{"id":31186,"date":"2025-07-18T17:31:24","date_gmt":"2025-07-18T09:31:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31186"},"modified":"2025-07-18T17:31:24","modified_gmt":"2025-07-18T09:31:24","slug":"2025-07-18-%e5%85%a8%e7%90%83%e9%a6%96%e4%b8%aa%ef%bc%81%e9%98%bf%e9%87%8c%e5%b7%b4%e5%b7%b4%e8%81%94%e6%89%8b%e6%b5%99%e5%a4%a7%e6%8e%a8%e5%87%basam4d%ef%bc%9a%e6%91%84%e5%83%8f%e5%a4%b4%e6%bf%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/18\/31186\/","title":{"rendered":"2025-07-18 \u5168\u7403\u9996\u4e2a\uff01\u963f\u91cc\u5df4\u5df4\u8054\u624b\u6d59\u5927\u63a8\u51faSAM4D\uff1a\u6444\u50cf\u5934+\u6fc0\u5149\u96f7\u8fbe\u7edf\u4e00\u5206\u5272\u6a21\u578b\uff08ICCV 25\uff09"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1927104183582069732\">https:\/\/zhuanlan.zhihu.com\/p\/1927104183582069732<\/a><\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u7ee7SAM\u3001SAM2\u6380\u8d77\u89c6\u89c9\u5206\u5272\u9769\u547d\u540e\uff0c\u963f\u91cc\u5df4\u5df4\u83dc\u9e1f\u56e2\u961f\u8054\u5408\u6d59\u6c5f\u5927\u5b66\u91cd\u78c5\u63a8\u51faSAM4D\u2014\u2014\u5168\u7403\u9996\u4e2a\u6444\u50cf\u5934+\u6fc0\u5149\u96f7\u8fbe\u7edf\u4e00\u5206\u5272\u6a21\u578b\uff01\u53ea\u9700\u5728\u56fe\u50cf\u4e2d\u8f7b\u70b9\u4e00\u4e0b\uff0c\u5c31\u80fd\u540c\u65f6\u83b7\u5f97\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u7cbe\u51c6\u5206\u5272\u7ed3\u679c\uff0c\u8fd8\u80fd\u5728\u6574\u4e2a\u65f6\u95f4\u5e8f\u5217\u4e2d\u4fdd\u6301\u4e00\u81f4\u6027\u3002<br>SAM4D\u4e0d\u4ec5\u89e3\u51b3\u4e86\u81ea\u52a8\u9a7e\u9a76\u4e2d\u591a\u4f20\u611f\u5668\u6807\u6ce8\u6548\u7387\u4f4e\u4e0b\u7684\u75db\u70b9\uff0c\u66f4\u901a\u8fc7\u521b\u65b0\u7684\u8fd0\u52a8\u611f\u77e5\u8bb0\u5fc6\u673a\u5236\u548c\u7edf\u4e00\u4f4d\u7f6e\u7f16\u7801\uff0c\u5b9e\u73b0\u4e86\u771f\u6b63\u7684\u56db\u7ef4\u573a\u666f\u7406\u89e3\u3002\u914d\u5957\u7684Waymo-4DSeg\u6570\u636e\u96c6\u5305\u542b30\u4e07\u4e2a\u8de8\u6a21\u6001\u6807\u6ce8\uff0c\u4e3a\u884c\u4e1a\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u8bad\u7ec3\u8d44\u6e90\u3002<br>\u4ece\u5e73\u9762\u5230\u7acb\u4f53\uff0c\u4ece\u9759\u6001\u5230\u52a8\u6001\uff0cSAM4D\u6b63\u5728\u91cd\u65b0\u5b9a\u4e49\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u8fb9\u754c\u3002\u8fd9\u9879\u6280\u672f\u5c06\u5982\u4f55\u6539\u53d8\u6574\u4e2a\u884c\u4e1a\uff1f\u8ba9\u6211\u4eec\u4e00\u63a2\u7a76\u7adf\u3002<\/p>\n<\/blockquote>\n\n\n\n<p><strong><em>\u672c\u6587\u7531SAM4D\u56e2\u961f\u6388\u6743\u3010\u6df1\u84ddAI\u3011\u53d1\u5e03\uff01<\/em><\/strong><\/p>\n\n\n\n<p><em>\u8bba\u6587\u6807\u9898\uff1aSAM4D: Segment Anything in Camera and LiDAR Streams<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u4f5c\u8005\uff1aJianyun Xu*, Song Wang*, Ziqian Ni*, Chunyong Hu, Sheng Yang, Jianke Zhu, Qiang Li<\/em><\/p>\n\n\n\n<p><em>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/SAM4D-Project.github.io\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/SAM4D-Project.github.io<\/a><\/em><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-67e324818cf25d3b244602db81e97e54_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5206\u5272\u4e00\u5207\u6a21\u578b\uff08SAM\uff09\u5728\u56fe\u50cf\u9886\u57df\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u53ef\u63d0\u793a\u5206\u5272\u80fd\u529b\uff0cSAM2\u8fdb\u4e00\u6b65\u6269\u5c55\u5230\u89c6\u9891\u9886\u57df\u3002\u7136\u800c\uff0c\u73b0\u6709\u65b9\u6cd5\u4ecd\u5c40\u9650\u4e8e\u56fe\u50cf\u548c\u89c6\u9891\uff0c\u672a\u8003\u8651\u81ea\u52a8\u9a7e\u9a76\u7b49\u5b89\u5168\u5173\u952e\u5e94\u7528\u4e2d\u7684\u5176\u4ed6\u4f20\u611f\u5668\u6a21\u6001\u3002<\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9700\u8981\u9c81\u68d2\u7684\u591a\u6a21\u6001\u611f\u77e5\u80fd\u529b\uff0c\u5176\u4e2d\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u534f\u540c\u5de5\u4f5c\uff0c\u76f8\u4e92\u8865\u507f\u5404\u81ea\u5c40\u9650\u6027\u3002\u5c3d\u7ba1\u6fc0\u5149\u96f7\u8fbe\u63d0\u4f9b\u7cbe\u786e\u7684\u51e0\u4f55\u5148\u9a8c\u4fe1\u606f\uff0c\u4f46\u73b0\u6709\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u5206\u5272\u6a21\u578b\u4ecd\u4ee5\u5355\u5e27\u4e3a\u4e2d\u5fc3\uff0c\u7f3a\u4e4f\u7cfb\u7edf\u6027\u5229\u7528\u540c\u6b65\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u548c\u6444\u50cf\u5934\u6d41\u4e4b\u95f4\u8de8\u6a21\u6001\u7a7a\u95f4\u4e00\u81f4\u6027\