{"id":32403,"date":"2025-08-25T17:32:51","date_gmt":"2025-08-25T09:32:51","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32403"},"modified":"2025-08-25T17:32:51","modified_gmt":"2025-08-25T09:32:51","slug":"2025-08-25-%e8%b6%85%e8%b6%8a%e4%b8%80%e4%bc%97sota%ef%bc%81%e5%8d%8e%e4%b8%bamoviedrive%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%8e%af%e8%a7%86%e5%a4%9a%e6%a8%a1%e6%80%81%e5%9c%ba%e6%99%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/25\/32403\/","title":{"rendered":"2025-08-25 \u8d85\u8d8a\u4e00\u4f17SOTA\uff01\u534e\u4e3aMoVieDrive\uff1a\u81ea\u52a8\u9a7e\u9a76\u73af\u89c6\u591a\u6a21\u6001\u573a\u666f\u751f\u6210\u6700\u65b0\u4e16\u754c\u6a21\u578b~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/rWSjsi0bQy6eHCYb2RC_qw\">https:\/\/mp.weixin.qq.com\/s\/rWSjsi0bQy6eHCYb2RC_qw<\/a><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u89c6\u9891\u751f\u6210\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u57ce\u5e02\u573a\u666f\u5408\u6210\u4e2d\u5c55\u73b0\u51fa\u4f18\u8d8a\u6027\u3002\u73b0\u6709\u7684\u81ea\u52a8\u9a7e\u9a76\u89c6\u9891\u751f\u6210\u65b9\u6cd5\u4e3b\u8981\u96c6\u4e2d\u5728RGB\u89c6\u9891\u751f\u6210\u4e0a\uff0c\u7f3a\u4e4f\u652f\u6301\u591a\u6a21\u6001\u89c6\u9891\u751f\u6210\u7684\u80fd\u529b\u3002\u7136\u800c\u591a\u6a21\u6001\u6570\u636e\uff08\u5982\u6df1\u5ea6\u56fe\u548c\u8bed\u4e49\u56fe\uff09\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6574\u4f53\u57ce\u5e02\u573a\u666f\u7406\u89e3\u81f3\u5173\u91cd\u8981\u3002\u867d\u7136\u53ef\u4ee5\u4f7f\u7528\u591a\u4e2a\u6a21\u578b\u6765\u751f\u6210\u4e0d\u540c\u7684\u6a21\u6001\uff0c\u4f46\u8fd9\u4f1a\u589e\u52a0\u6a21\u578b\u90e8\u7f72\u7684\u96be\u5ea6\uff0c\u5e76\u4e14\u65e0\u6cd5\u5229\u7528\u591a\u6a21\u6001\u6570\u636e\u751f\u6210\u7684\u4e92\u8865\u7ebf\u7d22\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u6a21\u6001\u73af\u89c6\u89c6\u9891\u751f\u6210\u65b9\u6cd5\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u7531<strong>\u6a21\u6001\u5171\u4eab\u7ec4\u4ef6<\/strong>\u548c<strong>\u6a21\u6001\u7279\u5b9a\u7ec4\u4ef6<\/strong>\u7ec4\u6210\u7684\u7edf\u4e00\u6269\u6563Transformer\u6a21\u578b\u3002\u7136\u540e\u5229\u7528\u591a\u6837\u5316\u7684\u6761\u4ef6\u8f93\u5165\uff0c\u5c06\u53ef\u63a7\u7684\u573a\u666f\u7ed3\u6784\u548c\u5185\u5bb9\u7ebf\u7d22\u7f16\u7801\u5230\u7edf\u4e00\u7684\u6269\u6563\u6a21\u578b\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u591a\u6a21\u6001\u591a\u89c6\u89d2\u89c6\u9891\u751f\u6210\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u5728\u7edf\u4e00\u7684\u6846\u67b6\u5185\u751f\u6210\u591a\u6a21\u6001\u591a\u89c6\u89d2\u7684\u9a7e\u9a76\u573a\u666f\u89c6\u9891\u3002\u5728nuScenes\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\uff0cMoVieDrive\u80fd\u591f\u751f\u6210\u9ad8\u4fdd\u771f\u5ea6\u4e14\u53ef\u63a7\u6027\u5f3a\u7684\u591a\u6a21\u6001\u591a\u89c6\u89d2\u57ce\u5e02\u573a\u666f\u89c6\u9891\uff0c\u6027\u80fd\u8d85\u8d8a\u4e86\u73b0\u6709\u6700\u5148\u8fdb\u65b9\u6cd5\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aMoVieDrive: Multi-Modal Multi-View Urban Scene Video Generation<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2508.14327<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u57ce\u5e02\u573a\u666f\u89c6\u9891\u751f\u6210\u8fd1\u5e74\u6765\u53d1\u5c55\u8fc5\u901f\u3002\u5b83\u53ef\u4ee5\u7528\u6765\u751f\u6210\u53ef\u63a7\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u7279\u522b\u662f\u5408\u6210\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u96be\u4ee5\u6536\u96c6\u7684\u957f\u5c3e\u573a\u666f\u3002\u8fd9\u6709\u52a9\u4e8e\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7684\u6027\u80fd\u5e76\u8fdb\u884c\u53ef\u9760\u6027\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>\u5f53\u4ee3\u7684\u89c6\u9891\u751f\u6210\u65b9\u6cd5\uff0c\u5982SVD\u548cCogVideoX\uff0c\u5728\u751f\u6210\u9ad8\u8d28\u91cf\u89c6\u9891\u65b9\u9762\u5df2\u5c55\u73b0\u51fa\u4ee4\u4eba\u77a9\u76ee\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u5b83\u4eec