{"id":31529,"date":"2025-08-04T17:31:33","date_gmt":"2025-08-04T09:31:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31529"},"modified":"2025-08-04T17:31:33","modified_gmt":"2025-08-04T09:31:33","slug":"2025-08-04-iccv-2025%ef%bc%81%e6%b8%85%e5%8d%8e%e6%8f%90%e5%87%bags-occ3d%ef%bc%9a%e7%ba%af%e8%a7%86%e8%a7%89%e8%a7%84%e6%a8%a1%e5%8c%96occ%e9%87%8d%e5%bb%ba%ef%bc%8c%e8%87%aa%e5%8a%a8%e6%a0%87","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/04\/31529\/","title":{"rendered":"2025-08-04 ICCV 2025\uff01\u6e05\u534e\u63d0\u51faGS-Occ3D\uff1a\u7eaf\u89c6\u89c9\u89c4\u6a21\u5316Occ\u91cd\u5efa\uff0c\u81ea\u52a8\u6807\u6ce8\u5168\u65b0\u8303\u5f0f~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1935641304357900359\">https:\/\/zhuanlan.zhihu.com\/p\/1935641304357900359<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=L4%E7%BA%A7%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">L4\u7ea7\u81ea\u52a8\u9a7e\u9a76<\/a>\u7684\u5546\u4e1a\u5316\u6d6a\u6f6e\u5df2\u7136\u5230\u6765\u3002\u4ece\u7279\u65af\u62c9Robotaxi\u7684\u843d\u5730\u8fd0\u8425\uff0c\u5230<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E5%B0%8F%E9%A9%AC%E6%99%BA%E8%A1%8C&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5c0f\u9a6c\u667a\u884c<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E6%96%87%E8%BF%9C%E7%9F%A5%E8%A1%8C&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6587\u8fdc\u77e5\u884c<\/a>\u7684\u6210\u529f\u4e0a\u5e02\uff0c\u518d\u5230<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E7%99%BE%E5%BA%A6%E8%90%9D%E5%8D%9C%E5%BF%AB%E8%B7%91&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u767e\u5ea6\u841d\u535c\u5feb\u8dd1<\/a>\u7684\u5feb\u901f\u6269\u5f20\uff0c\u65e0\u4e0d\u6807\u5fd7\u7740\u81ea\u52a8\u9a7e\u9a76\u6b63\u8fc8\u5411\u5927\u89c4\u6a21\u90e8\u7f72\u3002\u5176\u4e2d\uff0c\u5982\u4f55\u9ad8\u6548\u5904\u7406\u6d77\u91cf\u6570\u636e\uff0c\u6784\u5efa\u53ef\u89c4\u6a21\u5316\u7684\u81ea\u52a8\u6807\u6ce8\u6846\u67b6\u662f\u6838\u5fc3\u6311\u6218\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5360\u636e\u6805\u683c\uff08Occupancy\uff09\u4f5c\u4e3a\u611f\u77e5\u7684\u6838\u5fc3\uff0c\u63d0\u4f9b\u4e86\u5173\u952e\u7684\u51e0\u4f55\u5148\u9a8c\u3002\u7136\u800c\uff0c\u884c\u4e1a\u4e3b\u6d41\u7684\u5360\u636e\u6805\u683c\u6807\u6ce8\u65b9\u6cd5\u4e25\u91cd\u4f9d\u8d56<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6fc0\u5149\u96f7\u8fbe<\/a><\/p>\n\n\n\n<p>\uff08LiDAR\uff09\uff0c\u8fd9\u4e0d\u4ec5\u6210\u672c\u9ad8\u6602\u3001\u96be\u4ee5\u6269\u5c55\uff0c\u4e5f\u65e0\u6cd5\u5229\u7528\u6570\u91cf\u66f4\u5e9e\u5927\u7684<strong>\u6d88\u8d39\u7ea7\