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>\u4e3a\u964d\u4f4e\u6807\u6ce8\u6210\u672c\u5e76\u63d0\u9ad8\u591a\u6a21\u6001\u5206\u5272\u6548\u7387\uff0c\u672c\u6587\u5f15\u5165\u4e86\u53ef\u63d0\u793a\u591a\u6a21\u6001\u5206\u5272\uff08PMS\uff09\u4efb\u52a1\uff0c\u80fd\u591f\u57fa\u4e8e\u4e24\u79cd\u6a21\u6001\u7684\u63d0\u793a\u5bf9\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u8fdb\u884c\u5206\u5272\uff0c\u5e76\u652f\u6301\u8de8\u6a21\u6001\u63d0\u793a\u529f\u80fd\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8ePMS\u4efb\u52a1\uff0c\u672c\u6587\u63d0\u51faSAM4D\uff0c\u8fd9\u662f\u9996\u4e2a\u7528\u4e8e\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u6d41\u7684\u53ef\u63d0\u793a\u591a\u6a21\u6001\u5206\u5272\u6a21\u578b\u3002SAM4D\u57fa\u4e8e\u591a\u6a21\u6001\u53d8\u6362\u5668\u67b6\u6784\uff0c\u96c6\u6210\u4e86\u7528\u4e8e\u7a7a\u95f4\u5bf9\u9f50\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260234089&amp;content_type=Article&amp;match_order=1&amp;q=%E7%BB%9F%E4%B8%80%E5%A4%9A%E6%A8%A1%E6%80%81%E4%BD%8D%E7%BD%AE%E7%BC%96%E7%A0%81&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7edf\u4e00\u591a\u6a21\u6001\u4f4d\u7f6e\u7f16\u7801<\/a>\uff08UMPE\uff09\u548c\u7528\u4e8e\u65f6\u5e8f\u4e00\u81f4\u6027\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260234089&amp;content_type=Article&amp;match_order=1&amp;q=%E8%BF%90%E5%8A%A8%E6%84%9F%E7%9F%A5%E8%B7%A8%E6%A8%A1%E6%80%81%E8%AE%B0%E5%BF%86%E6%B3%A8%E6%84%8F%E5%8A%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8fd0\u52a8\u611f\u77e5\u8de8\u6a21\u6001\u8bb0\u5fc6\u6ce8\u610f\u529b<\/a><\/p>\n\n\n\n<p>\uff08MCMA\uff09\u3002UMPE\u5728\u5171\u4eab\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u878d\u5408\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\uff0c\u5b9e\u73b0\u65e0\u7f1d\u8de8\u6a21\u6001\u4ea4\u4e92\uff1bMCMA\u878d\u5408\u81ea\u8f66\u8fd0\u52a8\u8865\u507f\uff0c\u786e\u4fdd\u51c6\u786e\u7684\u65f6\u5e8f\u7279\u5f81\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u6784\u5efa\u4e86Waymo-4DSeg\u6570\u636e\u96c6\uff0c\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=260234089&amp;content_type=Article&amp;match_order=1&amp;q=Waymo%E5%BC%80%E6%94%BE%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymo\u5f00\u653e\u6570\u636e\u96c6<\/a><\/p>\n\n\n\n<p>\u63d0\u4f9b\u5927\u89c4\u6a21\u591a\u6a21\u6001\u5206\u5272\u6807\u6ce8\u3002\u591a\u6a21\u6001\u6570\u636e\u5f15\u64ce\u901a\u8fc7\u6574\u5408\u89c6\u9891masklet\u751f\u6210\u3001\u6fc0\u5149\u96f7\u8fbe\u4f2a\u6807\u8bb0\u7684\u56db\u7ef4\u91cd\u5efa\u548c\u8de8\u6a21\u6001\u6807\u7b7e\u878d\u5408\uff0c\u4f7f\u7528\u5e8f\u5217\u7ea7\u4f20\u64ad\u7b56\u7565\u786e\u4fdd\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cSAM4D\u5728\u4fdd\u6301\u9ad8\u5206\u5272\u8d28\u91cf\u7684\u540c\u65f6\uff0c\u80fd\u591f\u6709\u6548\u5904\u7406\u8de8\u6a21\u6001\u63d0\u793a\u548c\u957f\u65f6\u7a0b\u76ee\u6807\u8ddf\u8e2a\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u56db\u7ef4\u573a\u666f\u7406\u89e3\u63d0\u4f9b\u4e86\u65b0\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-90ad1bd83771545033c7352a88c288c3_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe1\uff5c\u6211\u4eec\u65e8\u5728\u901a\u8fc7\u5f15\u5165\u4e09\u4e2a\u76f8\u4e92\u5173\u8054\u7684\u7ec4\u4ef6\u6765\u6784\u5efa\u56db\u7ef4\u5206\u5272\u7684\u57fa\u7840\u6a21\u578b\uff1a\uff08a\uff09\u4e00\u4e2a\u53ef\u63d0\u793a\u7684\u591a\u6a21\u6001\u5206\u5272\u4efb\u52a1\uff0c\u5c06\u5206\u5272\u6269\u5c55\u5230\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u6d41\uff1b\uff08b\uff09\u4e00\u4e2a\u5206\u5272\u6a21\u578b\uff08SAM4D\uff09\uff0c\u5b9e\u73b0\u5177\u6709\u8de8\u6a21\u6001\u63d0\u793a\u548c\u65f6\u5e8f\u5bf9\u9f50\u7684\u4e8c\u7ef4-\u4e09\u7ef4\u8054\u5408\u5206\u5272\uff1b\uff08c\uff09\u4e00\u4e2a\u81ea\u52a8\u6570\u636e\u5f15\u64ce\uff0c\u7528\u4e8e\u6784\u5efaWaymo-4DSeg\u2014\u2014\u4e00\u4e2a\u5305\u542b\u8d85\u8fc730\u4e07\u4e2a\u6444\u50cf\u5934-\u6fc0\u5149<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-bca91a8274ac42c7940f140216925074_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u53ef\u63d0\u793a\u591a\u6a21\u6001\u5206\u5272\uff08PMS\uff09\u4efb\u52a1\u65e8\u5728\u5b9e\u73b0\u8de8\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u6d41\u7684\u4ea4\u4e92\u5f0f\u3001\u8de8\u6a21\u6001\u548c\u65f6\u5e8f\u5206\u5272\