\u4e0d\u80fd\u76f4\u63a5\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u56e0\u4e3a\u591a\u89c6\u89d2\u9a7e\u9a76\u573a\u666f\u751f\u6210\u9700\u8981<strong>\u591a\u89c6\u89d2\u65f6\u7a7a\u4e00\u81f4\u6027<\/strong>\u548c<strong>\u9ad8\u53ef\u63a7\u6027<\/strong>\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4e00\u4e9b\u8fd1\u671f\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u6269\u6563\u6a21\u578b\u7528\u4e8e\u53ef\u63a7\u7684\u591a\u89c6\u89d2\u57ce\u5e02\u573a\u666f\u751f\u6210\uff0c\u5e76\u53d6\u5f97\u4e86\u4ee4\u4eba\u9f13\u821e\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5927\u591a\u4e13\u6ce8\u4e8e\u5355\u6a21\u6001\u7684RGB\u89c6\u9891\u751f\u6210\uff0c\u7f3a\u4e4f\u652f\u6301\u591a\u6a21\u6001\u89c6\u9891\u751f\u6210\u7684\u80fd\u529b\u3002\u4f5c\u4e3a\u4e00\u4e2a\u4ee5\u611f\u77e5\u4e3a\u6838\u5fc3\u7684\u4efb\u52a1\uff0c\u81ea\u52a8\u9a7e\u9a76\u5bf9\u591a\u6a21\u6001\u6570\u636e\uff08\u5982\u6df1\u5ea6\u56fe\u548c\u8bed\u4e49\u56fe\uff09\u6709\u7740\u56fa\u6709\u7684\u9700\u6c42\uff0c\u8fd9\u4e9b\u6570\u636e\u6709\u52a9\u4e8e\u5b9e\u73b0\u66f4\u5b89\u5168\u3001\u66f4\u9ad8\u6548\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u4fc3\u8fdb\u5bf9\u57ce\u5e02\u573a\u666f\u7684\u6574\u4f53\u7406\u89e3\u3002<\/p>\n\n\n\n<p>\u89e3\u51b3\u6b64\u95ee\u9898\u7684\u4e00\u79cd\u5e38\u89c1\u65b9\u6cd5\u662f\u4f7f\u7528\u591a\u4e2a\u6a21\u578b\u6765\u751f\u6210\u4e0d\u540c\u7684\u6a21\u6001\uff0c\u4f46\u8fd9\u901a\u5e38\u4f1a\u589e\u52a0\u6a21\u578b\u90e8\u7f72\u7684\u96be\u5ea6\uff0c\u5e76\u4e14\u65e0\u6cd5\u5145\u5206\u5229\u7528\u591a\u6a21\u6001\u6570\u636e\u751f\u6210\u7684\u4e92\u8865\u7ebf\u7d22\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"888\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-96.png\" alt=\"\" class=\"wp-image-32404\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-96.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-96-300x260.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-96-768x666.png 768w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u672c\u7814\u7a76\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u3001\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u6a21\u6001\u591a\u89c6\u89d2\u89c6\u9891\u6269\u6563\u65b9\u6cd5\uff0c\u79f0\u4e4b\u4e3a<strong>MoVieDrive<\/strong>\u3002\u5982\u56fe1\u6240\u793a\uff0c\u4e0e\u4f7f\u7528\u591a\u4e2a\u6a21\u578b\u751f\u6210\u4e0d\u540c\u6a21\u6001\u7684\u4ee5\u5f80\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u51fa\u4f7f\u7528\u4e00\u4e2a\u7edf\u4e00\u7684\u6a21\u578b\u6765\u8054\u5408\u751f\u6210\u591a\u6a21\u6001\u591a\u89c6\u89d2\u7684\u9a7e\u9a76\u573a\u666f\u3002\u56fe2\u5c55\u793a\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6982\u89c8\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528\u591a\u6837\u5316\u7684\u6761\u4ef6\u8f93\u5165\uff0c\u5305\u62ec\u6587\u672c\u6761\u4ef6\u3001\u53c2\u8003\u6761\u4ef6\u548c\u5e03\u5c40\u6761\u4ef6\uff0c\u4ee5\u6307\u5bfc\u53ef\u63a7\u7684\u573a\u666f\u751f\u6210\u3002\u5176\u4e2d\uff0c\u6587\u672c\u6761\u4ef6\u6307\u5bfc\u6574\u4f53\u573a\u666f\u751f\u6210\uff0c\u53c2\u8003\u6761\u4ef6\u662f\u53ef\u9009\u7684\uff0c\u4ec5\u7528\u4e8e\u672a\u6765\u573a\u666f\u9884\u6d4b\uff0c\u800c\u5e03\u5c40\u6761\u4ef6\u5219\u6355\u6349\u7ec6\u7c92\u5ea6\u7684\u573a\u666f\u7ebf\u7d22\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c06\u591a\u6a21\u6001\u591a\u89c6\u89d2\u573a\u666f\u751f\u6210\u5206\u89e3\u4e3a<strong>\u6a21\u6001\u5171\u4eab\u5b66\u4e60<\/strong>\u548c<strong>\u6a21\u6001\u7279\u5b9a\u5b66\u4e60<\/strong>\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5305\u542b\u6a21\u6001\u5171\u4eab\u5c42\u548c\u6a21\u6001\u7279\u5b9a\u5c42\u7684\u7edf\u4e00\u6269\u6563Transformer\u6a21\u578b\u3002\u8fd9\u4e2a\u7edf\u4e00\u7684\u6a21\u578b\u51cf\u8f7b\u4e86\u5bf9\u591a\u4e2a\u6a21\u578b\u7684\u9700\u6c42\uff0c\u5e76\u63d0\u9ad8\u4e86\u6a21\u578b\u7684\u53ef\u6269\u5c55\u6027\u3002\u7136\u540e\uff0c\u6211\u4eec\u5c06\u5404\u79cd\u6761\u4ef6\u7f16\u7801\u5230\u7