u8f66\u8f86\u7684\u4f17\u5305\u6570\u636e<\/strong>\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0cGS-Occ3D\u63d0\u51fa\u4e86\u4e00\u4e2a<strong>\u4f4e\u6210\u672c\u3001\u53ef\u89c4\u6a21\u5316\u7684\u5360\u636e\u6805\u683c\u91cd\u5efa\u65b0\u8303\u5f0f<\/strong>\uff0c\u901a\u8fc7\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E5%85%AB%E5%8F%89%E6%A0%91&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u516b\u53c9\u6811<\/a>\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=%E9%AB%98%E6%96%AF%E9%9D%A2%E5%85%83&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9ad8\u65af\u9762\u5143<\/a><\/p>\n\n\n\n<p>\u65b9\u6cd5\u6765\u4f18\u5316\u663e\u5f0f\u7684\u51e0\u4f55\u8868\u793a\uff0c\u5b9e\u73b0\u4e86\u4f4e\u6210\u672c\u3001\u9ad8\u6548\u7684\u89c4\u6a21\u5316\u81ea\u52a8\u6807\u6ce8\u3002<\/p>\n\n\n\n<p>GS-Occ3D \u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=Waymo&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymo<\/a>\u5b9e\u73b0\u4e86<strong>SOTA\u51e0\u4f55\u91cd\u5efa\u7ed3\u679c<\/strong>\uff0c\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=Occ3D-Waymo&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Occ3D-Waymo<\/a>\u4e0a\u9a8c\u8bc1\u4e86\u6807\u7b7e\u5bf9\u4e0b\u6e38\u5360\u636e\u6805\u683c\u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u5e76\u5728 <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=Occ3D-nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Occ3D-nuScenes<\/a><\/p>\n\n\n\n<p>\u4e0a\u5c55\u793a\u4e86\u5176<strong>\u4f18\u8d8a\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b<\/strong>\u3002\u8fd9\u51f8\u663e\u4e86\u5927\u89c4\u6a21\u3001\u57fa\u4e8e\u89c6\u89c9\u7684\u5360\u636e\u6805\u683c\u91cd\u5efa\u6280\u672f\u4f5c\u4e3a\u81ea\u52a8\u6807\u6ce8\u65b0\u8303\u5f0f\u7684\u5de8\u5927\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-62f7d23caecfcc93cce456fb5e55dcca_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2507.19451\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2507.19451<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/gs-occ3d.github.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/gs-occ3d.github.io\/<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1935641304357900359_1\"><strong>\u7814\u7a76\u52a8\u673a\u4e0e\u8d21\u732e<\/strong><\/h2>\n\n\n\n<p>\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u4f9d\u8d56\u4e8e\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u7684\u5360\u636e\u6805\u683c\u6807\u6ce8\uff0c\u8fd9\u9700\u8981<strong>\u6210\u672c\u9ad8\u6602\u7684\u4e13\u4e1a\u6d4b\u7ed8\u8f66\u8f86<\/strong>\uff0c\u4ece\u800c\u6781\u5927\u5730\u9650\u5236\u4e86\u5176<strong>\u53ef\u6269\u5c55\u6027\u3002<\/strong><\/p>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0cGS-Occ3D \u5f15\u5165\u4e86\u4e00\u4e2a<strong>\u4f4e\u6210\u672c\u3001\u53ef\u89c4\u6a21\u5316\u7684\u5360\u636e\u6805\u683c\u6807\u6ce8\u65b0\u8303\u5f0f<\/strong>\uff0c\u8be5\u6846\u67b6\u80fd\u6709\u6548\u5229\u7528\u6765\u81ea<strong>\u6d88\u8d39\u7ea7\u8f66\u8f86\u7684\u5927\u91cf\u4f17\u5305\u6570\u636e<\/strong>\u8fdb\u884c\u81ea\u52a8\u6807\u6ce8\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u7eaf\u89c6\u89c9\u8303\u5f0f\u9762\u4e34\u8bf8\u591a\u6311\u6218\u3002\u9996\u5148\uff0c\u7eaf\u89c6\u89c9\u5360\u636e\u6805\u683c\u91cd\u5efa\u672c\u8eab\u5c31\u662f\u4e00\u4e2a\u4e25\u91cd\u7684\u4e0d\u9002\u5b9a\u95ee\u9898\uff0c\u5c24\u5176\u662f\u5728\u6d88\u8d39\u7ea7\u8f66\u8f86\u5e26\u6765\u7684\u7a00\u758f\u89c6\u89d2\u4e0b\uff0c\u4e25\u91cd\u906e\u6321\u3001\u7269\u4f53\u7684\u957f\u65f6\u7a7a\u590d\u6742\u8fd0\u52a8\uff0c\u4ee5\u53ca\u4e0d\u540c\u5c3a\u5ea6\u7269\u4f53\u95f4\u7684\u51e0\u4f55\u5173\u7cfb\uff0c\u90fd\u6781\u5927\u5730\u589e\u52a0\u4e86\u91cd\u5efa\u7684\u96be\u5ea6\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u4ee5\u5f80\u7684\u51e0\u4f55\u91cd\u5efa\u65b9\u6cd5\u4e5f\u5b58\u5728\u660e\u663e\u5c40\u9650\uff0c\u5b83\u4eec\u5927\u591a\u5c40\u9650\u4e8e\u4ee5\u7269\u4f53\u4e3a\u4e2d\u5fc3\u3001\u5ba4\u5185\u6216\u76f8\u5bf9\u7b80\u5355\u7684\u5ba4\u5916\u573a\u666f\uff0c\u96be\u4ee5\u9002\u5e94\u771f\u5b9e\u4e16\u754c\u4e2d\u590d\u6742\u591a\u6837\u7684\u52a8\u6001\u573a\u666f\uff1b\u5e76\u4e14\uff0c\u4e00\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u4f20\u7edf\u7684\u7f51\u683c\uff08Mesh\uff09\u8868\u5f81\uff0c\u5f80\u5f80\u9700\u8981\u5927\u91cf\u7e41\u7410\u7684\u540e\u5904\u7406\u3002\u56e0\u6b64\uff0c\u5f00\u53d1\u4e00\u79cd\u65e2\u65e0\u9700\u6fc0\u5149\u96f7\u8fbe\u5373\u53ef\u4f4e\u6210\u672c\u83b7\u5f97\u5360\u636e\u6805\u683c\u6807\u7b7e\uff0c\u53c8\u80fd\u5b9e\u73b0\u89c4\u6a21\u5316\u7684\u81ea\u52a8\u6807\u6ce8\u7684\u65b0\u8303\u5f0f\uff0c\u5df2\u6210\u4e3a\u8be5\u9886\u57df\u4e9f\u5f85\u7a81\u7834\u7684\u5173\u952e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-c717df03570716177ed7429d79abe15d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe1. <strong>\u5360\u636e\u6805\u683c\u8303\u5f0f\u5bf9\u6bd4<\/strong>\u3002\u6211\u4eec\u5c06\u9884\u6d4b\u7684\u51e0\u4f55\uff08\u7c89\u8272\uff09\u4e0e Occ3D-Waymo \u9a8c\u8bc1\u96c6\u7684\u771f\u503c\uff08\u5176\u4ed6\u989c\u8272\u4ee3\u8868\u4e0d\u540c\u8bed\u4e49\uff09\u8fdb\u884c\u53e0\u52a0\u5c55\u793a\uff0c\u4e3a\u4e86\u76f4\u89c2\u5c55\u793a\u9884\u6d4b\u4e0d\u5b8c\u6574\u7684\u533a\u57df\u3002\u901a\u8fc7\u6bd4\u8f83\u4f7f\u7528\u4e24\u79cd\u4e0d\u540c\u6807\u7b7e\u8bad\u7ec3\u7684\u6a21\u578b\uff0c\u6211\u4eec\u53d1\u73b0\u6a21\u578b\u5728<strong>\u51e0\u4f55\u6cdb\u5316\u7ed3\u679c\u4e0a\u80fd\u8fbe\u5230\u76f8\u5f53\u751a\u81f3\u66f4\u597d\u7684\u6c34\u5e73\u3002<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u4ee5<strong>\u4f4e\u6210\u672c\u3001\u53ef\u89c4\u6a21\u5316<\/strong>\u7684\u65b9\u5f0f\u6765\u83b7\u53d6\u9ad8\u8d28\u91cf\u7684\u5360\u636e\u6805\u683c\u6807\u7b7e\uff0c\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6211\u4eec\u63d0\u51fa\u7eaf\u89c6\u89c9\u5360\u636e\u6805\u683c\u6807\u7b7e\u751f\u6210\u65b0\u8303\u5f0f\uff0c\u548c\u4e4b\u524d\u4f9d\u8d56\u96f7\u8fbe\u7684\u8303\u5f0f\u76f8\u6bd4\uff0c\u5177\u6709\u8bed\u4e49\u4e30\u5bcc\u4e14\u65b9\u4fbf\u83b7\u53d6\uff0c\u6210\u672c\u6548\u76ca\u9ad8\uff0c\u53ef\u89c4\u6a21\u5316\u7b49\u4f18\u70b9\uff1b<\/li>\n\n\n\n<li>\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u6709\u6548\u5730\u4ece\u6cbf\u957f\u8f68\u8ff9\u62cd\u6444\u7684\u5168\u666f\u8857\u9053\u89c6\u56fe\u4e2d\u91cd\u5efa\u5730\u9762\u3001\u80cc\u666f\u548c\u52a8\u6001\u7269\u4f53\uff0c\u5b9e\u73b0\u4e86SOTA\u7684\u51e0\u4f55\u91cd\u5efa\u7ed3\u679c\uff0c\u751a\u81f3\u8d85\u8fc7\u4e86\u7531\u6fc0\u5149\u96f7\u8fbe\u76d1\u7763\u7684\u57fa\u7ebf\u6a21\u578b\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u9996\u6b21\u4f7f\u7528\u7eaf\u89c6\u89c9\u65b9\u6cd5\u91cd\u5efa\u4e86\u6574\u4e2a Waymo \u6570\u636e\u96c6\u3002\u6211\u4eec\u5728 Occ3D-Waymo \u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u4e86\u6807\u7b7e\u5bf9\u4e8e\u4e0b\u6e38\u611f\u77e5\u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u5e76\u5728 Occ3D-nuScenes \u6570\u636e\u96c6\u4e0a\u5c55\u793a\u4e86\u66f4\u4f18\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002\u8fd9\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u9762\u5411\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u65f6\uff0c\u5177\u5907\u9ad8\u5ea6\u7684\u53ef\u6269\u5c55\u6027\u4e0e\u53ef\u9760\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1935641304357900359_2\"><strong>\u65b9\u6cd5\u603b\u89c8<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-a6e554a59820eac62dc292acb03029eb_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2. GS-Occ3D \u65b9\u6cd5\u603b\u89c8\u3002<\/figcaption><\/figure>\n\n\n\n<p>1.