u3002\u4e0e\u4f20\u7edf\u7684\u5355\u6a21\u6001\u6216\u9010\u5e27\u5904\u7406\u4e0d\u540c\uff0cPMS\u5141\u8bb8\u4e8c\u7ef4\uff08\u56fe\u50cf\uff09\u6216\u4e09\u7ef4\uff08\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff09\u4e2d\u7684\u63d0\u793a\u6765\u6307\u5bfc\u6574\u4e2a\u5e8f\u5217\u7684\u5206\u5272\u3002\u63d0\u793a\u53ef\u4ee5\u662f\u6b63\u8d1f\u70b9\u51fb\u3001\u8fb9\u754c\u6846\u6216\u63a9\u7801\u5f62\u5f0f\uff0c\u7528\u4e8e\u5b9a\u4e49\u65b0\u76ee\u6807\u6216\u4f18\u5316\u73b0\u6709\u5206\u5272\u7ed3\u679c\u3002\u4e00\u65e6\u5728\u7279\u5b9a\u5e27\u4e0a\u63d0\u4f9b\u63d0\u793a\uff0c\u6a21\u578b\u5e94\u7acb\u5373\u4e3a\u4e24\u79cd\u6a21\u6001\u8fd4\u56de\u6709\u6548\u5206\u5272\u63a9\u7801\uff0c\u7136\u540e\u5c06\u7ed3\u679c\u4f20\u64ad\u5230\u6574\u4e2a\u5e8f\u5217\u4e2d\uff0c\u5f62\u6210\u4fdd\u6301\u65f6\u5e8f\u4e00\u81f4\u6027\u7684masklet\u3002<\/p>\n\n\n\n<p>\u4e3a\u652f\u6301PMS\u4efb\u52a1\uff0c\u672c\u6587\u5f00\u53d1\u4e86SAM4D\u7edf\u4e00\u5206\u5272\u6a21\u578b\uff0c\u80fd\u591f\u901a\u8fc7\u8de8\u6a21\u6001\u63d0\u793a\u5904\u7406\u89c6\u9891\u548c\u6fc0\u5149\u96f7\u8fbe\u6d41\u3002\u6b64\u5916\uff0c\u57fa\u4e8eWaymo\u5f00\u653e\u6570\u636e\u96c6\u6784\u5efa\u4e86\u5927\u89c4\u6a21\u6570\u636e\u96c6\uff0c\u4e3aPMS\u63d0\u4f9b\u9ad8\u8d28\u91cf\u4f2a\u771f\u503c\u6807\u6ce8\u3002<\/p>\n\n\n\n<p>PMS\u4efb\u52a1\u7684\u6838\u5fc3\u521b\u65b0\u5728\u4e8e\u6253\u7834\u4f20\u7edf\u5206\u5272\u4efb\u52a1\u7684\u6a21\u6001\u8fb9\u754c\uff0c\u5b9e\u73b0\u771f\u6b63\u7684\u8de8\u6a21\u6001\u4ea4\u4e92\u5206\u5272\u3002\u7528\u6237\u53ef\u4ee5\u5728\u56fe\u50cf\u4e2d\u70b9\u51fb\u76ee\u6807\uff0c\u6a21\u578b\u4e0d\u4ec5\u80fd\u5728\u8be5\u56fe\u50cf\u4e2d\u5206\u5272\u51fa\u76ee\u6807\uff0c\u8fd8\u80fd\u540c\u65f6\u5728\u5bf9\u5e94\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4e2d\u627e\u5230\u5e76\u5206\u5272\u51fa\u76f8\u540c\u76ee\u6807\uff0c\u5e76\u5728\u6574\u4e2a\u65f6\u95f4\u5e8f\u5217\u4e2d\u4fdd\u6301\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u8bbe\u8ba1\u7279\u522b\u9002\u5408\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\uff0c\u56e0\u4e3a\u6807\u6ce8\u4eba\u5458\u5f80\u5f80\u9700\u8981\u5728\u591a\u4e2a\u4f20\u611f\u5668\u89c6\u89d2\u4e0b\u6807\u6ce8\u540c\u4e00\u76ee\u6807\uff0c\u800cPMS\u4efb\u52a1\u80fd\u591f\u5927\u5e45\u63d0\u9ad8\u6807\u6ce8\u6548\u7387\uff0c\u51cf\u5c11\u91cd\u590d\u52b3\u52a8\u3002\u901a\u8fc7\u5141\u8bb8\u8de8\u6a21\u6001\u63d0\u793a\uff0c\u6807\u6ce8\u4eba\u5458\u53ef\u4ee5\u5728\u4e00\u4e2a\u6a21\u6001\u4e2d\u63d0\u4f9b\u63d0\u793a\uff0c\u7136\u540e\u83b7\u5f97\u6240\u6709\u6a21\u6001\u7684\u5206\u5272\u7ed3\u679c\uff0c\u8fd9\u5927\u5927\u63d0\u9ad8\u4e86\u6807\u6ce8\u6548\u7387\u548c\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-76a34c171b3657e91d1eb0520807e697_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.1 \u6982\u8ff0<\/strong><\/h3>\n\n\n\n<p>SAM4D\u5c06SAM2\u4ece\u89c6\u9891\u5206\u5272\u6269\u5c55\u5230\u591a\u6a21\u6001\u9886\u57df\uff0c\u89e3\u51b3\u4e86\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u8de8\u6a21\u6001\u548c\u957f\u671f\u76ee\u6807\u5206\u5272\u7684\u6311\u6218\u3002\u672c\u6587\u63d0\u51fa\u4e86\u7edf\u4e00\u591a\u6a21\u6001\u4f4d\u7f6e\u7f16\u7801\u6765\u5b9e\u73b0\u591a\u6a21\u6001\u7279\u5f81\u548c\u63d0\u793a\u4ea4\u4e92\u3002\u4e3a\u4e86\u589e\u5f3a\u957f\u671f\u76ee\u6807\u5206\u5272\u80fd\u529b\uff0c\u6a21\u578b\u8003\u8651\u4e86\u81ea\u8f66\u8fd0\u52a8\u5e76\u8bbe\u8ba1\u4e86\u8fd0\u52a8\u611f\u77e5\u8de8\u6a21\u6001\u8bb0\u5fc6\u6ce8\u610f\u529b\u673a\u5236\u3002SAM4D\u7684\u6574\u4f53\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-c945c42a61ef6d75152a5f5528d4dd14_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2\uff5cSAM4D\u7684\u6574\u4f53\u67b6\u6784<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.2 \u591a\u6a21\u6001\u5206\u5272\u6846\u67b6<\/strong><\/h3>\n\n\n\n<p>\u5728\u591a\u6a21\u6001\u7279\u5f81\u5d4c\u5165\u65b9\u9762\uff0c\u89c6\u9891\u5206\u652f\u9075\u5faaSAM2\u7684\u8bbe\u8ba1\uff0c\u91c7\u7528\u5177\u6709SA-V\u9884\u8bad\u7ec3\u7684Hiera\u67b6\u6784\u5c06\u6bcf\u4e2a\u56fe\u50cf\u5e27\u5d4c\u5165\u4e3a\u65e0\u6761\u4ef6\u7684patch