edf\u4e00\u7684\u6269\u6563\u6a21\u578b\u4e2d\uff0c\u4ee5\u8fdb\u884c\u591a\u6a21\u6001\u591a\u89c6\u89d2\u573a\u666f\u751f\u6210\u3002\u8fd9\u6709\u52a9\u4e8e\u5229\u7528\u591a\u6a21\u6001\u6570\u636e\u7684\u4e92\u8865\u7ebf\u7d22\uff0c\u5b9e\u73b0\u66f4\u4e30\u5bcc\u7684\u573a\u666f\u7406\u89e3\uff0c\u4ece\u800c\u5728\u7edf\u4e00\u7684\u6846\u67b6\u5185\u4fc3\u8fdb\u591a\u6a21\u6001\u591a\u89c6\u89d2\u57ce\u5e02\u573a\u666f\u7684\u751f\u6210\u3002\u4e3a\u4e86\u8bc4\u4f30\u6211\u4eec\u65b9\u6cd5\u7684\u6027\u80fd\uff0c\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u8fd9\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u73b0\u5b9e\u4e16\u754c\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u73b0\u6709\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u89c6\u9891\u751f\u6210\u8d28\u91cf\u548c\u53ef\u63a7\u6027\u65b9\u9762\u5747\u53d6\u5f97\u4e86\u4ee4\u4eba\u4fe1\u670d\u7684\u6210\u679c\uff0c\u540c\u65f6\u652f\u6301\u591a\u6a21\u6001\u6570\u636e\u751f\u6210\u3002<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u63d0\u51fa\u4e86\u9996\u4e2a\u5229\u7528\u591a\u6837\u5316\u6761\u4ef6\u8f93\u5165\u548c\u6269\u6563Transformer\u6a21\u578b\u8fdb\u884c\u591a\u6a21\u6001\u591a\u89c6\u89d2\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u751f\u6210\u7684\u5de5\u4f5c<\/strong>\u3002\u8fd9\u89e3\u51b3\u4e86\u73b0\u6709\u5de5\u4f5c\u7684\u5c40\u9650\u6027\uff0c\u5e76\u4fc3\u8fdb\u4e86\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u57ce\u5e02\u573a\u666f\u7406\u89e3\u3002<\/li>\n\n\n\n<li><strong>\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7531\u6a21\u6001\u5171\u4eab\u7ec4\u4ef6\u548c\u6a21\u6001\u7279\u5b9a\u7ec4\u4ef6\u7ec4\u6210\u7684\u7edf\u4e00\u591a\u6a21\u6001\u591a\u89c6\u89d2\u6269\u6563Transformer\u6a21\u578b<\/strong>\u3002\u8fd9\u4f7f\u5f97\u5728\u5355\u4e00\u6a21\u578b\u5185\u5b9e\u73b0\u591a\u6a21\u6001\u591a\u89c6\u89d2\u57ce\u5e02\u573a\u666f\u751f\u6210\u6210\u4e3a\u53ef\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p>**\u89c6\u9891\u751f\u6210 (Video Generation)**\u3002\u4f5c\u4e3a\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u4e00\u4e2a\u957f\u671f\u7684\u7814\u7a76\u8bfe\u9898\uff0c\u89c6\u9891\u751f\u6210\u5df2\u5f97\u5230\u5145\u5206\u53d1\u5c55\uff0c\u5e76\u63a2\u7d22\u4e86\u591a\u79cd\u7c7b\u578b\u7684\u65b9\u6cd5\uff0c\u4f8b\u5982\u6269\u6563\u6a21\u578b\u3001\u53d8\u5206\u81ea\u7f16\u7801\u5668\uff08VAEs\uff09\u3001\u751f\u6210\u5bf9\u6297\u7f51\u7edc\u3001\u81ea\u56de\u5f52\u6a21\u578b\u7b49\u3002\u5176\u4e2d\uff0c\u57fa\u4e8e\u6269\u6563\u7684\u65b9\u6cd5\u7531\u4e8e\u5728\u53ef\u63a7\u6027\u548c\u4fdd\u771f\u5ea6\u65b9\u9762\u7684\u4f18\u8d8a\u6027\uff0c\u8fd1\u5e74\u6765\u5df2\u6210\u4e3a\u4e3b\u6d41\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e0d\u80fd\u76f4\u63a5\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u57ce\u5e02\u573a\u666f\u751f\u6210\uff0c\u56e0\u4e3a\u540e\u8005\u9700\u8981\u591a\u89c6\u89d2\u65f6\u7a7a\u4e00\u81f4\u6027\u548c\u9ad8\u53ef\u63a7\u6027\u3002\u4e3a\u4e86\u5c06\u5b83\u4eec\u9002\u5e94\u4e8e\u590d\u6742\u7684\u53ef\u63a7\u9a7e\u9a76\u573a\u666f\u751f\u6210\uff0c\u9700\u8981\u8fdb\u884c\u5927\u91cf\u4fee\u6539\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u7ee7\u627f\u4e86\u57fa\u4e8e\u6269\u6563\u7684\u89c6\u9891\u751f\u6210\u7684\u4f18\u70b9\uff0c\u5e76\u4e3a\u81ea\u52a8\u9a7e\u9a76\u8bbe\u8ba1\u4e86\u4e00\u79cd\u65b0\u7684\u591a\u6a21\u6001\u591a\u89c6\u89d2\u6269\u6563Transformer\u6a21\u578b\u3002<\/p>\n\n\n\n<p>**\u57ce\u5e02\u573a\u666f\u5408\u6210 (Urban Scene Synthesis)**\u3002\u57ce\u5e02\u573a\u666f\u548c\u8d44\u4ea7\u751f\u6210\u7684\u5feb\u901f\u53d1\u5c55\u6781\u5927\u5730\u4fc3\u8fdb\u4e86\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u6570\u636e\u5408\u6210\u548c\u95ed\u73af\u8bc4\u4f30\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u57ce\u5e02\u573a\u666f\u5408\u6210\u4e2d\uff0c\u4e3b\u8981\u6709\u4e24\u4e2a\u7814\u7a76\u65b9\u5411\u3002\u4e00\u6761\u7814\u7a76\u8def\u7ebf\u63a2\u7d22\u4e86\u6e32\u67d3\u65b9\u6cd5\uff0c\u4f8b\u5982\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u548c3DGS\uff083D