{"id":30537,"date":"2025-07-02T17:31:20","date_gmt":"2025-07-02T09:31:20","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30537"},"modified":"2025-07-02T17:31:20","modified_gmt":"2025-07-02T09:31:20","slug":"2025-07-02-%e6%97%b6%e5%ba%8f%e8%9e%8d%e5%90%88%e7%ad%89%e4%bb%b7%e6%a2%af%e5%ba%a6%e4%b8%8b%e9%99%8d%ef%bc%9fgdfusion%e5%88%b7%e6%96%b0occ-sota-%ef%bc%81%e6%98%be%e5%ad%98%e5%a4%a7%e9%99%8d%e4%b8%83","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/02\/30537\/","title":{"rendered":"2025-07-02 \u65f6\u5e8f\u878d\u5408\u7b49\u4ef7\u68af\u5ea6\u4e0b\u964d\uff1fGDFusion\u5237\u65b0OCC SOTA \uff01\u663e\u5b58\u5927\u964d\u4e03\u6210~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1923516285301552018\">https:\/\/zhuanlan.zhihu.com\/p\/1923516285301552018<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-de17a186e1e8218d53ed0835f9c47a84_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259797320&amp;content_type=Article&amp;match_order=1&amp;q=Rethinking+Temporal+Fusion&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Rethinking Temporal Fusion<\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>with a Unified Gradient Descent View for 3D Semantic Occupancy Prediction<\/li>\n\n\n\n<li><strong>\u4f5c\u8005\u5355\u4f4d<\/strong>\uff1a\u6fb3\u95e8\u5927\u5b66\u3001\u6b66\u6c49\u5927\u5b66\u3001\u9177\u54c7\u79d1\u6280<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2504.12959\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/pdf\/2504.12959<\/a><\/li>\n\n\n\n<li><strong>\u9879\u76ee\u4e3b\u9875<\/strong>\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/cdb342.github.io\/GDFusion\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/cdb342.github.io\/GDFusion<\/a><\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e00\u53e5\u8bdd\u603b\u7ed3\uff1a\u6765\u81ea\u6fb3\u95e8\u5927\u5b66\u7b49\u673a\u6784\u7684\u7814\u7a76\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u65f6\u5e8f\u878d\u5408\u6846\u67b6GDFusion\u3002\u5b83\u901a\u8fc7\u4e00\u4e2a\u6781\u5176\u5de7\u5999\u7684\u89c6\u89d2\u2014\u2014\u5c06\u4f20\u7edfRNN\u66f4\u65b0\u8fc7\u7a0b\u91cd\u65b0\u8be0\u91ca\u4e3a\u201c\u7279\u5f81\u7a7a\u95f4\u4e0a\u7684\u68af\u5ea6\u4e0b\u964d\u201d\uff0c\u6210\u529f\u7edf\u4e00\u4e86\u591a\u79cd\u5f02\u6784\u65f6\u5e8f\u4fe1\u606f\u7684\u878d\u5408\u3002GDFusion\u4e0d\u4ec5\u57283D\u5360\u7528\u6805\u683c\u9884\u6d4b\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e861.4%-4.8%\u7684mIoU\u63d0\u5347\uff0c\u66f4\u60ca\u4eba\u5730\u5c06\u63a8\u7406\u663e\u5b58\u6d88\u8017\u964d\u4f4e\u4e8627%-72%\uff0c\u5b9e\u73b0\u4e86\u6027\u80fd\u548c\u6548\u7387\u7684\u53cc\u8d62\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-0659b8e2418983d0d509109e6ba1d268_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe1: GDFusion\u5e26\u6765\u7684\u63d0\u5347<\/figcaption><\/figure>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u201c\u773c\u775b\u201d\u5982\u4f55\u770b\u61c2\u4e09\u7ef4\u4e16\u754c\uff1f <strong>3D\u8bed\u4e49\u5360\u7528\u6805\u683c\u9884\u6d4b\uff083D Semantic Occupancy Prediction\uff09<\/strong> \u662f\u5f53\u524d\u6700\u70ed\u95e8\u7684\u89e3\u6cd5\u4e4b\u4e00\u3002\u5b83\u8981\u6c42\u8f66\u8f86\u4e0d\u4ec5\u8981\u611f\u77e5\u5230\u7269\u4f53\u76843D\u4f4d\u7f6e\uff08\u5360\u7528\uff09\uff0c\u8fd8\u8981\u7406\u89e3\u5176\u7c7b\u522b\uff08\u8bed\u4e49\uff09\uff0c\u5c31\u50cf\u5728\u8f66\u8f7d\u7535\u8111\u91cc\u5b9e\u65f6\u6784\u5efa\u4e00\u4e2a\u7cbe\u7ec6\u7684\u3001\u5e26\u6807\u6ce8\u7684\u4e09\u7ef4\u6c99\u76d8\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8ba9\u8fd9\u4e2a\u201c\u6c99\u76d8\u201d\u66f4\u7a33\u5b9a\u3001\u66f4\u51c6\u786e\uff0c\u5229\u7528\u89c6\u9891\u6570\u636e\u4e2d\u7684\u65f6\u5e8f\u4fe1\u606f\u81f3\u5173\u91cd\u8981\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u5927\u591a\u505c\u7559\u5728\u7b80\u5355\u5730\u5c06\u524d\u540e\u5e27\u76843D\u7279\u5f81\u8fdb\u884c\u201c\u5806\u53e0\u201d\u6216\u201c\u5bf9\u9f50\u201d\uff0c\u8fd9\u79cd\u65b9\u5f0f\u867d\u7136\u6709\u6548\uff0c\u5374\u5ffd\u7565\u4e86\u65f6\u95f4\u7ef4\u5ea6\u4e2d\u8574\u542b\u7684\u66f4\u4e30\u5bcc\u3001\u66f4\u591a\u5c42\u6b21\u7684\u5b9d\u8d35\u7ebf\u7d22\u3002<\/p>\n\n\n\n<p>\u6700\u8fd1\uff0c\u6765\u81ea\u6fb3\u95e8\u5927\u5b66\u7b49\u673a\u6784\u7684\u7814\u7a76\u8005\u4eec\u5bf9\u8fd9\u4e00\u95ee\u9898\u53d1\u8d77\u4e86\u6311\u6218\u3002\u4ed6\u4eec\u8ba4\u4e3a\uff0c\u6211\u4eec\u5e94\u8be5 <strong>\u201c\u91cd\u65b0\u601d\u8003\uff08Rethinking\uff09\u201d\u65f6\u5e8f\u878d\u5408<\/strong>\u3002\u5728\u4e00\u7bc7\u540d\u4e3a\u300aRethinking Temporal Fusion with a Unified Gradient Descent View\u300b\u7684\u8bba\u6587\u4e2d\uff0c\u4ed6\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3a <strong>GDFusion<\/strong> \u7684\u5373\u63d2\u5373\u7528\u6846\u67b6\uff0c\u4e0d\u4ec5\u6316\u6398\u4e86\u88ab\u5ffd\u89c6\u7684\u591a\u5c42\u6b21\u65f6\u5e8f\u7ebf\u7d22\uff0c\u8fd8\u4e3a\u5982\u4f55\u4f18\u96c5\u5730\u878d\u5408\u5b83\u4eec\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5168\u65b0\u7684\u7edf\u4e00\u8303\u5f0f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1923516285301552018_0\">\u4e00\u3001\u88ab\u5ffd\u89c6\u7