token\u3002\u5728\u6fc0\u5149\u96f7\u8fbe\u5206\u652f\u4e2d\uff0c\u4f7f\u7528\u901a\u8fc7TorchSparse\u5b9e\u73b0\u7684MinkUNet\u6765\u5c06\u7a00\u758f\u70b9\u4e91\u7f16\u7801\u4e3a\u4f53\u7d20\u7ea7token\u3002\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u7f16\u7801\u5668\u4ec5\u8fd0\u884c\u4e00\u6b21\u4ee5\u51cf\u5c11\u8ba1\u7b97\u5f00\u9500\uff0c\u5b9e\u73b0\u957f\u65f6\u7a0b\u89c6\u9891\u5e8f\u5217\u7684\u9ad8\u6548\u5904\u7406\u3002<\/p>\n\n\n\n<p>\u8fd0\u52a8\u611f\u77e5\u8de8\u6a21\u6001\u8bb0\u5fc6\u6ce8\u610f\u529b\u662f\u672c\u6587\u65b9\u6cd5\u7684\u6838\u5fc3\u7ec4\u4ef6\uff0c\u901a\u8fc7\u6574\u5408\u8de8\u6a21\u6001\u7279\u5f81\u548c\u8bb0\u5fc6\u4e2d\u7684\u5148\u524d\u5e27\u7279\u5f81\u6765\u4f18\u5316\u7279\u5f81\u8868\u793a\uff0c\u786e\u4fdd\u8de8\u6a21\u6001\u548c\u65f6\u5e8f\u5bf9\u9f50\u3002\u4e0eSAM2\u4e0d\u540c\uff0cSAM4D\u901a\u8fc7\u6df1\u5ea6\u4f30\u8ba1\u5c06\u56fe\u50cfpatch\u63d0\u5347\u5230\u4e09\u7ef4\u7a7a\u95f4\uff0c\u5141\u8bb8\u5bf9\u56fe\u50cfpatch token\u548c\u6fc0\u5149\u96f7\u8fbe\u4f53\u7d20token\u8fdb\u884c\u7edf\u4e00\u4f4d\u7f6e\u7f16\u7801\u3002\u6b64\u5916\uff0c\u81ea\u8f66\u8fd0\u52a8\u4e5f\u88ab\u5d4c\u5165\u5230\u4e0e\u8fc7\u53bb\u7279\u5f81\u548c\u9884\u6d4b\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u4e2d\uff0c\u5b9e\u73b0\u957f\u671f\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u63d0\u793a\u7f16\u7801\u5668\u548c\u63a9\u7801\u89e3\u7801\u5668\u65b9\u9762\uff0c\u63d0\u793a\u7f16\u7801\u5668\u652f\u6301\u6765\u81ea\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u8f93\u5165\u7684\u4e0d\u540c\u8f93\u5165\u63d0\u793a\uff0c\u4ee5\u5b9a\u4e49\u76ee\u6807\u7684\u7a7a\u95f4\u8303\u56f4\u548c\u4f4d\u7f6e\u3002\u7a00\u758f\u63d0\u793a\uff08\u5982\u70b9\u548c\u6846\uff09\u901a\u8fc7\u4f4d\u7f6e\u7f16\u7801\u8868\u793a\uff0c\u5e76\u4e0e\u6bcf\u79cd\u63d0\u793a\u7c7b\u578b\u7684\u53ef\u5b66\u4e60\u5d4c\u5165\u76f8\u52a0\uff0c\u800c\u63a9\u7801\u63d0\u793a\u5219\u901a\u8fc7\u5377\u79ef\u548c\u7a00\u758f\u5377\u79ef\u8fdb\u884c\u5d4c\u5165\u3002\u63a9\u7801\u89e3\u7801\u5668\u5904\u7406\u6765\u81ea\u4e24\u79cd\u6a21\u6001\u7684\u63d0\u793a\u4ee5\u53ca\u7531\u8bb0\u5fc6\u6ce8\u610f\u529b\u66f4\u65b0\u7684\u7279\u5f81\uff0c\u540c\u65f6\u9884\u6d4b\u4e8c\u7ef4\u548c\u4e09\u7ef4\u5206\u5272\u63a9\u7801\u3002<\/p>\n\n\n\n<p>\u8bb0\u5fc6\u7f16\u7801\u5668\u548c\u8bb0\u5fc6\u5e93\u7684\u8bbe\u8ba1\u4e2d\uff0c\u8bb0\u5fc6\u7f16\u7801\u5668\u5206\u522b\u5904\u7406\u4e8c\u7ef4\u548c\u4e09\u7ef4\u5206\u5272\u63a9\u7801\uff0c\u5bf9\u56fe\u50cf\u4f7f\u7528\u5377\u79ef\uff0c\u5bf9\u6fc0\u5149\u96f7\u8fbe\u4f7f\u7528\u7a00\u758f\u5377\u79ef\u6765\u4e0b\u91c7\u6837\u8f93\u51fa\u3002\u7136\u540e\u5c06\u4e0b\u91c7\u6837\u7684\u63a9\u7801\u4e0e\u6765\u81ea\u7f16\u7801\u5668\u7684\u521d\u59cb\u5d4c\u5165\u8fdb\u884c\u9010\u5143\u7d20\u76f8\u52a0\uff0c\u5e94\u7528\u8f7b\u91cf\u7ea7\u5377\u79ef\u5c42\u6765\u878d\u5408\u4fe1\u606f\u3002\u8bb0\u5fc6\u5e93\u7ef4\u62a4\u5148\u8fdb\u5148\u51fa\u961f\u5217\u6765\u5b58\u50a8\u8fc7\u53bb\u7684\u76ee\u6807\u7279\u5f81\uff0c\u6700\u591a\u4fdd\u7559N\u4e2a\u672a\u63d0\u793a\u5e27\u548cM\u4e2a\u63d0\u793a\u5e27\u3002\u6a21\u578b\u5b58\u50a8\u4ece\u63a9\u7801\u89e3\u7801\u5668token\u8ba1\u7b97\u7684\u76ee\u6807\u6307\u9488\uff0c\u6355\u83b7\u5206\u5272\u76ee\u6807\u7684\u9ad8\u7ea7\u8bed\u4e49\u4fe1\u606f\u5e76\u53c2\u4e0e\u8bb0\u5fc6\u6ce8\u610f\u529b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.3 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-5c7855ac785e38977aae28ee0c51e5d1_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe3\uff5cUMPE\u65b9\u6848<\/figcaption><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u56fe\u50cf\u7684\u4f4d\u7f6e\u7f16\u7801\uff0c\u9996\u5148\u4e3a\u56fe\u50cf\u7279\u5f81\u4e2d\u7684\u50cf\u7d20\u5206\u914d\u4e8c\u7ef4\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\uff0c\u4fdd\u6301\u56fe\u50cf\u5e73\u9762\u4e2d\u7684\u7a7a\u95f4\u7ed3\u6784\u3002\u4e3a\u4e86\u5c06\u56fe\u50cf\u7279\u5f81\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7a7a\u95f4\u8868\u793a\u5bf9\u9f50\uff0c\u4e3a\u6bcf\u4e2a\u50cf\u7d20\u4f30\u8ba1\u6df1\u5ea6\u96c6\u5408\u5e76\u5c06\u5176\u63d0\u5347\u5230\u4e09\u7ef4\u7a7a\u95f4\uff0c\u7c7b\u4f3c\u4e8eLift-Splat-Shoot\u65b9\u6cd5\u3002\u901a\u8fc7\u76f8\u673a\u5185\u53c2\u77e9\u9635\u548c\u4ece\u76f8\u673a\u5750\u6807\u5230\u6fc0\u5149\u96f7\u8fbe\u5750\u6807\u7684\u53d8\u6362\u77e9\u9635\uff0c\u5c06\u56fe\u50cf\u8f6c\u6362\u4e3a\u4f2a\u70b9\u4e91\uff0c\u7136\u540e\u5e94\u7528\u57fa\u4e8e\u591a\u5c42\u611f\u77