Gaussian Splatting\uff09\uff0c\u7528\u4e8e\u57ce\u5e02\u573a\u666f\u5408\u6210\u3002\u5c3d\u7ba1\u8fd9\u7c7b\u65b9\u6cd5\u80fd\u5b9e\u73b0\u9ad8\u4fdd\u771f\u5ea6\u7684\u573a\u666f\u5408\u6210\uff0c\u4f46\u5176\u53ef\u63a7\u6027\u548c\u591a\u6837\u6027\u8f83\u5dee\u3002\u53e6\u4e00\u6761\u7814\u7a76\u8def\u7ebf\u5219\u63a2\u7d22\u4e86\u89c6\u9891\u751f\u6210\u65b9\u6cd5\uff0c\u4f8b\u5982\u6269\u6563\u6a21\u578b\uff0c\u7528\u4e8e\u57ce\u5e02\u573a\u666f\u751f\u6210\u3002\u5176\u4e2d\uff0c\u4e00\u4e9b\u7814\u7a76\u4e13\u6ce8\u4e8e\u5355\u89c6\u89d2\u751f\u6210\uff0c\u800c\u5176\u4ed6\u7814\u7a76\u5219\u63a2\u8ba8\u4e86\u591a\u89c6\u89d2\u751f\u6210\u3002\u6211\u4eec\u7684\u5de5\u4f5c\u805a\u7126\u4e8e\u66f4\u5177\u6311\u6218\u6027\u7684\u73af\u89c6\u573a\u666f\u3002\u6269\u6563\u6a21\u578b\u88ab\u5e7f\u6cdb\u7528\u4f5c\u5f53\u4ee3\u591a\u89c6\u89d2\u57ce\u5e02\u573a\u666f\u751f\u6210\u7684backbone\u7f51\u7edc\uff0c\u4f8b\u5982DriveDreamer\u3001Panacea\u3001MagicDrive\u3001MagicDrive-V2\u3001Drive-WM\u3001MaskGWM\u7b49\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u5df2\u5c55\u73b0\u51fa\u6709\u5e0c\u671b\u7684\u7ed3\u679c\uff0c\u4f46\u5b83\u4eec\u4ec5\u5173\u6ce8\u5355\u6a21\u6001\u7684RGB\u89c6\u9891\u751f\u6210\uff0c\u7f3a\u4e4f\u4e3a\u6574\u4f53\u573a\u666f\u7406\u89e3\u751f\u6210\u591a\u6a21\u6001\u6570\u636e\u7684\u80fd\u529b\u3002\u6b64\u5916\uff0cUniScene\u63d0\u51fa\u4f7f\u7528\u591a\u4e2a\u6a21\u578b\u6765\u751f\u6210RGB\u89c6\u9891\u548cLiDAR\u70b9\u4e91\uff0c\u4f46\u4ecd\u672a\u80fd\u6784\u5efa\u4e00\u4e2a\u7edf\u4e00\u7684\u6a21\u578b\u6765\u5b9e\u73b0\u591a\u89c6\u89d2\u591a\u6a21\u6001\u9a7e\u9a76\u573a\u666f\u751f\u6210\u3002\u4e0e\u73b0\u6709\u5de5\u4f5c\u4e0d\u540c\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u51fa\u5728\u7edf\u4e00\u6846\u67b6\u5185\u751f\u6210\u591a\u6a21\u6001\u591a\u89c6\u89d2\u7684\u9a7e\u9a76\u573a\u666f\u89c6\u9891\uff0c\u586b\u8865\u4e86\u73b0\u6709\u65b9\u6cd5\u7559\u4e0b\u7684\u7a7a\u767d\u3002<\/p>\n\n\n\n<p>**\u591a\u6a21\u6001\u5408\u6210 (Multi-Modal Synthesis)**\u3002\u8fd1\u5e74\u6765\u5df2\u63d0\u51fa\u4e00\u4e9b\u57fa\u4e8e\u6269\u6563\u7684\u591a\u6a21\u6001\u5408\u6210\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5747\u672a\u9488\u5bf9\u57ce\u5e02\u573a\u666f\u751f\u6210\u800c\u8bbe\u8ba1\uff0c\u4e14\u5c06\u5b83\u4eec\u4fee\u6539\u4ee5\u9002\u5e94\u590d\u6742\u7684\u53ef\u63a7\u591a\u6a21\u6001\u591a\u89c6\u89d2\u573a\u666f\u751f\u6210\u5e76\u975e\u6613\u4e8b\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u8fd9\u4e9b\u5de5\u4f5c\u4e0d\u540c\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5229\u7528\u591a\u6837\u5316\u7684\u6761\u4ef6\u8f93\u5165\uff0c\u5c06\u53ef\u63a7\u7684\u573a\u666f\u7ed3\u6784\u548c\u5185\u5bb9\u7ebf\u7d22\u7f16\u7801\u5230\u4e00\u4e2a\u6269\u6563Transformer\u6a21\u578b\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u591a\u6a21\u6001\u591a\u89c6\u89d2\u7684\u9a7e\u9a76\u573a\u666f\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>MoVieDrive\u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>\u6982\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"115\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082501.png\" alt=\"\" class=\"wp-image-32405\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082501.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082501-300x51.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"424\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-97-1024x424.png\" alt=\"\" class=\"wp-image-32406\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-97-1024x424.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-97-300x124.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-97-768x318.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-97.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"371\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082502.png\" alt=\"\" class=\"wp-image-32407\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082502.