684\u5b9d\u85cf\uff1a\u4e09\u79cd\u5173\u952e\u7684\u65f6\u5e8f\u7ebf\u7d22<\/h3>\n\n\n\n<p>\u5f53\u524d\u65b9\u6cd5\u5728\u8fdb\u884c\u65f6\u5e8f\u878d\u5408\u65f6\uff0c\u901a\u5e38\u53ea\u5728\u6700\u540e\u4e00\u6b65\uff0c\u53733D\u4f53\u7d20\uff08Voxel\uff09\u5c42\u9762\u8fdb\u884c\u3002\u8fd9\u597d\u6bd4\u6211\u4eec\u53ea\u5173\u5fc3\u6700\u7ec8\u7684\u7ed3\u8bba\uff0c\u800c\u5ffd\u7565\u4e86\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7684\u91cd\u8981\u4e2d\u95f4\u4fe1\u606f\u3002\u7814\u7a76\u8005\u4eec\u654f\u9510\u5730\u6307\u51fa\uff0c\u5728\u4ece2D\u56fe\u50cf\u52303D\u5360\u7528\u7684\u6574\u4e2a\u6d41\u6c34\u7ebf\u4e2d\uff0c\u81f3\u5c11\u6709\u4e09\u79cd\u5173\u952e\u7684\u65f6\u5e8f\u7ebf\u7d22\u88ab\u767d\u767d\u6d6a\u8d39\u4e86\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-fd54d829444922c34af47ff39eb41fb0_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2: (a) \u4f20\u7edfVisionOcc\u6d41\u6c34\u7ebf vs (b) GDFusion\u63d0\u51fa\u7684\u4e09\u79cd\u65b0\u65f6\u5e8f\u7ebf\u7d22<\/figcaption><\/figure>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u573a\u666f\u7ea7\u522b\u7ebf\u7d22<\/strong> (<strong>Scene-level Cue<\/strong>)\uff1a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u5728\u77ed\u65f6\u95f4\u5185\u5177\u6709\u9ad8\u5ea6\u4e00\u81f4\u6027\u3002\u6bd4\u5982\uff0c\u5929\u6c14\uff08\u6674\u5929\/\u96e8\u5929\uff09\u3001\u5149\u7167\uff08\u767d\u5929\/\u9ed1\u591c\uff09\u4e0d\u4f1a\u5728\u51e0\u79d2\u5185\u5267\u53d8\u3002\u5386\u53f2\u5e27\u7684\u8fd9\u4e9b\u5168\u5c40\u4fe1\u606f\uff0c\u53ef\u4ee5\u4f5c\u4e3a\u5f3a\u5927\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u5e2e\u52a9\u5f53\u524d\u5e27\u66f4\u597d\u5730\u9002\u5e94\u73af\u5883\uff0c\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u52a8\u7ebf\u7d22<\/strong> (<strong>Motion Cue<\/strong>)\uff1a\u4e3a\u4e86\u878d\u5408\u524d\u540e\u5e27\u76843D\u7279\u5f81\uff0c\u6211\u4eec\u9700\u8981\u8865\u507f\u81ea\u8f66\u7684\u79fb\u52a8\u548c\u573a\u666f\u4e2d\u52a8\u6001\u7269\u4f53\u7684\u8fd0\u52a8\u3002\u5f53\u524d\u5e27\u7684\u8fd0\u52a8\u9884\u6d4b\u53ef\u80fd\u4e0d\u51c6\uff0c\u4f46\u5386\u53f2\u5e27\u7684\u8fd0\u52a8\u4fe1\u606f\uff08\u6bd4\u5982\u4e00\u8f86\u8f66\u6b63\u5728\u5300\u901f\u76f4\u7ebf\u884c\u9a76\uff09\u53ef\u4ee5\u7528\u6765\u6821\u51c6\u548c\u4fee\u6b63\u5f53\u524d\u7684\u8fd0\u52a8\u4f30\u8ba1\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u7cbe\u51c6\u7684\u7279\u5f81\u5bf9\u9f50\u3002<\/li>\n\n\n\n<li><strong>\u51e0\u4f55\u7ebf\u7d22<\/strong> (<strong>Geometry