{"id":33128,"date":"2025-09-18T17:31:58","date_gmt":"2025-09-18T09:31:58","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33128"},"modified":"2025-09-18T17:31:58","modified_gmt":"2025-09-18T09:31:58","slug":"2025-09-18-%e8%8b%a6%e6%88%98%e4%b8%83%e5%b9%b4%e5%8d%b7%e4%ba%86%e4%b8%89%e4%bb%a3%ef%bc%81%e5%85%b3%e4%ba%8ebev%e7%9a%84%e6%bc%94%e8%bf%9b%e4%b9%8b%e8%b7%af%ef%bc%9a%e5%93%88%e5%b7%a5%e5%a4%a7","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/18\/33128\/","title":{"rendered":"2025-09-18 \u82e6\u6218\u4e03\u5e74\u5377\u4e86\u4e09\u4ee3\uff01\u5173\u4e8eBEV\u7684\u6f14\u8fdb\u4e4b\u8def\uff1a\u54c8\u5de5\u5927&amp;\u6e05\u534e\u6700\u65b0\u7efc\u8ff0"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1951941490029885103\">https:\/\/zhuanlan.zhihu.com\/p\/1951941490029885103<\/a><\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>BEV\u4f5c\u4e3a\u667a\u80fd\u9a7e\u9a76\u7684\u91cf\u4ea7\u57fa\u77f3\uff0c\u5b83\u7684\u53d1\u5c55\u8fc7\u7a0b\u662f\u600e\u6837\u7684\uff1f\u76d8\u70b9BEV\u7684\u4e09\u4ee3\u6f14\u8fdb\u4e4b\u8def\u3002<\/p>\n<\/blockquote>\n\n\n\n<p>BEV\u611f\u77e5\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u57fa\u7840\u8303\u5f0f\uff0c\u80fd\u591f\u63d0\u4f9b\u7edf\u4e00\u7684\u7a7a\u95f4\u8868\u5f81\uff0c\u4e3a\u9c81\u68d2\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u548c\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u63d0\u4f9b\u652f\u6301\u3002\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4ece\u53d7\u63a7\u73af\u5883\u5411\u73b0\u5b9e\u4e16\u754c\u90e8\u7f72\u8fc7\u6e21\uff0c\u5982\u4f55\u5728\u590d\u6742\u573a\u666f\uff08\u5982\u906e\u6321\u3001\u6076\u52a3\u5929\u6c14\u548c\u52a8\u6001\u4ea4\u901a\uff09\u4e2d\u786e\u4fddBEV\u611f\u77e5\u7684\u5b89\u5168\u6027\u548c\u53ef\u9760\u6027\uff0c\u4ecd\u662f\u4e00\u9879\u5173\u952e\u6311\u6218\u3002\u672c\u6587\u9996\u6b21\u4ece\u5b89\u5168\u5173\u952e\u89c6\u89d2\u5bf9BEV\u611f\u77e5\u8fdb\u884c\u5168\u9762\u7efc\u8ff0\uff0c\u7cfb\u7edf\u5206\u6790\u4e86\u5f53\u524d\u4e3b\u6d41\u6846\u67b6\u53ca\u5b9e\u73b0\u7b56\u7565\uff0c\u5e76\u5c06\u5176\u5212\u5206\u4e3a\u4e09\u4e2a\u6e10\u8fdb\u9636\u6bb5\uff1a\u5355\u6a21\u6001\u8f66\u8f7d\u611f\u77e5\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E8%BD%A6%E8%BD%BD%E6%84%9F%E7%9F%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u8f66\u8f7d\u611f\u77e5<\/a>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%99%BA%E8%83%BD%E4%BD%93%E5%8D%8F%E4%BD%9C%E6%84%9F%E7%9F%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5<\/a>\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u7814\u7a76\u4e86\u6db5\u76d6\u8f66\u8f7d\u3001\u8def\u4fa7\u53ca\u534f\u4f5c\u573a\u666f\u7684\u516c\u5f00\u6570\u636e\u96c6\uff0c\u8bc4\u4f30\u4e86\u8fd9\u4e9b\u6570\u636e\u96c6\u5728\u5b89\u5168\u6027\u548c\u9c81\u68d2\u6027\u65b9\u9762\u7684\u9002\u7528\u6027\u3002\u672c\u6587\u8fdb\u4e00\u6b65\u6307\u51fa\u4e86\u5f00\u653e\u4e16\u754c\u573a\u666f\u4e0b\u7684\u5173\u952e\u6311\u6218\uff08\u5305\u62ec\u5f00\u653e\u