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082502-300x165.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p><strong>\u6761\u4ef6\u8f93\u5165\u7f16\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"764\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082503.png\" alt=\"\" class=\"wp-image-32408\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082503.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082503-265x300.png 265w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082504.png\" alt=\"\" class=\"wp-image-32409\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082504.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082504-300x136.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u591a\u89c6\u89d2\u6269\u6563Transformer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"682\" height=\"891\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082505.png\" alt=\"\" class=\"wp-image-32410\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082505.png 682w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082505-230x300.png 230w\" sizes=\"(max-width: 682px) 100vw, 682px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"165\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082506.png\" alt=\"\" class=\"wp-image-32411\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082506.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082506-300x73.png 300w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<p><strong>\u6a21\u578b\u8bad\u7ec3\u4e0e\u63a8\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"245\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082507.png\" alt=\"\" class=\"wp-image-32412\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082507.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082507-300x110.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u4e0e\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n<p>**\u6570\u636e\u96c6 (Dataset)**\u3002\u9075\u5faa\u5148\u524d\u7684\u5de5\u4f5c\uff0c\u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\u3002nuScenes\u6570\u636e\u96c6\u662f\u4e00\u4e2a\u771f\u5b9e\u4e16\u754c\u7684\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u6570\u636e\u96c6\uff0c\u5305\u542b700\u4e2a\u8bad\u7ec3\u89c6\u9891\u548c150\u4e2a\u9a8c\u8bc1\u89c6\u9891\u3002\u6211\u4eec\u4f7f\u7528\u5b98\u65b9\u7684\u8bad\u7ec3\u96c6\u548c\u9a8c\u8bc1\u96c6\u8fdb\u884c\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>\u8bc4\u4f30\u6307\u6807 (Evaluation Metrics)\u3002\u4e3a\u4e86\u8bc4\u4f30\u89c6\u9891\u4fdd\u771f\u5ea6\uff0c\u6211\u4eec\u4f7f\u7528\u5e38\u7528\u7684FVD\u4f5c\u4e3a\u6307\u6807\u3002\u4e3a\u4e86\u8bc4\u4f30\u53ef\u63a7\u6027\uff0c\u4f7f\u7528\u9884\u8bad\u7ec3\u7684BEVFormer\u6765\u8bc4\u4f30\u57fa\u4e8e\u89c6\u9891\u76843D\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\uff08\u4ee5mAP\u8861\u91cf\uff09\u548c\u57fa\u4e8e\u89c6\u9891\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u5206\u5272\u6027\u80fd\uff08\u4ee5mIoU\u8861\u91cf\uff09\u3002\u4e3a\u4e86\u8bc4\u4f30\u751f\u6210\u6df1\u5ea6\u56fe\u7684\u8d28\u91cf\uff0c\u6211\u4eec\u8fd8\u4f7f\u7528\u4e86\u7edd\u5bf9\u76f8\u5bf9\u8bef\u5dee<\/strong>&nbsp;AbsRel\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u8bc4\u4f30\u751f\u6210\u8bed\u4e49\u56fe\u7684\u8d28\u91cf\uff0c\u6211\u4eec\u62a5\u544a\u4e86\u4ea4\u901a\u76f8\u5173\u7c7b\u522b\u3001\u5efa\u7b51\u7269\u3001\u6811\u6728\u548c\u5929\u7a7a\u7684mIoU\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong>\u3002\u6211\u4eec\u5728CogVideoX(v1.1-2B)\u548cSyntheOcc\u7684\u57fa\u7840\u4e0a\u6784\u5efa\u6211\u4eec\u7684\u6a21\u578b\u3002\u6211\u4eec\u91c7\u7528\u9884\u8bad\u7ec3\u7684T5\u6587\u672c\u7f16\u7801\u5668\uff0c\u5e76\u4f7f\u7528\u9884\u8bad\u7ec3\u6743\u91cd\u521d\u59cb\u53163D VAE\u548c\u65f6\u95f4\u5c42\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c3D