Cue<\/strong>)\uff1a\u5728\u5c062D\u56fe\u50cf\u7279\u5f81\u201c\u63d0\u5347\u201d\uff08Lift\uff09\u52303D\u7a7a\u95f4\u65f6\uff0c\u6df1\u5ea6\u7b49\u51e0\u4f55\u4fe1\u606f\u81f3\u5173\u91cd\u8981\u3002\u5f53\u524d\u5e27\u53ef\u80fd\u56e0\u4e3a\u906e\u6321\u6216\u5149\u7167\u95ee\u9898\u5bfc\u81f4\u51e0\u4f55\u9884\u6d4b\u4e0d\u51c6\uff08\u6bd4\u5982\u770b\u4e0d\u6e05\u88ab\u524d\u65b9\u5361\u8f66\u6321\u4f4f\u7684\u5c0f\u8f66\uff09\uff0c\u800c\u5386\u53f2\u5e27\u5728\u4e0d\u540c\u89c6\u89d2\u4e0b\u6355\u6349\u5230\u7684\u51e0\u4f55\u4fe1\u606f\uff0c\u5219\u53ef\u4ee5\u6709\u6548\u201c\u8865\u5168\u201d\u5f53\u524d\u5e27\u7684\u7f3a\u5931\uff0c\u63d0\u4f9b\u66f4\u9c81\u68d2\u7684\u51e0\u4f55\u5148\u9a8c\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u8fd9\u4e09\u79cd\u7ebf\u7d22\u5206\u522b\u4f5c\u7528\u4e8e\u4e0d\u540c\u7684\u6a21\u5757\uff0c\u6570\u636e\u5f62\u6001\u5404\u5f02\uff08\u573a\u666f\u662f\u7f51\u7edc\u53c2\u6570\uff0c\u8fd0\u52a8\u662f3D\u6d41\u573a\uff0c\u51e0\u4f55\u662f\u6df1\u5ea6\u56fe\uff09\uff0c\u5982\u4f55\u8bbe\u8ba1\u4e00\u4e2a\u7edf\u4e00\u7684\u6846\u67b6\u6765\u878d\u5408\u5b83\u4eec\uff0c\u6210\u4e86\u4e00\u4e2a\u6838\u5fc3\u96be\u9898\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1923516285301552018_1\">\u4e8c\u3001GDFusion\u7684\u6838\u5fc3\u601d\u60f3\uff1a\u4e07\u7269\u7686\u53ef\u201c\u68af\u5ea6\u4e0b\u964d\u201d<\/h3>\n\n\n\n<p>GDFusion\u7684\u5de7\u5999\u4e4b\u5904\uff0c\u5728\u4e8e\u5b83\u4e3a\u878d\u5408\u5f02\u6784\u4fe1\u606f\u627e\u5230\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u201c\u5ea6\u91cf\u8861\u201d\u2014\u2014<strong>\u68af\u5ea6\u4e0b\u964d<\/strong>\u3002<\/p>\n\n\n\n<p>\u4f20\u7edfRNN\u7684\u66f4\u65b0\u516c\u5f0f\u53ef\u4ee5\u5199\u6210 <code>h^t = Ah^{t-1} + Bx^t<\/code>\uff0c\u5176\u4e2d <code>h^t<\/code> \u662f\u5f53\u524d\u65f6\u523b\u7684\u9690\u85cf\u72b6\u6001\uff0c<code>h^{t-1}<\/code> \u662f\u5386\u53f2\u72b6\u6001\uff0c<code>x^t<\/code> \u662f\u5f53\u524d\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u800cGDFusion\u7684\u4f5c\u8005\u4eec\u5219\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5168\u65b0\u7684\u89c6\u89d2\uff1a<strong>\u6211\u4eec\u53ef\u4ee5\u628a\u8fd9\u4e2a\u66f4\u65b0\u8fc7\u7a0b\u770b\u4f5c\u662f\u5728\u7279\u5f81\u7a7a\u95f4\u4e0a\u8fdb\u884c\u7684\u4e00\u6b65\u68af\u5ea6\u4e0b\u964d\uff01<\/strong><\/p>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u53ef\u4ee5\u5b9a\u4e49\u4e00\u4e2a\u635f\u5931\u51fd\u6570 <code>Loss = ||Ah^{t-1} - Bx^t||\u00b2<\/code>\uff0c\u8fd9\u4e2a\u635f\u5931\u8861\u91cf\u4e86\u5386\u53f2\u4fe1\u606f\u548c\u5f53\u524d\u4fe1\u606f\u7684\u201c\u5dee\u5f02\u201d\u3002\u4e3a\u4e86\u8ba9\u5386\u53f2\u4fe1\u606f\u5411\u5f53\u524d\u4fe1\u606f\u201c\u9760\u62e2\u201d\uff0c\u6211\u4eec\u53ef\u4ee5\u5728 <code>h^{t-1}<\/code> \u4e0a\u6cbf\u7740\u635f\u5931\u51fd\u6570\u7684\u8d1f\u68af\u5ea6\u65b9\u5411\u66f4\u65b0\u4e00\u6b65\u3002\u7ecf\u8fc7\u63a8\u5bfc\uff0c\u8fd9\u4e2a\u66f4\u65b0\u516c\u5f0f\u7684\u5f62\u5f0f\u4e0e\u6807\u51c6RNN\u60ca\u4eba\u5730\u4e00\u81f4\uff01<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-60f149f90c4f8596e905dadbff3d45db_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe3: \u57fa\u4e8e\u68af\u5ea6\u4e0b\u964d\u7684\u878d\u5408\u66f4\u65b0\u8303\u5f0f<\/figcaption><\/figure>\n\n\n\n<p>\u8fd9\u4e2a\u53d1\u73b0\u5982\u540c\u4e00\u628a\u201c\u4e07\u80fd\u94a5\u5319\u201d\uff0c\u6253\u5f00\u4e86\u878d\u5408\u6240\u6709\u65f6\u5e8f\u7ebf\u7d22\u7684\u5927\u95e8\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5bf9\u4e8e\u8fd0\u52a8\u878d\u5408<\/strong>\uff1a\u5b9a\u4e49\u4e00\u4e2a\u635f\u5931\uff0c\u8861\u91cf\u201c\u6839\u636e\u5386\u53f2\u8fd0\u52a8\u9884\u6d4b\u7684\u5f53\u524d\u7279\u5f81\u4f4d\u7f6e\u201d\u4e0e\u201c\u5b9e\u9645\u7684\u5f53\u524d\u7279\u5f81\u4f4d\u7f6e\u201d\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u8fd9\u4e2a\u635f\u5931\u7684\u68af\u5ea6\uff0c\u5c31\u544a\u8bc9\u6211\u4eec\u5e94\u8be5\u5982\u4f55\u4fee\u6b63\u8fd0\u52a8\u4f30\u8ba1\u3002<\/li>\n\n\n\n<li><strong>\u5bf9\u4e8e\u51e0\u4f55\u878d\u5408<\/strong>\uff1a\u5b9a\u4e49\u4e00\u4e2a\u635f\u5931\uff0c\u8861\u91cf\u201c\u5386\u53f2\u51e0\u4f55\u4fe1\u606f\u201d\u4e0e\u201c\u5f53\u524d\u51e0\u4f55\u4fe1\u606f\u201d\u7684\u5dee\u5f02\u3002\u901a\u8fc7\u68af\u5ea6\u66f4\u65b0\uff0c\u5f97\u5230\u4e00\u4e2a\u66f4\u5e73\u6ed1\u3001\u66f4\u9c81\u68d2\u7684\u878d\u5408\u51e0\u4f55\u3002<\/li>\n\n\n\n<li><strong>\u5bf9\u4e8e\u573a\u666f\u878d\u5408<\/strong>\uff1a\u901a\u8fc7\u81ea\u76d1\u7763\u4efb\u52a1\uff0c\u8ba9\u6a21\u578b\u5b66\u4e60\u9002\u5e94\u573a\u666f\u53d8\u5316\u7684\u53c2\u6570\u3002\u66f4\u65b0\u8fc7\u7a0b\u540c\u6837\u53ef\u4ee5\u88ab\u770b\u4f5c\u662f\u53c2\u6570\u7a7a\u95f4\u4e0a\u7684\u68af\u5ea6\u4e0b\u964d\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0cGDFusion\u5c06\u770b\u4f3c\u65e0\u5173\u7684\u591a\u79cd\u65f6\u5e8f\u878d\u5408\u4efb\u52a1\uff0c\u5168\u90e8\u7edf\u4e00\u5230\u4e86\u4e00\u4e2a\u4f18\u96c5\u3001\u53ef\u89e3\u91ca\u7684\u68af\u5ea6\u4e0b\u964d\u6846\u67b6\u4e4b\u4e0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-30ca8dc21ed0859e13e776c667adb512_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe4: GDFusion\u5728VisionOcc\u6d41\u6c34\u7ebf\u4e2d\u7684\u591a\u5c42\u6b21\u878d\u5408\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1923516285301552018_2\">\u4e09\u3001\u5b9e\u9a8c\u6548\u679c\uff1a\u6027\u80fd\u4e0e\u6548\u7387\u7684\u53cc\u91cd\u98de\u8dc3<\/h3>\n\n\n\n<p>GDFusion\u7684\u7406\u5ff5\u542c\u8d77\u6765\u5f88\u68d2\uff0c\u5b9e\u9645\u6548\u679c\u5982\u4f55\uff1f\u7814\u7a76\u8005\u5728Occ3D\u3001SurroundOcc\u7b49\u591a\u4e2a\u4e3b\u6d41\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8be6\u5c3d\u7684\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>1. \u6027\u80fd\u663e\u8457\u63d0\u5347\uff0c\u663e\u5b58\u5927\u5e45\u964d\u4f4e<\/strong><\/p>\n\n\n\n<p>\u4ece\u4e0b\u8868\u53ef\u4ee5\u770b\u51fa\uff0c\u5c06GDFusion\uff08\u4ee5-GF\u540e\u7f00\u8868\u793a\uff09\u5e94\u7528\u5230<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259797320&amp;content_type=Article&amp;match_order=1&amp;q=BEVDetOcc&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">BEVDetOcc<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259797320&amp;content_type=Article&amp;match_order=1&amp;q=FB-Occ&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">FB-Occ<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259797320&amp;content_type=Article&amp;match_order=1&amp;q=ALOcc&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ALOcc<\/a><\/p>\n\n\n\n<p>\u7b49\u591a\u79cd\u4e3b\u6d41\u57fa\u7ebf\u4e0a\uff0c\u90fd\u5e26\u6765\u4e86\u4e00\u81f4\u4e14\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002\u5728Occ3D benchmark\u4e0a\uff0cmIoU\u63d0\u5347\u4e861.4%\u81f34.8%\u3002<\/p>\n\n\n\n<p>\u66f4\u4ee4\u4eba\u60ca\u8273\u7684\u662f\u5176\u663e\u5b58\u6548\u7387\u3002\u4ee5BEVDetOcc\u4e3a\u4f8b\uff0c\u5176\u57fa\u7ebf\u65f6\u5e8f\u878d\u5408\u65b9\u6cd5\uff08SF\uff09\u9700\u8981<strong>10717MB<\/strong>\u663e\u5b58\uff0c\u800cGDFusion\u5728\u53d6\u5f97\u66f4\u597d\u6027\u80fd\u7684\u540c\u65f6\uff0c\u4ec5\u9700<strong>3017MB<\/strong>\uff0c<strong>\u663e\u5b58\u6d88\u8017\u964d\u4f4e\u4e8672%\uff01<\/strong> \u8fd9\u5bf9\u4e8e\u8d44\u6e90\u53d7\u9650\u7684\u8f66\u7aef\u90e8\u7f72\u573a\u666f\uff0c\u65e0\u7591\u662f\u5de8\u5927\u7684\u798f\u97f3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-15aae517925d077d0eaab41506b9c0a5_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88681: \u5728Occ3D benchmark\u4e0a\u7684\u6027\u80fd\u4e0e\u663e\u5b58\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\u5728SurroundOcc