e5\u5668\u7684\u4e09\u7ef4\u4f4d\u7f6e\u7f16\u7801\u3002\u6700\u7ec8\u7684\u4f4d\u7f6e\u7f16\u7801\u7531\u4e8c\u7ef4\u6b63\u5f26\u7f16\u7801\u548c\u4e09\u7ef4\u591a\u5c42\u611f\u77e5\u5668\u7f16\u7801\u7ec4\u6210\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u4f4d\u7f6e\u7f16\u7801\uff0c\u91c7\u7528\u7c7b\u4f3c\u7684\u4e24\u9636\u6bb5\u7f16\u7801\u65b9\u6cd5\u3002\u9996\u5148\u5e94\u7528\u4e09\u7ef4\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\uff0c\u7f16\u7801\u70b9\u4e91\u7684\u7a7a\u95f4\u7ed3\u6784\u3002\u4e3a\u786e\u4fdd\u4e0e\u63d0\u5347\u5230\u4e09\u7ef4\u7684\u56fe\u50cf\u7279\u5f81\u7684\u4e00\u81f4\u6027\uff0c\u4f7f\u7528\u76f8\u540c\u7684\u57fa\u4e8e\u591a\u5c42\u611f\u77e5\u5668\u7684\u53d8\u6362\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6765\u81ea\u56fe\u50cf\u6216\u6fc0\u5149\u96f7\u8fbe\u7684\u7a00\u758f\u63d0\u793a\uff08\u5305\u62ec\u70b9\u6216\u8fb9\u754c\u6846\uff09\uff0c\u5e94\u7528\u4e0e\u5bc6\u96c6\u7279\u5f81\u76f8\u540c\u7684\u53cc\u9636\u6bb5\u4f4d\u7f6e\u7f16\u7801\u3002\u6765\u81ea\u4e24\u79cd\u6a21\u6001\u7684\u7f16\u7801\u63d0\u793a\u5728\u8f93\u5165\u63a9\u7801\u89e3\u7801\u5668\u524d\u8fdb\u884c\u62fc\u63a5\uff0c\u7f3a\u5931\u63d0\u793a\u88ab\u7a7a\u5360\u4f4d\u7b26\u66ff\u6362\u3002\u7a00\u758f\u63d0\u793a\u5d4c\u5165\u7136\u540e\u4e0e\u8f93\u51fatoken\u62fc\u63a5\uff0c\u5e76\u5e94\u7528\u8fd0\u52a8\u611f\u77e5\u8bb0\u5fc6\u6ce8\u610f\u529b\u66f4\u65b0\u7684\u7279\u5f81\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u4f7f\u63a9\u7801\u89e3\u7801\u5668\u80fd\u591f\u751f\u6210\u4e8c\u7ef4\u548c\u4e09\u7ef4\u5206\u5272\u63a9\u7801\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u5728\u5171\u4eab\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7edf\u4e00\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u4f4d\u7f6e\u7f16\u7801\uff0c\u540c\u65f6\u4fdd\u6301\u6a21\u6001\u7279\u5b9a\u7279\u5f81\uff0cUMPE\u5b9e\u73b0\u4e86\u6846\u67b6\u4e2d\u8fdb\u4e00\u6b65\u7684\u8de8\u6a21\u6001\u7279\u5f81\u878d\u5408\u548c\u4ea4\u4e92\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.4 \u8fd0\u52a8\u611f\u77e5\u8de8\u6a21\u6001\u8bb0\u5fc6\u6ce8\u610f\u529b<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u589e\u5f3a\u591a\u6a21\u6001\u7279\u5f81\u8868\u793a\u5e76\u786e\u4fdd\u65f6\u5e8f\u4e00\u81f4\u6027\uff0c\u672c\u6587\u5f15\u5165\u4e86\u8fd0\u52a8\u611f\u77e5\u8de8\u6a21\u6001\u8bb0\u5fc6\u6ce8\u610f\u529b\uff08MCMA\uff09\u3002\u8be5\u6a21\u5757\u96c6\u6210\u4e86\u81ea\u6ce8\u610f\u529b\u3001\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u6a21\u6001\u95f4\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u4ee5\u53ca\u57fa\u4e8e\u8bb0\u5fc6\u7684\u65f6\u5e8f\u6ce8\u610f\u529b\uff0c\u5982\u56fe4\u6240\u793a\u3002\u4e0e\u4ee5\u5f80\u65b9\u6cd5\u7684\u5173\u952e\u533a\u522b\u662f\u878d\u5408\u4e86\u81ea\u8f66\u8fd0\u52a8\u8865\u507f\uff0c\u5c06\u8fc7\u53bb\u5e27\u7684\u7279\u5f81\u5bf9\u9f50\u5230\u5f53\u524d\u5750\u6807\u7cfb\u7edf\uff0c\u5141\u8bb8\u66f4\u51c6\u786e\u7684\u7279\u5f81\u68c0\u7d22\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-3cd8023c39d538c25830bb05b83e1f8f_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe4\uff5cMCMA\u673a\u5236<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u7279\u5f81\u4f18\u5316\u7684\u81ea\u6ce8\u610f\u529b\u65b9\u9762\uff0c\u7ed9\u5b9a\u6765\u81ea\u5404\u81ea\u7f16\u7801\u5668\u7684\u56fe\u50cf\u7279\u5f81\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\uff0c\u4ee5\u53ca\u4ece\u7edf\u4e00\u591a\u6a21\u6001\u4f4d\u7f6e\u7f16\u7801\u83b7\u5f97\u7684\u4f4d\u7f6e\u7f16\u7801\uff0c\u9996\u5148\u5728\u6bcf\u4e2a\u6a21\u6001\u5185\u5e94\u7528\u81ea\u6ce8\u610f\u529b\u6765\u4f18\u5316\u6a21\u6001\u5185\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u591a\u6a21\u6001\u878d\u5408\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u6267\u884c\u4ea4\u53c9\u6ce8\u610f\u529b\u4f7f\u4e00\u4e2a\u6a21\u6001\u80fd\u591f\u878d\u5408\u6765\u81ea\u53e6\u4e00\u4e2a\u6a21\u6001\u7684\u4fe1\u606f\u3002\u4e24\u79cd\u6a21\u6001\u5171\u4eab\u4e92\u8865\u7684\u7a7a\u95f4\u548c\u7ed3\u6784\u4fe1\u606f\uff0c\u589e\u5f3a\u4e86\u7528\u4e8e\u5206\u5272\u7684\u7279\u5f81\u8868\u8fbe\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u5728\u8fd0\u52a8\u5bf9\u9f50\u8bb0\u5fc6\u7684\u65f6\u5e8f\u6ce8\u610f\u529b\u65b9\u9762\uff0c\u4e0e\u4ec5\u8003\u8651\u77ed\u671f\u76ee\u6807