VAE\u548cT5\u6587\u672c\u7f16\u7801\u5668\u88ab\u51bb\u7ed3\uff0c\u800c\u5176\u4ed6\u6a21\u578b\u7ec4\u4ef6\u5219\u8054\u5408\u8bad\u7ec3\u3002\u6211\u4eec\u7684\u6a21\u578b\u4f7f\u7528AdamW\u4f18\u5316\u5668\u8fdb\u884c\u8bad\u7ec3\uff0c\u5b66\u4e60\u7387\u4e3a2e-4\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u4f7f\u75286\u4e2a\u76f8\u673a\u548c49\u4e2a\u89c6\u9891\u5e27\uff0c\u6bcf\u4e2a\u5e27\u7684\u5206\u8fa8\u7387\u4e3a512\u00d7256\u3002<\/p>\n\n\n\n<p><strong>\u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<p><strong>\u89c6\u9891\u4fdd\u771f\u5ea6\u7ed3\u679c\u5206\u6790<\/strong>\u3002\u89c6\u9891\u4fdd\u771f\u5ea6\u8861\u91cf\u751f\u6210\u7684\u57ce\u5e02\u573a\u666f\u89c6\u9891\u7684\u771f\u5b9e\u611f\u548c\u65f6\u95f4\u8fde\u8d2f\u6027\u3002\u6211\u4eec\u5728\u88681\u4e2d\u62a5\u544a\u4e86FVD\u7ed3\u679c\uff0c\u5e76\u663e\u793a\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u6bd4\u6700\u5148\u8fdb\u65b9\u6cd5\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u7ed3\u679c\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u8fbe\u5230\u4e8646.8\u7684FVD\uff0c\u4f18\u4e8e\u6700\u5148\u8fdb\u7684DriveDreamer\u3001DriveDreamer-2\u3001UniScene\u3001MaskGWM\u3001MagicDrive\u7b49\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u4e0eCogVideoX+SyntheOcc\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u6027\u80fd\u63d0\u5347\u4e86\u7ea622%\u3002\u56fe4\u5c55\u793a\u4e86\u4e00\u4e9b\u4e0e\u6700\u5148\u8fdb\u65b9\u6cd5\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u4ece\u56fe4\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u751f\u6210\u5177\u6709\u9ad8\u4fdd\u771f\u5ea6\u7ec6\u8282\uff08\u4f8b\u5982\u8f66\u8f86\u548c\u9053\u8def\u7ed3\u6784\uff09\u7684\u57ce\u5e02\u573a\u666f\u89c6\u9891\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"404\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-98-1024x404.png\" alt=\"\" class=\"wp-image-32413\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-98-1024x404.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-98-300x118.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-98-768x303.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-98.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"555\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-99-1024x555.png\" alt=\"\" class=\"wp-image-32414\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-99-1024x555.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-99-300x163.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-99-768x416.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-99.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u573a\u666f\u53ef\u63a7\u6027\u7ed3\u679c\u5206\u6790<\/strong>\u3002\u573a\u666f\u53ef\u63a7\u6027\u6307\u6761\u4ef6\u8f93\u5165\u4e0e\u751f\u6210\u89c6\u9891\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u3002\u6211\u4eec\u5728\u88681\u4e2d\u62a5\u544a\u4e863D\u76ee\u6807\u68c0\u6d4b\u7684mAP\u548cBEV\u5206\u5272\u7684mIoU\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u57283D\u76ee\u6807\u68c0\u6d4b\u4e0a\u8fbe\u5230\u4e8622.7\u7684\u6700\u4f73mAP\uff0c\u5728BEV\u5206\u5272\u4e0a\u8fbe\u5230\u4e8635.8\u7684\u6700\u4f73mIoU\uff0c\u4f18\u4e8e\u6700\u5148\u8fdb\u65b9\u6cd5\u3002\u8fd9\u8868\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u751f\u6210\u4e0e\u63a7\u5236\u6761\u4ef6\u66f4\u4e00\u81f4\u7684\u57ce\u5e02\u573a\u666f\u89c6\u9891\u3002<\/p>\n\n\n\n<p><strong>\u6df1\u5ea6\u56fe\u8d28\u91cf\u7ed3\u679c\u5206\u6790<\/strong>\u3002\u5728\u88681\u4e2d\uff0c\u6211\u4eec\u62a5\u544a\u4e86FVD\u548cAbsRel\u7ed3\u679c\u4ee5\u8bc4\u4f30\u751f\u6210\u6df1\u5ea6\u56fe\u89c6\u9891\u7684\u8d28\u91cf\u3002\u4e0e\u7531Depth-Anything-V2\u751f\u6210\u7684\u6df1\u5ea6\u56fe\uff08\u5982CogVideoX+SyntheOcc+Depth-Anything-V2\uff09\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6df1\u5ea6\u56fe\u4e0a\u53d6\u5f97\u4e86\u66f4\u597d\u7684FVD\uff0825.3\uff09\u548cAbsRel\uff080.110\uff09\u3002\u8fd9\u8868\u660e\uff0c\u6211\u4eec\u7edf\u4e00\u6846\u67b6\u4e2d\u7684\u591a\u6a21\u6001\u751f\u6210\u80fd\u591f\u4ea7\u751f\u9ad8\u8d28\u91cf\u7684\u6df1\u5ea6\u56fe\uff0c\