96c6\u8bc6\u522b\u3001\u5927\u89c4\u6a21\u672a\u6807\u6ce8\u6570\u636e\u3001\u4f20\u611f\u5668\u6027\u80fd\u9000\u5316\u53ca\u667a\u80fd\u4f53\u95f4\u901a\u4fe1\u5ef6\u8fdf\uff09\uff0c\u5e76\u6982\u8ff0\u4e86\u672a\u6765\u7814\u7a76\u65b9\u5411\uff0c\u5982\u4e0e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E7%AB%AF%E5%88%B0%E7%AB%AF%E8%87%AA%E5%8A%A8%E9%A9%BE%E9%A9%B6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76<\/a>\u7cfb\u7edf\u7684\u878d\u5408\u3001\u5177\u8eab\u667a\u80fd\u53ca<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%A7%E5%9E%8B%E8%AF%AD%E8%A8%80%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5927\u578b\u8bed\u8a00\u6a21\u578b<\/a><\/p>\n\n\n\n<p>\u7684\u5e94\u7528\u3002<\/p>\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\/2508.07560v1\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2508.07560v1<\/a><\/li>\n\n\n\n<li>\u8bba\u6587\u6807\u9898\uff1aProgressive Bird&#8217;s Eye View Perception for Safety-Critical Autonomous Driving: A Comprehensive Survey<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1951941490029885103_0\">\u4e00\u3001\u5f15\u8a00<\/h2>\n\n\n\n<p>\u968f\u7740\u667a\u80fd\u4ea4\u901a\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6b63\u4ece\u53d7\u63a7\u73af\u5883\u5411\u73b0\u5b9e\u4e16\u754c\u90e8\u7f72\u8fc7\u6e21\u3002\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u611f\u77e5\u6838\u5fc3\uff0c\u5b9e\u65f6\u3001\u53ef\u9760\u7684\u73af\u5883\u7406\u89e3\u5bf9\u4fdd\u969c\u884c\u9a76\u5b89\u5168\u81f3\u5173\u91cd\u8981\u3002\u7136\u800c\uff0c\u590d\u6742\u573a\u666f\uff08\u5982\u5149\u7167\u53d8\u5316\u3001\u6076\u52a3\u5929\u6c14\u3001\u4ea4\u901a\u62e5\u5835\u53ca\u906e\u6321\uff09\u4f1a\u4e25\u91cd\u964d\u4f4e\u611f\u77e5\u6027\u80fd\uff0c\u8fdb\u800c\u5f71\u54cd\u4e0b\u6e38\u51b3\u7b56\u4e0e\u63a7\u5236\u6a21\u5757\u7684\u6b63\u5e38\u5de5\u4f5c\u3002\u4e3a\u63d0\u5347\u611f\u77e5\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\uff0c\u8fd1\u5e74\u6765\u7684\u7814\u7a76\u63a2\u7d22\u4e86\u591a\u4f20\u611f\u5668\u878d\u5408\u6280\u672f\u548c\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5\u6280\u672f\uff0c\u524d\u8005\u901a\u8fc7\u591a\u6a21\u6001\u4f20\u611f\u5668\u7684\u4e92\u8865\u6027\u83b7\u53d6\u66f4\u5168\u9762\u4fe1\u606f\uff0c\u540e\u8005\u501f\u52a9\u667a\u80fd\u4f53\u95f4\u7684\u4fe1\u606f\u4ea4\u4e92\u62d3\u5c55\u611f\u77e5\u8303\u56f4\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u5982\u4f55\u5b9e\u73b0\u5f02\u6784\u6a21\u6001\u6570\u636e\u7684\u5bf9\u9f50\uff0c\u4ee5\u53ca\u5982\u4f55\u7edf\u4e00\u8f66\u8f7d\u4e0e\u57fa\u7840\u8bbe\u65bd\u5e73\u53f0\u7684\u7a7a\u95f4\u8868\u5f81\uff0c\u4ecd\u662f\u5f53\u524d\u9762\u4e34\u7684\u6838\u5fc3\u6311\u6218\u3002<\/p>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cBEV\u611f\u77e5\u5df2\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e3b\u6d41\u8303\u5f0f\uff0c\u5176\u63d0\u4f9b\u7684\u7edf\u4e00\u7a7a\u95f4\u8868\u5f81\u80fd\u591f\u540c\u65f6\u4fc3\u8fdb\u591a\u4f20\u611f\u5668\u878