benchmark\u4e0a\uff0cGDFusion\u540c\u6837\u8868\u73b0\u51fa\u8272\uff0c\u5728\u642d\u8f7dALOcc-mini\u7684\u60c5\u51b5\u4e0b\uff0c\u6027\u80fd\u548c\u6548\u7387\u751a\u81f3\u8d85\u8d8a\u4e86\u5148\u524d\u88ab\u8ba4\u4e3a\u9ad8\u6548\u7684GaussianFormer\u7cfb\u5217\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-dc080da692fb7967fe00fbedc9fe38d9_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88682: \u5728SurroundOcc benchmark\u4e0a\u7684\u6027\u80fd\u4e0e\u663e\u5b58\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\u5728OpenOccupancy benchmark\u4e0a\uff0c\u4f5c\u8005\u7814\u7a76\u4e86\u591a\u6a21\u6001\u8f93\u5165\u4e0b\u7684\u65f6\u5e8f\u878d\u5408\u6027\u80fd\uff0c\u5728\u642d\u914dALOcc-2D\u7684\u60c5\u51b5\u4e0b\uff0c\u5373\u4f7f\u4e0d\u4f7f\u7528\u70b9\u4e91backbone\uff0c\u6027\u80fd\u4e5f\u80fd\u8d85\u8d8a\u5148\u524d\u7684\u76f8\u673a\u70b9\u4e91\u878d\u5408\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-fff2f5ba87a707a63c9d4979bf08f30d_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88683: \u5728OpenOccupancy benchmark\u4e0a\u7684\u6027\u80fd\u4e0e\u663e\u5b58\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\u6700\u5173\u952e\u7684\u662f\uff0c\u5982\u8bba\u6587\u539f\u6587\u6240\u5f3a\u8c03\uff0c\u5728\u8fd9\u4e9b\u6570\u636e\u96c6\u4e0a\uff0cGDFusion\u5e26\u6765\u7684\u6027\u80fd\u63d0\u5347\u6240\u4ea7\u751f\u7684\u8ba1\u7b97\u548c\u663e\u5b58\u5f00\u9500\u51e0\u4e4e\u53ef\u4ee5\u5ffd\u7565\u4e0d\u8ba1 (negligible overhead)\u3002\u8fd9\u518d\u6b21\u8bc1\u660e\u4e86GDFusion\u6846\u67b6\u8bbe\u8ba1\u7684\u4f18\u96c5\u4e0e\u9ad8\u6548\uff0c\u5b83\u662f\u4e00\u4e2a\u771f\u6b63\u5373\u63d2\u5373\u7528\u3001\u4f4e\u6210\u672c\u9ad8\u56de\u62a5\u7684\u589e\u5f3a\u6a21\u5757\u3002<\/p>\n\n\n\n<p><strong>2. \u4e0e\u4f20\u7edf\u957f\u65f6\u5e8f\u878d\u5408\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p>\u7814\u7a76\u8005\u8fd8\u5c06GDFusion\u4e0e\u7ecf\u5178\u7684\u957f\u65f6\u5e8f\u878d\u5408\u65b9\u6cd5SOLOFusion\u8fdb\u884c\u4e86\u5bf9\u6bd4\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff0cSOLOFusion\u7684\u6027\u80fd\u548c\u663e\u5b58\u6d88\u8017\u90fd\u968f\u7740\u5386\u53f2\u5e27\u6570\u7684\u589e\u52a0\u800c\u7ebf\u6027\u589e\u957f\u3002\u800cGDFusion\u91c7\u7528RNN\u5f0f\u7684\u5355\u5e27\u5386\u53f2\u72b6\u6001\uff0c<strong>\u663e\u5b58\u5360\u7528\u4fdd\u6301\u6052\u5b9a\u4e14\u6781\u4f4e<\/strong>\uff0c\u5374\u80fd\u6709\u6548\u5229\u7528\u6240\u6709\u5386\u53f2\u4fe1\u606f\uff0c\u5728\u6027\u80fd\u4e0a\u751a\u81f3\u8d85\u8d8a\u4e86\u4f7f\u7528\u66f4\u591a\u5386\u53f2\u5e27\u7684SOLOFusion\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-0f81f2af56ee3566aba806d30d8bfd8f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe5: GDFusion vs SOLOFusion\uff0c\u5728\u6027\u80fd\u548c\u663e\u5b58\u4e0a\u7684\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1923516285301552018_3\">\u56db\u3001\u603b\u7ed3<\/h3>\n\n\n\n<p>GDFusion\u8fd9\u7bc7\u5de5\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u65f6\u5e8f\u4fe1\u606f\u5229\u7528\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5168\u65b0\u7684\u3001\u6781\u5177\u542f\u53d1\u6027\u7684\u89c6\u89d2\u3002\u5b83\u4e0d\u4ec5\u4ec5\u662f\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u65b9\u6cd5\uff0c\u66f4\u662f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7cfb\u7edf\u6027\u5730\u6307\u51fa\u4e86\u5f53\u524d\u65f6\u5e8f\u878d\u5408\u7814\u7a76\u7684\u76f2\u533a<\/strong>\uff0c\u6316\u6398\u4e86\u573a\u666f\u3001\u8fd0\u52a8\u3001\u51e0\u4f55\u4e09\u4e2a\u7ef4\u5ea6\u7684\u91cd\u8981\u7ebf\u7d22\u3002<\/li>\n\n\n\n<li><strong>\u63d0\u4f9b\u4e86\u4e00\u4e2a\u4f18\u96c5\u7684\u7edf\u4e00\u7406\u8bba\u6846\u67b6<\/strong>\uff0c\u901a\u8fc7\u201c\u68af\u5ea6\u4e0b\u964d\u201d\u7684\u89c6\u89d2\uff0c\u5c06\u5f02\u6784\u4fe1\u606f\u7684\u878d\u5408\u53d8\u5f97\u7b80\u5355\u3001\u53ef\u89e3\u91ca\u4e14\u9ad8\u6548\u3002<\/li>\n\n\n\n<li><strong>\u5728\u5b9e\u8df5\u4e2d\u53d6\u5f97\u4e86\u6027\u80fd\u548c\u6548\u7387\u7684\u53cc\u91cd\u7a81\u7834<\/strong>\uff0c\u7279\u522b\u662f\u5728\u5927\u5e45\u964d\u4f4e\u663e\u5b58\u5360\u7528\u65b9\u9762\u7684\u8868\u73b0\uff0c\u4f7f\u5176\u5177\u5907\u4e86\u5de8\u5927\u7684\u5de5\u4e1a\u5e94\u7528\u6f5c\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6211\u4eec\u6709\u7406\u7531\u76f8\u4fe1\uff0c\u8fd9\u79cd\u201c\u91cd\u65b0\u601d\u8003\u201d\u7684\u7cbe\u795e\uff0c\u4ee5\u53ca\u5c06\u590d\u6742\u8fc7\u7a0b\u56de\u5f52\u5230\u4f18\u5316\u672c\u8d28\u7684\u601d\u8def\uff0c\u5c06\u4e3a\u672a\u6765\u7684\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u6280\u672f\u4e43\u81f3\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u5e26\u6765\u66f4\u591a\u7684\u53ef\u80fd\u6027\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-30537","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30537"}],"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=30537"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30537\/revisions"}],"predecessor-version":[{"id":30538,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/30537\/revisions\/30538"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=30537"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=30537"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=30537"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}