u5373\u4f7f\u6ca1\u6709\u4f7f\u7528\u989d\u5916\u7684\u6a21\u578b\u8fdb\u884c\u591a\u6a21\u6001\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u8bed\u4e49\u56fe\u8d28\u91cf\u7ed3\u679c\u5206\u6790<\/strong>\u3002\u5728\u88681\u4e2d\uff0c\u6211\u4eec\u62a5\u544a\u4e86FVD\u548cmIoU\u7ed3\u679c\u4ee5\u8bc4\u4f30\u751f\u6210\u8bed\u4e49\u56fe\u89c6\u9891\u7684\u8d28\u91cf\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0c\u4e0e\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u7ed3\u679c\uff0c\u5c24\u5176\u662f\u5728FVD\u65b9\u9762\uff0c\u663e\u8457\u4f18\u4e8e\u5bf9\u6bd4\u65b9\u6cd5\u3002\u8fd9\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6211\u4eec\u591a\u6a21\u6001\u751f\u6210\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u751f\u6210\u7684\u6709\u6548\u6027<\/strong>\u3002\u5728\u88682\u4e2d\uff0c\u6211\u4eec\u5206\u6790\u4e86\u6211\u4eec\u591a\u6a21\u6001\u751f\u6210\u673a\u5236\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u6bd4\u8f83\u4e86ours(RGB)+Depth-Anything-V2+Mask2Former\u3001ours(RGB+depth)+Mask2Former\u548cours(RGB+depth+semantic)\u7684\u6027\u80fd\u3002\u4ece\u88682\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7edf\u4e00\u7684\u65b9\u6cd5(RGB+depth+semantic)\u53d6\u5f97\u4e86\u4f18\u8d8a\u7684\u6574\u4f53\u6027\u80fd\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6df1\u5ea6\u56fe\u7684AbsRel\u548c\u8bed\u4e49\u56fe\u7684mIoU\u4e0a\u5747\u8fbe\u5230\u6700\u4f73\uff0c\u4e14RGB\u7684FVD\u4e5f\u5177\u6709\u53ef\u6bd4\u6027\u3002\u8fd9\u9a8c\u8bc1\u4e86\u5728\u7edf\u4e00\u6846\u67b6\u5185\u751f\u6210\u591a\u79cd\u6a21\u6001\u4e0d\u4ec5\u51cf\u5c11\u4e86\u6a21\u578b\u6570\u91cf\uff0c\u800c\u4e14\u5b9e\u73b0\u4e86\u66f4\u597d\u7684\u6574\u4f53\u6027\u80fd\u3002\u6211\u4eec\u5728\u56fe5\u4e2d\u53ef\u89c6\u5316\u4e86\u4e00\u4e9b\u591a\u6a21\u6001\u751f\u6210\u7ed3\u679c\u3002\u8fd9\u4e9b\u7ed3\u679c\u8fdb\u4e00\u6b65\u5c55\u793a\u4e86\u6211\u4eec\u65b9\u6cd5\u751f\u6210\u7684\u591a\u6a21\u6001\u6570\u636e\u7684\u8de8\u6a21\u6001\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"230\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-100-1024x230.png\" alt=\"\" class=\"wp-image-32415\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-100-1024x230.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-100-300x68.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-100-768x173.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-100.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"843\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-101-1024x843.png\" alt=\"\" class=\"wp-image-32416\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-101-1024x843.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-101-300x247.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-101-768x632.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-101.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6269\u6563Transformer\u7ec4\u4ef6\u7684\u6709\u6548\u6027<\/strong>\u3002\u5728\u88683\u4e2d\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u6240\u63d0\u51fa\u7684\u6269\u6563Transformer\u6a21\u578b\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0c\u4ec5\u4f7f\u7528\u65f6\u95f4\u5c42\u5757\uff08\u201cL1\u201d\uff09\u4f1a\u5bfc\u81f4\u6027\u80fd\u8f83\u5dee\uff0c\u800c\u4f7f\u7528\u65f6\u95f4\u5c42\u5757\u52a0\u4e0a\u6a21\u6001\u7279\u5b9a\u5c42\u5757\uff08\u201cL1+L3\u201d\uff09\u5219\u5e26\u6765\u4e86\u66f4\u597d\u7684\u6027\u80fd\u3002\u5f53\u4f7f\u7528\u6240\u6709\u7ec4\u4ef6\uff08\u201cL1+L2+L3\u201d\uff09\u65f6\uff0c\u6211\u4eec\u7684\u6a21\u578b\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\u3002\u6b64\u5916\uff0c\u56fe6\u663e\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u4fdd\u6301\u8de8\u89c6\u89d2\u4e00\u81f4\u6027\uff0c\u800c\u6ca1\u6709\u4f7f\u7528\u591a\u89c6\u89d2\u65f6\u7a7a\u5757\u7684\u65b9\u6cd5\u5219\u8868\u73b0\u51fa\u8f83\u5dee\u7684\u8de8\u89c6\u89d2\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"810\" height=\"272\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-102.png\" alt=\"\" class=\"wp-image-32417\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-102.png 