\u4f7f\u7528\u6cbf\u957f\u8f68\u8ff9\u62cd\u6444\u7684\u5168\u666f\u8857\u9053\u89c6\u56fe\u6765\u751f\u6210\u7a00\u758f\u70b9\u4e91\u548c\u5730\u9762\u9762\u5143\u4f5c\u4e3a\u521d\u59cb\u5316\u3002\u6211\u4eec\u91c7\u7528\u4e00\u79cd\u57fa\u4e8e<strong>\u516b\u53c9\u6811\u7684\u9ad8\u65af\u9762\u5143\u573a\u666f\u8868\u793a<\/strong>\uff0c\u8be5\u65b9\u6cd5\u6574\u5408\u4e86<strong>\u5730\u9762\u3001\u80cc\u666f\u548c\u52a8\u6001\u7269\u4f53\uff0c\u4ee5\u5b9e\u73b0\u7eaf\u89c6\u89c9\u7684\u89c4\u6a21\u5316\u51e0\u4f55\u91cd\u5efa<\/strong>\u3002\u6b64\u5904\u5c55\u793a\u7684\u662f\u4e00\u4e2a\u4e0a\u5761\u573a\u666f\uff0c\u5176\u4e2d\u7684\u989c\u8272\u4ee3\u8868\u9ad8\u5ea6\u3002<\/p>\n\n\n\n<p>2.\u9488\u5bf9\u7eaf\u89c6\u89c9\u751f\u6210\u7684\u70b9\u4e91\uff0c\u6211\u4eec\u7684\u6807\u7b7e\u751f\u6210\u6d41\u7a0b\u9996\u5148\u901a\u8fc7\u9010\u5e27\u5212\u5206\u548c\u591a\u5e27\u805a\u5408\uff0c\u4e3a\u6bcf\u5e27\u5b9a\u4e49\u5408\u9002\u7684\u611f\u77e5\u8303\u56f4\uff0c\u540c\u65f6\u63d0\u5347\u70b9\u4e91\u5bc6\u5ea6\uff08\u7279\u522b\u9488\u5bf9\u89c2\u6d4b\u4e0d\u5b8c\u6574\u7684\u52a8\u6001\u7269\u4f53\uff09\u3002\u63a5\u7740\uff0c\u5bf9\u6bcf\u4e00\u5e27\u5e94\u7528\u5149\u7ebf\u6295\u5c04\u6765\u786e\u5b9a\u4f53\u7d20\u7684\u5360\u636e\u72b6\u6001\uff0c\u5e76\u663e\u5f0f\u5730\u5904\u7406\u76f8\u673a\u89c6\u89d2\u7684\u906e\u6321\u3002<\/p>\n\n\n\n<p>3.\u6700\u7ec8\u751f\u6210\u7684\u7eaf\u89c6\u89c9\u6807\u7b7e\u53ef\u7528\u4e8e\u8bad\u7ec3\u4e0b\u6e38\u7684\u5360\u636e\u6805\u683c\u6a21\u578b\uff0c\u4f7f\u8fd9\u4e9b\u6a21\u578b\u80fd\u591f\u6cdb\u5316\u5230\u672a\u89c1\u8fc7\u7684\u573a\u666f\uff0c\u5e76\u5177\u5907\u51e0\u4f55\u63a8\u7406\u80fd\u529b\u3002\u56fe\u4e2d\u7c89\u8272\u90e8\u5206\u8868\u793a\u9884\u6d4b\u7684\u573a\u666f\u51e0\u4f55\uff0c\u5176\u4ed6\u989c\u8272\u4ee3\u8868\u8bef\u5dee\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1935641304357900359_3\"><strong>\u5b9a\u91cf\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-ff07dfda5a84d590eedf5823867a5497_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88681. <strong>Waymo\u6570\u636e\u96c6\u7684SOTA\u51e0\u4f55\u91cd\u5efa\u7ed3\u679c<\/strong>\u3002NeuS* \u4f7f\u7528\u4e861\u4e2a\u7a20\u5bc6\u578b\u548c4\u4e2a\u7a00\u758f\u578b\u6fc0\u5149\u96f7\u8fbe\uff0cStreetSurf\u2020 \u4f7f\u7528\u4e864\u4e2a\u7a00\u758f\u578b\u6fc0\u5149\u96f7\u8fbe\uff0c\u800c\u6240\u6709\u5176\u4ed6\u65b9\u6cd5\u5747\u4e3a\u7eaf\u89c6\u89c9\u65b9\u6cd5\u3002\u4e3a\u4e86\u516c\u5e73\u5bf9\u6bd4\uff0c\u2021 \u8868\u793a\u4f7f\u7528\u4e86\u6211\u4eec\u7684\u5730\u9762\u9ad8\u65af\u6a21\u578b\u3002MB\u4ee3\u8868\u6a21\u578b\u5b58\u50a8\u5927\u5c0f\uff0cGB\u4ee3\u8868GPU\u663e\u5b58\u5360\u7528\uff0cTime\u4ee3\u8868\u8bad\u7ec3\u65f6\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-fe2cbe28155c9e85dbac03a004028761_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88682. \u5360\u636e\u6805\u683c\u6cdb\u5316\u548c\u62df\u5408\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>\u53ef\u6bd4\u8f83\u4e14\u66f4\u4f18\u8d8a\u7684\u96f6\u6837\u672c\u5360\u636e\u6805\u683c\u6cdb\u5316\u7ed3\u679c<\/strong>\uff1a\u6211\u4eec\u91c7\u7528\u4e24\u79cd\u7c7b\u578b\u7684\u6807\u7b7e\u8bad\u7ec3SOTA\u6a21\u578b<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=261210780&amp;content_type=Article&amp;match_order=1&amp;q=CVT-Occ&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CVT-Occ<\/a><\/p>\n\n\n\n<p>\uff0c\u88682\u5c55\u793a\u4e86\u5728Occ3D\u9a8c\u8bc1\u96c6\u4e0a\u7684\u6cdb\u5316\u7ed3\u679c\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5c55\u793a\u4e86\u91cd\u5efa\u53ef\u6cdb\u5316\u51e0\u4f55\u7684\u80fd\u529b\uff0c\u5728 Occ3D-Waymo \u6570\u636e\u96c6\u4e0a\u53d6\u5f97\u4e86\u5408\u7406\u4e14\u6574\u4f53\u4e0a\u53ef\u5ab2\u7f8e\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u76f8\u673a\u5b58\u5728\u56fa\u6709\u7684\u5c40\u9650\u6027\uff08\u4f8b\u5982 Waymo \u7684\u524d\u89c6\u6444\u50cf\u5934\u89c6\u89d2\u4e0e LiDAR \u7684360\u5ea6\u8986\u76d6\u8303\u56f4\u7684\u5dee\u5f02\uff09\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u6027\u80fd\u5728 Occ3D-Val\uff08Waymo\uff09\u4e0a\u7565\u4f4e\uff0c\u4f46\u7ed3\u679c\u4ecd\u5728\u5408\u7406\u8303\u56f4\u5185\u3002\u867d\u7136\u6211\u4eec\u548cOcc3D\u5728\u5404\u81ea\u7684\u9a8c\u8bc1\u96c6\u4e0a\u8868\u73b0\u66f4\u597d\uff0c\u4f46\u6211\u4eec\u5728\u91c7\u7528\u4e0d\u540c\u76f8\u673a\u8bbe\u7f6e\u7684 nuScenes 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src=\"https:\/\/pica.zhimg.com\/v2-eb802278b4f5081400515d87e22fdb52_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe3. Waymo \u51e0\u4f55\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\u3002\u56fe\u4e2d\u7684\u989c\u8272\u4ee3\u8868\u4e0e\u6fc0\u5149\u96f7\u8fbe\u76f8\u6bd4\u7684<strong>\u5012\u89d2\u8ddd\u79bb<\/strong>\uff0c\u989c\u8272\u8303\u56f4\u4ece<strong>\u84dd\u8272<\/strong>\uff08\u8ddd\u79bb\u5c0f\uff09\u5230<strong>\u7ea2\u8272<\/strong>\uff08\u8ddd\u79bb\u5927\uff09\u3002\u4e0e\u5176\u4ed6\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728<strong>\u5f31\u7eb9\u7406\u533a\u57df<\/strong>\u5c55\u73b0\u51fa\u66f4\u9ad8\u7684\u91cd\u5efa\u4fdd\u771f\u5ea6\uff1b\u5373\u4f7f\u5728<strong>\u6ca1\u6709\u51e0\u4f55\u5148\u9a8c<\/strong>\u7684\u60c5\u51b5\u4e0b\uff0c\u5176\u7ed3\u6784\u7684\u5b8c\u6574\u6027\u4e5f\u8db3\u4ee5<strong>\u5ab2\u7f8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-b12dd1d6c6f49c65dac346fc77395812_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe4. <strong>\u51e0\u4f55\u7ec6\u8282\u53ef\u89c6\u5316<\/strong>\u3002\u6211\u4eec\u5c55\u793a\u4e86\u56fe3\u4e2d\u7ea2\u8272\u65b9\u6846\u533a\u57df\u5185\u7684\u51e0\u4f55\u7ec6\u8282\uff0c\u5176\u91cd\u5efa\u7ed3\u679c\u4e0e\u6fc0\u5149\u96f7\u8fbe\u76f8\u6bd4\uff0c\u65e2\u6709\u53ef\u6bd4\u6027\uff0c\u53c8\u5177\u4e92\u8865\u6027\u3002\u7b2c\u4e00\u884c\u662f\u4e0a\u5761\u573a\u666f\uff0c\u800c\u7b2c\u4e8c\u884c\u662f\u5148\u4e0b\u5761\u540e\u4e0a\u5761\u7684\u573a\u666f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-d6c7569bf9e649a90e690971896c7cd6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe5. <strong>\u5360\u636e\u6805\u683c\u6807\u7b7e\u53ef\u89c6\u5316<\/strong>\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u5728\u5168\u5c40\u4e0a\u53ef\u4e0e Occ3D \u76f8\u5ab2\u7f8e\u7684\u51e0\u4f55\u7ed3\u6784\uff0c\u4ece\u800c\u80fd\u591f\u4e3a<strong>\u65e0\u5148\u9a8c\u4fe1\u606f<\/strong>\u7684\u5360\u636e\u6805\u683c\u6a21\u578b\u8bad\u7ec3\u63d0\u4f9b\u53ef\u9760\u7684\u76d1\u7763\u4fe1\u53f7\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1935641304357900359_5\"><strong>\u53ef\u6bd4\u8f83\u4e14\u66f4\u4f18\u8d8a\u7684\u96f6\u6837\u672c\u5360\u636e\u6805\u683c\u6cdb\u5316\u80fd\u529b\u3002<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-30d2cdf40fe0828d543418cb0920026d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe6. <strong>\u5360\u636e\u6805\u683c\u6cdb\u5316\u7ed3\u679c<\/strong>\u3002\u6211\u4eec\u7528SOTA\u5360\u636e\u6805\u683c\u6a21\u578b CVT-Occ\u8fdb\u884c\u8bc4\u4f30\u3002\u8be5\u6a21\u578b\u5728\u5206\u522b\u4f7f\u7528\u6211\u4eec\u7684\u6807\u7b7e\u548c Occ3D 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src=\"https:\/\/pic4.zhimg.com\/v2-c90ebff48153953942805f1b7adaa66d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u88683. <strong>\u6d88\u878d\u5b9e\u9a8c\u5b9a\u91cf\u7ed3\u679c<\/strong>\u3002\u6211\u4eec\u8bc4\u4f30\u4e86\u5728<strong>\u4e0d\u540c\u76f8\u673a\u6570\u91cf\u548c\u4e0d\u540c\u8868\u793a\u65b9\u6cd5\u4e0b\u7684\u5b9e\u9a8c\u7ed3\u679c<\/strong>\u3002\u4e3a\u786e\u4fdd\u516c\u5e73\uff0c\u6240\u6709\u53c2\u4e0e\u6bd4\u8f83\u7684\u65b9\u6cd5\u90fd\u4f7f\u7528\u4e86\u6211\u4eec\u7684\u5730\u9762\u9ad8\u65af\u6a21\u578b\u3002\u70b9\u4e91\u548c\u7f51\u683c\u7684\u5012\u89d2\u8ddd\u79bb\u5747\u662f\u76f8\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u771f\u503c\u8fdb\u884c\u8ba1\u7b97\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-7cea89a817adf04f44d9d432c583f941_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe8. 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