u9884\u6d4b\u7ed3\u679c\u4e0e\u771f\u5b9e\u60c5\u51b5\u8d8a\u543b\u5408\uff0c\u6a21\u578b\u6027\u80fd\u8d8a\u597d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.2 \u5e73\u5747\u4ea4\u5e76\u6bd4\uff08mIoU\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\uff1a\u5982\u679c\u6570\u636e\u96c6\u4e2d\u5b58\u5728\u591a\u4e2a\u7c7b\u522b\uff08\u4f8b\u5982\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u53ef\u884c\u9a76\u533a\u57df\uff0c\u6216\u8005\u533a\u5206\u4e86\u4e0d\u540c\u7c7b\u578b\u7684\u969c\u788d\u7269\u7b49\uff09\uff0c\u5219\u5206\u522b\u8ba1\u7b97\u6bcf\u4e2a\u7c7b\u522b\u7684 IoU\uff0c\u7136\u540e\u518d\u6c42\u5e73\u5747\u503c\uff0c\u5f97\u5230\u5e73\u5747\u4ea4\u5e76\u6bd4\u3002<\/p>\n\n\n\n<p>\u8ba1\u7b97\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-091e4dd550e43b830b1dfd2f65b35e13_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u5176\u4e2d C \u662f\u7c7b\u522b\u6570\u3002<\/p>\n\n\n\n<p>\u4f5c\u7528\uff1a\u80fd\u66f4\u5168\u9762\u5730\u8bc4\u4f30\u6a21\u578b\u5728\u591a\u7c7b\u522b\u60c5\u51b5\u4e0b\u5bf9\u53ef\u884c\u9a76\u533a\u57df\u548c\u5404\u7c7b\u969c\u788d\u7269\u7684\u68c0\u6d4b\u6027\u80fd\uff0c\u907f\u514d\u53ea\u5173\u6ce8\u6574\u4f53\u800c\u5ffd\u7565\u4e86\u4e0d\u540c\u7c7b\u522b\u4e4b\u95f4\u7684\u5dee\u5f02\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.3 \u51c6\u786e\u7387\uff08Accuracy\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\uff1a\u662f\u6307\u9884\u6d4b\u6b63\u786e\u7684\u6837\u672c\u6570\u5360\u603b\u6837\u672c\u6570\u7684\u6bd4\u4f8b\u3002<\/p>\n\n\n\n<p>\u8ba1\u7b97\u65b9\u5f0f\uff1a\u6b63\u786e\u9884\u6d4b\u4e3a\u53ef\u884c\u9a76\u533a\u57df \u4e0e \u6b63\u786e\u9884\u6d4b\u4e3a\u975e\u53ef\u884c\u9a76\u533a\u57df\u7684\u4f53\u7d20\u6570\u91cf\u4e4b\u548c\uff0c\u9664\u4ee5\u603b\u7684\u4f53\u7d20\u6570\u91cf\u3002<\/p>\n\n\n\n<p>\u4f5c\u7528\uff1a\u76f4\u89c2\u5730\u53cd\u6620\u4e86\u6a21\u578b\u9884\u6d4b\u7684\u51c6\u786e\u7a0b\u5ea6\uff0c\u4f46\u5f53\u6570\u636e\u96c6\u4e2d\u6b63\u8d1f\u6837\u672c\u4e0d\u5747\u8861\u65f6\uff0c\u51c6\u786e\u7387\u53ef\u80fd\u4f1a\u4ea7\u751f\u8bef\u5bfc\uff0c\u4e0d\u80fd\u5f88\u597d\u5730\u4f53\u73b0\u6a21\u578b\u5bf9\u5c11\u6570\u7c7b\u522b\u7684\u68c0\u6d4b\u80fd\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.4 \u53ec\u56de\u7387\uff08Recall\uff09<\/h3>\n\n\n\n<p>\u5b9a\u4e49\uff1a\u4e5f\u53eb\u67e5\u5168\u7387\uff0c\u662f\u6307\u5b9e\u9645\u4e3a\u6b63\u4f8b\u7684\u6837\u672c\u4e2d\u88ab\u6b63\u786e\u9884\u6d4b\u4e3a\u6b63\u4f8b\u7684\u6bd4\u4f8b\u3002<\/p>\n\n\n\n<p>\u8ba1\u7b97\u65b9\u5f0f\uff1a\u771f\u5b9e\u53ef\u884c\u9a76\u533a\u57df\u4e2d\u88ab\u6b63\u786e\u9884\u6d4b\u4e3a\u53ef\u884c\u9a76\u533a\u57df\u7684\u4f53\u7d20\u6570\u91cf\uff0c\u9664\u4ee5\u771f\u5b9e\u53ef\u884c\u9a76\u533a\u57df\u7684\u4f53\u7d20\u6570\u91cf\u3002<\/p>\n\n\n\n<p>\u4f5c\u7528\uff1a\u7528\u4e8e\u8861\u91cf\u6a21\u578b\u5bf9\u53ef\u884c\u9a76\u533a\u57df\u7684\u68c0\u6d4b\u80fd\u529b\uff0c\u53ec\u56de\u7387\u8d8a\u9ad8\uff0c\u8bf4\u660e\u6a21\u578b\u80fd\u591f\u68c0\u6d4b\u51fa\u66f4\u591a\u7684\u771f\u5b9e\u53ef\u884c\u9a76\u533a\u57df\uff0c\u5bf9\u907f\u514d\u9057\u6f0f\u53ef\u884c\u9a76\u533a\u57df\u975e\u5e38\u91cd\u8981\uff0c\u7279\u522b\u662f\u5728\u4e00\u4e9b\u5bf9\u5b89\u5168\u6027\u8981\u6c42\u8f83\u9ad8\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.5 F1-score<\/h3>\n\n\n\n<p>\u5b9a\u4e49\uff1a\u662f\u51c6\u786e\u7387\u548c\u53ec\u56de\u7387\u7684\u8c03\u548c\u5e73\u5747\u6570<\/p>\n\n\n\n<p>\u8ba1\u7b97\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ca947971ef69ace8c0ac0da1d9411667_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">img<\/figcaption><\/figure>\n\n\n\n<p>\u4f5c\u7528\uff1a\u7efc\u5408\u8003\u8651\u4e86\u51c6\u786e\u7387\u548c\u53ec\u56de\u7387\uff0c\u5f53 F1 \u503c\u8f83\u9ad8\u65f6\uff0c\u8bf4\u660e\u6a21\u578b\u5728\u68c0\u6d4b\u53ef\u884c\u9a76\u533a\u57df\u65f6\uff0c\u65e2\u80fd\u4fdd\u8bc1\u8f83\u9ad8\u7684\u51c6\u786e\u7387\uff0c\u53c8\u80fd\u6709\u8f83\u597d\u7684\u53ec\u56de\u7387\uff0c\u662f\u4e00\u4e2a\u6bd4\u8f83\u5168\u9762\u7684\u8bc4\u4ef7\u6307\u6807\uff0c\u5e38\u7528\u4e8e\u7efc\u5408\u8bc4\u4f30\u6a21\u578b\u60c5\u51b5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-30245","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30245"}],"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=30245"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30245\/revisions"}],"predecessor-version":[{"id":30248,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30245\/revisions\/30248"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=30245"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=30245"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=30245"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}