810w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-102-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-102-768x258.png 768w\" sizes=\"(max-width: 810px) 100vw, 810px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"796\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-103.png\" alt=\"\" class=\"wp-image-32418\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-103.png 796w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-103-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-103-768x309.png 768w\" sizes=\"(max-width: 796px) 100vw, 796px\" \/><\/figure>\n\n\n\n<p><strong>\u7edf\u4e00\u5e03\u5c40\u6761\u4ef6\u7f16\u7801\u5668\u7684\u6709\u6548\u6027<\/strong>\u3002\u5728\u88684\u4e2d\uff0c\u6211\u4eec\u5206\u6790\u4e86\u6211\u4eec\u7edf\u4e00\u5e03\u5c40\u6761\u4ef6\u7f16\u7801\u5668\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0c\u4e0e\u4f7f\u7528\u9884\u8bad\u7ec3\u76843D VAE\u7f16\u7801\u5668\u76f8\u6bd4\uff0c\u4f7f\u7528\u6211\u4eec\u63d0\u51fa\u7684\u7edf\u4e00\u5e03\u5c40\u6761\u4ef6\u7f16\u7801\u5668\u5e26\u6765\u4e86\u66f4\u597d\u7684\u6027\u80fd\u3002\u8fd9\u53ef\u4ee5\u5f52\u56e0\u4e8e\u6240\u63d0\u51fa\u7684\u6a21\u5757\u80fd\u591f\u5b9e\u73b0\u9690\u5f0f\u7684\u6761\u4ef6\u5d4c\u5165\u7a7a\u95f4\u5bf9\u9f50\uff0c\u4ece\u800c\u6709\u6548\u5730\u878d\u5408\u6761\u4ef6\u4ee5\u8fdb\u884c\u53ef\u63a7\u7684\u573a\u666f\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u5de5\u4f5c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u3001\u9762\u5411\u81ea\u52a8\u9a7e\u9a76\u7684\u591a\u6a21\u6001\u591a\u89c6\u89d2\u57ce\u573a\u666f\u89c6\u9891\u751f\u6210\u65b9\u6cd5\u3002\u5176\u6838\u5fc3\u601d\u60f3\u662f\u8bbe\u8ba1\u4e00\u79cd\u65b0\u7684\u591a\u6a21\u6001\u591a\u89c6\u89d2\u6269\u6563Transformer\u6a21\u578b\uff0c\u5e76\u5229\u7528\u591a\u6837\u5316\u7684\u6761\u4ef6\u8f93\u5165\uff0c\u5728\u7edf\u4e00\u7684\u6846\u67b6\u5185\u7f16\u7801\u53ef\u63a7\u7684\u573a\u666f\u7ed3\u6784\u548c\u5185\u5bb9\u7ebf\u7d22\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u6027\u80fd\u4e0a\u4f18\u4e8e\u6700\u5148\u8fdb\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u5c40\u9650\u6027\u4e0e\u672a\u6765\u5de5\u4f5c\u3002\u5c3d\u7ba1\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u591a\u6a21\u6001\u591a\u89c6\u89d2\u751f\u6210\u65b9\u9762\u53d6\u5f97\u4e86\u4f18\u8d8a\u7684\u6027\u80fd\uff0c\u4f46\u4ecd\u5b58\u5728\u5c40\u9650\u6027\u3002\u4f8b\u5982\uff0c\u5982\u4f55\u6709\u6548\u5730\u5c06\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u4e0e\u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5668\u76f8\u7ed3\u5408\uff0c\u503c\u5f97\u8fdb\u4e00\u6b65\u7814\u7a76\u3002\u8fd9\u6709\u671b\u5e2e\u52a9\u5168\u9762\u8bc4\u4f30\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\u3002\u6b64\u5916\uff0c\u5982\u4f55\u4ece\u751f\u6210\u7684\u591a\u6a21\u6001\u6570\u636e\u4e2d\u63a8\u5bfc\u51faLiDAR\u70b9\u4e91\uff0c\u662f\u4e00\u4e2a\u6709\u8da3\u7684\u7814\u7a76\u65b9\u5411\uff0c\u53ef\u4ee5\u8fdb\u4e00\u6b65\u589e\u5f3a\u6211\u4eec\u7684\u65b9\u6cd5\u3002\u6211\u4eec\u7684\u672a\u6765\u5de5\u4f5c\u65e8\u5728\u63a2\u7d22\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u7684\u65b9\u6848\uff0c\u4ee5\u4fc3\u8fdb\u8be5\u65b9\u6cd5\u5728\u73b0\u5b9e\u4e16\u754c\u5e94\u7528\u4e2d\u7684\u90e8\u7f72\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-32403","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\/32403"}],"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=32403"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32403\/revisions"}],"predecessor-version":[{"id":32419,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/32403\/revisions\/32419"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=32403"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=32403"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=32403"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}