\u8fd0\u52a8\u7684SAM2\u4e0d\u540c\uff0c\u672c\u6587\u65b9\u6cd5\u660e\u786e\u878d\u5408\u4e86\u81ea\u8f66\u8fd0\u52a8\u8865\u507f\u6765\u5904\u7406\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5927\u5c3a\u5ea6\u573a\u666f\u53d8\u5316\u3002\u6a21\u578b\u7ef4\u62a4\u4e00\u4e2a\u8bb0\u5fc6\u5e93\uff0c\u5b58\u50a8\u5386\u53f2\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u4ee5\u53ca\u5b83\u4eec\u7684\u4e09\u7ef4\u7a7a\u95f4\u4f4d\u7f6e\uff0c\u4fdd\u7559N\u4e2a\u672a\u63d0\u793a\u5e27\u548cM\u4e2a\u63d0\u793a\u5e27\u7528\u4e8e\u65f6\u5e8f\u53c2\u8003\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u6b63\u786e\u5730\u5c06\u8fc7\u53bb\u5e27\u7279\u5f81\u5bf9\u9f50\u5230\u5f53\u524d\u5750\u6807\u5e27\uff0c\u4f7f\u7528\u81ea\u8f66\u8fd0\u52a8\u53d8\u6362\u77e9\u9635\u53d8\u6362\u5b58\u50a8\u7684\u4f4d\u7f6e\uff0c\u8be5\u77e9\u9635\u5c06\u5386\u53f2\u5e27\u6620\u5c04\u5230\u5f53\u524d\u5e27\u3002\u8fd9\u4e2a\u53d8\u6362\u77e9\u9635\u6765\u81ea\u8f66\u8f86\u91cc\u7a0b\u8ba1\uff0c\u786e\u4fdd\u7a7a\u95f4\u4e00\u81f4\u7684\u8bb0\u5fc6\u68c0\u7d22\u3002\u4e00\u65e6\u53d8\u6362\u5b8c\u6210\uff0c\u5148\u524d\u5e27\u7279\u5f81\u548c\u76ee\u6807\u6307\u9488\u88ab\u7528\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u4ee5\u4f7f\u7528\u5bf9\u9f50\u7684\u65f6\u5e8f\u4fe1\u606f\u66f4\u65b0\u5f53\u524d\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u878d\u5408\u8fd0\u52a8\u611f\u77e5\u8bb0\u5fc6\u5bf9\u9f50\uff0cMCMA\u663e\u8457\u63d0\u9ad8\u4e86\u8de8\u5e27\u7684\u7279\u5f81\u4e00\u81f4\u6027\uff0c\u51cf\u5c11\u4e86\u5927\u5c3a\u5ea6\u573a\u666f\u53d8\u5316\u9020\u6210\u7684\u76ee\u6807\u5bf9\u5e94\u8bef\u5dee\uff0c\u4f7fSAM4D\u80fd\u591f\u5728\u52a8\u6001\u771f\u5b9e\u4e16\u754c\u73af\u5883\u4e2d\u6267\u884c\u9c81\u68d2\u7684\u8de8\u6a21\u6001\u548c\u65f6\u5e8f\u5206\u5272\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>3.5 \u8bad\u7ec3<\/strong><\/h3>\n\n\n\n<p>SAM4D\u6a21\u578b\u901a\u8fc7\u8de8\u6a21\u6001\u7684\u6a21\u62df\u4ea4\u4e92\u63d0\u793a\u5728\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u4e0a\u8fdb\u884c\u8054\u5408\u8bad\u7ec3\uff0c\u9075\u5faaSAM\u7cfb\u5217\u4e2d\u5f15\u5165\u7684\u7b56\u7565\u3002\u5bf9\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u9884\u6d4b\u5e94\u7528\u76f8\u540c\u7684\u635f\u5931\u51fd\u6570\u4ee5\u5f3a\u5236\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-804a2659f7bdbed57e0b6a18704ce7fb_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u636e\u6211\u4eec\u6240\u77e5\uff0c\u76ee\u524d\u8fd8\u6ca1\u6709\u6570\u636e\u96c6\u80fd\u591f\u540c\u65f6\u652f\u6301\u4e8c\u7ef4\u548c\u4e09\u7ef4\u5206\u5272\uff0c\u540c\u65f6\u786e\u4fdd\u5b9e\u4f8b\u5728\u65f6\u95f4\u4e0a\u7684\u4e00\u81f4\u6027\u3002\u4e3a\u4e86\u5feb\u901f\u5efa\u7acb\u548c\u6269\u5c55\u4f4e\u6210\u672c\u7684\u8bad\u7ec3\u6570\u636e\u96c6\uff0c\u672c\u6587\u7cbe\u5fc3\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u591a\u6a21\u6001\u81ea\u52a8\u6570\u636e\u5f15\u64ce\u6765\u83b7\u5f97\u5c3d\u53ef\u80fd\u591a\u7684\u9ad8\u8d28\u91cf\u4f2a\u771f\u503c\u6570\u636e\u3002\u4f7f\u7528\u8fd9\u4e2a\u6570\u636e\u5f15\u64ce\uff0c\u672c\u6587\u57fa\u4e8eWaymo\u5f00\u653e\u6570\u636e\u96c6\u6784\u5efa\u4e86Waymo-4DSeg\u6570\u636e\u96c6\uff0c\u4e3a\u591a\u6a21\u6001\u548c\u65f6\u5e8f\u5206\u5272\u63d0\u4f9b\u4e86\u5927\u89c4\u6a21\u57fa\u51c6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.1 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-8b926965ebbf0895e10195cad71fd984_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe5\uff5c\u6570\u636e\u5f15\u64ce<\/figcaption><\/figure>\n\n\n\n<p>\u7b2c\u4e8c\u6b65\u4e2d\uff0c\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u5e27\u548c\u9884\u6807\u6ce8\u7684\u524d\u666f\u76ee\u6807\u4e09\u7ef4\u8fb9\u754c\u6846\u6784\u5efa\u56db\u7ef4\u57fa\u4e8e\u4f53\u7d20\u7684\u91cd\u5efa\uff0c\u4f5c\u4e3a\u56fe\u50cf\u6570\u636e\u548c\u6fc0\u5149\u96f7\u8fbe\u5e27\u95f4\u7684\u4e2d\u4ecb\u3002\u8fd9\u4e2a\u56db\u7ef4\u91cd\u5efa\u7531\u5355\u4e2a\u80cc\u666f\u7ec4\u4ef6\u548c\u591a\u4e2a\u524d\u666f\u7ec4\u4ef6\u7ec4\u6210\uff0c\u6bcf\u4e2a\u7ec4\u4ef6\u90fd\u5728\u76ee\u6807\u7684\u4f53\u5750\u6807\u7cfb\u4e2d\u5b9a\u4e49\u3002\u540c\u65f6\u4ece\u6bcf\u4e2a\u56fe\u50cf\u4e2d\u5fc3\u5411\u4f53\u7d20\u6267\u884c\u8be6\u5c3d\u5c04\u7ebf\u6295\u5c04\uff0c\u5efa\u7acb\u5bc6\u96c6\u7684\u50cf\u7d20-\u4f53\u7d20\u6620\u5c04\u8868\u3002<\/p>\n\n\n\n<p>\u7b2c\u4e09\u6b65\u4e2d\uff0c\u901a\u8fc7\u67e5\u8be2\u50cf\u7d20-\u4f53\u7d20\u6620\u5c04\u8868\uff0c\u5c06\u89c6\u9891masklet\u5206\u914d\u7ed9\u76f8\u5e94\u4f53\u7d20\u3002\u7531\u4e8e\u6807\u7b7e\u548c\u63a9\u7801\u4e2d\u566a\u58f0\u7684\u5b58\u5728\uff0c\u91c7\u7528DBSCAN\u7b97\u6cd5\u6839\u636e\u4f53\u7d20\u7684\u9e1f\u77b0\u56fe\u4f4d\u7f6e\u5bf9\u4f53\u7d20\u8fdb\u884c\u805a\u7c7b\uff0c\u9009\u62e9\u5177\u6709\u6700\u9ad8\u6295\u7968\u7387\u7684\u4e3b\u8981\u805a\u7c7b\uff0c\u4e22\u5f03\u5176\u4f59\u90e8\u5206\u4f5c\u4e3a\u566a\u58f0\u3002\u8fc7\u6ee4\u540e\uff0c\u8bc4\u4f30\u6765\u81ea\u4e0d\u540c\u89c6\u9891\u7684\u4f53\u7d20masklet\u95f4\u7684\u91cd\u53e0\uff0c\u5c06\u5b83\u4eec\u5408\u5e76\u4e3a\u5355\u4e2amasklet\u3002\u6700\u540e\uff0c\u57fa\u4e8e\u4e09\u7ef4\u7a7a\u95f4\u8ddd\u79bb\u521b\u5efa\u6fc0\u5149\u96f7\u8fbe\u5e27\u70b9\u548c\u4f53\u7d20\u95f4\u7684\u6620\u5c04\u8868\uff0c\u4fbf\u4e8e\u5c06\u6700\u7ec8\u4f53\u7d20masklet\u4f20\u8f93\u5230\u6fc0\u5149\u96f7\u8fbe\u5e27\u3002\u4f7f\u7528\u8de8\u6a21\u6001\u4ea4\u5e76\u6bd4\u8bc4\u4f30\u751f\u6210masklet\u7684\u8d28\u91cf\uff0c\u5e73\u5747\u5f97\u5206\u4e3a0.56\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>4.2 \u6784\u5efa\u7684\u6570\u636e\u96c6<\/strong><\/h3>\n\n\n\n<p>Waymo-4DSeg\u6570\u636e\u96c6\u6e90\u81eaWaymo\u5f00\u653e\u6570\u636e\u96c6\uff0c\u5305\u542b1000\u4e2a\u7247\u6bb5\uff08798\u4e2a\u8bad\u7ec3\uff0c202\u4e2a\u9a8c\u8bc1\uff09\uff0c\u6bcf\u4e2a\u7247\u6bb5\u7ea6200\u5e27\u3002\u5e73\u5747\u6bcf\u4e2a\u7247\u6bb5\u751f\u6210300\u4e2amasklet\uff0c\u6bcf\u4e2amasklet\u51fa\u73b0\u5728\u7ea6122\u5e27\u4e2d\uff0c\u5bfc\u81f4\u5e73\u5747\u6bcf\u4e2a\u56fe\u50cf\u670917\u4e2a\u63a9\u7801\uff0c\u6bcf\u4e2a\u70b9\u4e91\u6709170\u4e2a\u63a9\u7801\u3002\u6b64\u5916\uff0c23.4%\u7684masklet\u5728\u81f3\u5c11\u4e24\u4e2a\u4e0d\u540c\u7247\u6bb5\u4e2d\u88ab\u89c2\u5bdf\u5230\u3002<\/p>\n\n\n\n<p>masklet\u7684\u8bed\u4e49\u7c7b\u522b\u6db5\u76d6\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u76f8\u5173\u9879\u76ee\uff0c\u5305\u62ec\u52a8\u6001\u524d\u666f\u76ee\u6807\uff08\u8f66\u8f86\u3001\u884c\u4eba\uff09\u3001\u80cc\u666f\u5143\u7d20\uff08\u5efa\u7b51\u7269\u3001\u6811\u6728\uff09\u548c\u9644\u8fd1\u76ee\u6807\uff08\u8def\u6cbf\u3001\u8def\u706f\u3001\u4ea4\u901a\u9525\uff09\u3002\u76ee\u6807\u4f53\u79ef\u8303\u56f4\u4ece\u5c11\u4e8e10\u4e2a\u4f53\u7d20\u5230\u8d85\u8fc720\u4e07\u4e2a\u4f53\u7d20\uff08\u4f53\u7d20\u5927\u5c0f0.1\u7c73\uff09\uff0c\u5360\u636e\u5e73\u57471.5k\u50cf\u7d20\u5230\u8d85\u8fc71M\u50cf\u7d20\u7684\u56fe\u50cf\u9762\u79ef\u3002<\/p>\n\n\n\n<p>\u6570\u636e\u96c6\u7684\u89c4\u6a21\u548c\u591a\u6837\u6027\u4f53\u73b0\u4e86\u5176\u4f5c\u4e3a\u591a\u6a21\u6001\u5206\u5272\u57fa\u51c6\u7684\u4ef7\u503c\u3002\u901a\u8fc7\u6db5\u76d6\u5404\u79cd\u76ee\u6807\u7c7b\u578b\u548c\u5c3a\u5ea6\uff0c\u4e3a\u8bad\u7ec3\u548c\u8bc4\u4f30\u591a\u6a21\u6001\u5206\u5272\u6a21\u578b\u63d0\u4f9b\u4e86\u4e30\u5bcc\u6570\u636e\u57fa\u7840\u3002\u76ee\u6807\u5728\u4e0d\u540c\u7247\u6bb5\u4e2d\u7684\u91cd\u73b0\u652f\u6301\u6a21\u578b\u5b66\u4e60\u8de8\u573a\u666f\u4e00\u81f4\u6027\u8868\u793a\uff0c\u5e7f\u6cdb\u7684\u5c3a\u5ea6\u5206\u5e03\u786e\u4fdd\u6a21\u578b\u80fd\u591f\u5904\u7406\u4ece\u5c0f\u578b\u4ea4\u901a\u8bbe\u65bd\u5230\u5927\u578b\u5efa\u7b51\u7269\u7b49\u5404\u79cd\u89c4\u6a21\u76ee\u6807\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-4f07ed5d17d63bfde7ffe5cc5a094d45_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/h3>\n\n\n\n<p>\u5229\u7528\u6784\u5efa\u7684Waymo-4DSeg\u6570\u636e\u96c6\uff0c\u672c\u6587\u572816\u4e2aNVIDIA A100 GPU\u4e0a\u4ee5\u6700\u591a6\u4e2a\u76ee\u6807\u8bad\u7ec3SAM4D\u6a21\u578b36\u4e2aepochs\u3002\u4f7f\u7528\u5177\u6709768\u00d7768\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u7684Hiera-S\u56fe\u50cf\u7f16\u7801\u5668\u548c\u5177\u67090.15\u7c73\u4f53\u7d20\u5316\u8f93\u5165\u6fc0\u5149\u96f7\u8fbe\u70b9\u7684Mink-34\u6fc0\u5149\u96f7\u8fbe\u7f16\u7801\u5668\u3002<\/p>\n\n\n\n<p>\u8bc4\u4f30\u6307\u6807\u91c7\u7528\u5e73\u5747\u4ea4\u5e76\u6bd4\uff08mIoU\uff09\u8bc4\u4f30\u6bcf\u4e2a\u5355\u5e27\u4e2d\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u5206\u5272\u6027\u80fd\u3002\u5bf9\u4e8e\u56fe\u50cf\u5e8f\u5217\uff0c\u8fd8\u62a5\u544a\u4e86\u89c6\u9891\u76ee\u6807\u5206\u5272\u4e2d\u7684J&amp;F\u6307\u6807\u3002\u6b64\u5916\uff0c\u5f15\u5165\u4e86\u9519\u8bef\u5339\u914d\u9884\u6d4b\u6570\u91cf\uff08NMP\uff09\uff0c\u91cf\u5316\u9884\u6d4b\u76ee\u6807\u672a\u80fd\u4e0e\u4ea4\u5e76\u6bd4\u4f4e\u4e8e0.01\u9608\u503c\u7684\u771f\u503c\u5339\u914d\u7684\u5b9e\u4f8b\u6570\u91cf\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.2 \u4e3b\u8981\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<p>\u5728\u53ef\u63d0\u793a\u8de8\u6a21\u6001\u5e27\u5206\u5272\u65b9\u9762\uff0c\u901a\u8fc7\u9009\u62e9\u4e24\u79cd\u6a21\u6001\u4e2d\u90fd\u5b58\u5728\u7684\u76ee\u6807\u5e76\u5728\u5355\u4e00\u6a21\u6001\u4e2d\u63d0\u4f9b\u63d0\u793a\uff0c\u7136\u540e\u6d4b\u91cf\u5355\u5e27\u5185\u4e24\u79cd\u6a21\u6001\u7684\u5206\u5272\u4ea4\u5e76\u6bd4\u6765\u8bc4\u4f30\u3002\u63d0\u793a\u5305\u62ec\u5355\u70b9\u3001\u591a\u70b9\u3001\u8fb9\u754c\u6846\u548c\u63a9\u7801\u8f93\u5165\u3002\u5982\u88681\u6240\u793a\uff0c\u5728\u56fe\u50cf\u6216\u6fc0\u5149\u96f7\u8fbe\u4e2d\u63d0\u4f9b\u63d0\u793a\u4f7f\u53e6\u4e00\u4e2a\u6a21\u6001\u80fd\u591f\u5b9e\u73b0\u6709\u5e0c\u671b\u7684\u5206\u5272\u7ed3\u679c\uff0c\u5c55\u793a\u4e86SAM4D\u4e2d\u8de8\u6a21\u6001\u63d0\u793a\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-d396b0e3cad9f20e6d26176a390cdb07_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88681\uff5c\u4e0d\u540c\u63d0\u793a\u5728\u5728\u53ef\u63d0\u793a\u8de8\u6a21\u6001\u5e27\u5206\u5272\u4e0a\u7684\u6027\u80fd\u6bd4\u8f83<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u53ef\u63d0\u793a\u591a\u6a21\u6001\u6d41\u5206\u5272\u65b9\u9762\uff0c\u8fdb\u4e00\u6b65\u8bc4\u4f30\u4e86SAM4D\u7684\u6d41\u7ea7\u53ef\u63d0\u793a\u5206\u5272\u80fd\u529b\uff0c\u6a21\u62df\u4ea4\u4e92\u5f0f\u6807\u6ce8\u8fc7\u7a0b\u3002\u5b9e\u9a8c\u5728\u79bb\u7ebf\u548c\u5728\u7ebf\u6a21\u5f0f\u4e0b\u8fdb\u884c\u3002\u5982\u56fe6\u6240\u793a\uff0cSAM4D\u5728\u4e24\u79cd\u8bbe\u7f6e\u4e0b\u90fd\u5b9e\u73b0\u4e86\u7a33\u5b9a\u7684\u5206\u5272\u6027\u80fd\uff0c\u968f\u7740\u989d\u5916\u63d0\u793a\u7684\u5f15\u5165\u6301\u7eed\u6539\u5584\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-d9d7cd2a3f73a0abb82676cafa679565_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe6\uff5c\u4ea4\u4e92\u5f0f\u79bb\u7ebf\u548c\u5728\u7ebf\u8bc4\u4f30\u8bbe\u7f6e\u4e0b\u4e0d\u540c\u53ef\u63d0\u793a\u5e27\u6570\u7684\u6027\u80fd\u6bd4\u8f83<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u534a\u76d1\u7763\u6d41\u76ee\u6807\u5206\u5272\u65b9\u9762\uff0c\u4ec5\u4e3a\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u63d0\u4f9b\u7b2c\u4e00\u5e27\u63d0\u793a\uff0c\u5e76\u5728\u6574\u4e2a\u5e8f\u5217\u4e0a\u8bc4\u4f30\u5206\u5272\u4ee5\u8bc4\u4f30\u65f6\u5e8f\u4f20\u64ad\u548c\u8ddf\u8e2a\u3002\u5982\u88682\u6240\u793a\uff0c\u7f16\u7801\u66f4\u4e30\u5bcc\u7a7a\u95f4\u4fe1\u606f\u7684\u63a9\u7801\u63d0\u793a\u5728\u4e24\u79cd\u6a21\u6001\u4e2d\u90fd\u5b9e\u73b0\u4e86\u6700\u9ad8\u7684\u5206\u5272\u6027\u80fd\uff0c\u4f18\u4e8e\u70b9\u63d0\u793a\u548c\u6846\u63d0\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-91432cae99e858abea9c2ef89eec1302_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88682\uff5c\u4e0d\u540c\u63d0\u793a\u5728\u534a\u76d1\u7763\u6d41\u76ee\u6807\u5206\u5272\u4e0a\u7684\u6027\u80fd\u6bd4\u8f83<\/figcaption><\/figure>\n\n\n\n<p>\u5728PMS\u4efb\u52a1\u6cdb\u5316\u5b9e\u9a8c\u65b9\u9762\uff0c\u901a\u8fc7\u96f6\u6837\u672c\u8fc1\u79fb\u548c\u5fae\u8c03\u5728\u672a\u89c1\u8fc7\u7684nuScenes\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30SAM4D\u3002\u5982\u88683\u6240\u793a\uff0cSAM4D\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u96f6\u6837\u672c\u5206\u5272\u6027\u80fd\uff0c\u7a81\u51fa\u4e86\u5176\u5bf9\u672a\u89c1\u9a7e\u9a76\u573a\u666f\u7684\u8de8\u6a21\u6001\u6cdb\u5316\u80fd\u529b\u3002\u5728nuScenes\u4e0a\u7684\u8fdb\u4e00\u6b65\u5fae\u8c03\u589e\u5f3a\u4e86\u5206\u5272\u8d28\u91cf\uff0c\u5c55\u793a\u4e86\u6a21\u578b\u5728\u65b0\u73af\u5883\u4e2d\u9002\u5e94\u548c\u4f18\u5316\u9884\u6d4b\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-0705ae83857beedd73e0c1ca672d6883_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88683\uff5cnuScenes\u6570\u636e\u96c6\u5728\u534a\u76d1\u7763\u6d41\u76ee\u6807\u5206\u5272\u8bbe\u7f6e\u4e0b\u7684\u6027\u80fd\u6bd4\u8f83<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>5.3 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