d\u5408\u548c\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u3002\u9274\u4e8eBEV\u611f\u77e5\u7684\u6838\u5fc3\u5730\u4f4d\uff0c\u57fa\u4e8eBEV\u7684\u611f\u77e5\u7cfb\u7edf\u4ece\u201c\u5355\u6a21\u6001\u201d\u5230\u201c\u591a\u6a21\u6001\u201d\u3001\u518d\u5230\u201c\u534f\u4f5c\u6846\u67b6\u201d\u7684\u6e10\u8fdb\u5f0f\u6f14\u8fdb\uff0c\u5df2\u6210\u4e3a\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u7684\u5173\u952e\u65b9\u5411\u3002\u5728\u540e\u7eed\u7ae0\u8282\u4e2d\uff0c\u672c\u6587\u5c06\u4ece\u4e09\u4e2a\u5173\u952e\u7ef4\u5ea6\u7cfb\u7edf\u7efc\u8ff0BEV\u611f\u77e5\u6280\u672f\uff1aBEV\u611f\u77e5\u7684\u672c\u8d28\u662f\u4ec0\u4e48\u3001\u4e3a\u4f55BEV\u611f\u77e5\u5bf9\u81ea\u52a8\u9a7e\u9a76\u5b89\u5168\u81f3\u5173\u91cd\u8981\u3001\u4ee5\u53ca\u5982\u4f55\u5728\u591a\u6a21\u6001\u4e0e\u591a\u667a\u80fd\u4f53\u573a\u666f\u4e2d\u6709\u6548\u5b9e\u73b0BEV\u611f\u77e5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_1\">BEV\u611f\u77e5\u7684\u672c\u8d28\uff08What\uff09<\/h3>\n\n\n\n<p>BEV\u611f\u77e5\u662f\u4e00\u79cd\u9ad8\u6548\u7684\u7a7a\u95f4\u8868\u5f81\u8303\u5f0f\uff0c\u80fd\u591f\u5c06\u6765\u81ea\u591a\u79cd\u4f20\u611f\u5668\u6a21\u6001\uff08\u5982\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u3001\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff09\u7684\u5f02\u6784\u6570\u636e\u6295\u5f71\u5230\u7edf\u4e00\u7684BEV\u5750\u6807\u7cfb\u4e2d\u3002\u901a\u8fc7\u8fd9\u79cd\u6295\u5f71\uff0c\u7cfb\u7edf\u53ef\u6784\u5efa\u5468\u56f4\u73af\u5883\u7684\u4e00\u81f4\u6027\u7ed3\u6784\u5316\u7a7a\u95f4\u8bed\u4e49\u5730\u56fe\u3002\u7531\u4e8e\u6d88\u9664\u4e86\u4f20\u611f\u5668\u7279\u6709\u7684\u89c6\u89d2\u5dee\u5f02\uff0c\u8fd9\u79cd\u81ea\u4e0a\u800c\u4e0b\u7684\u89c6\u89d2\u80fd\u591f\u5e2e\u52a9\u7cfb\u7edf\u51c6\u786e\u611f\u77e5\u548c\u7406\u89e3\u7269\u4f53\u95f4\u7684\u7a7a\u95f4\u5173\u7cfb\uff0c\u5927\u5e45\u964d\u4f4e\u591a\u89c6\u89d2\u4e0e\u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u7684\u590d\u6742\u5ea6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_2\">BEV\u611f\u77e5\u7684\u91cd\u8981\u6027\uff08Why\uff09<\/h3>\n\n\n\n<p>\u51ed\u501f\u7edf\u4e00\u4e14\u53ef\u89e3\u91ca\u7684\u7a7a\u95f4\u8868\u5f81\uff0cBEV\u611f\u77e5\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u591a\u6a21\u6001\u878d\u5408\u4e0e\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5\u7684\u7406\u60f3\u57fa\u7840\u3002\u901a\u8fc7\u5c06\u56fe\u50cf\u3001LiDAR\u3001\u96f7\u8fbe\u7b49\u5f02\u6784\u4f20\u611f\u5668\u6570\u636e\u6295\u5f71\u5230\u7edf\u4e00\u7684BEV\u5e73\u9762\uff0c\u4e0d\u540c\u6a21\u6001\u7684\u4fe1\u606f\u53ef\u5b9e\u73b0\u65e0\u7f1d\u5bf9\u9f50\u4e0e\u96c6\u6210\u3002\u8fd9\u79cd\u7edf\u4e00\u5750\u6807\u7cfb\u4e0d\u4ec5\u7b80\u5316\u4e86\u8f66\u8f7d\u4e0e\u8def\u4fa7\u4f20\u611f\u5668\u7684\u878d\u5408\u8fc7\u7a0b\uff0c\u8fd8\u80fd\u652f\u6301\u591a\u8f66\u8f86\u4e0e\u57fa\u7840\u8bbe\u65bd\u95f4\u7684\u9ad8\u6548\u4fe1\u606f\u5171\u4eab\uff0c\u4ece\u800c\u7a81\u7834\u5355\u8f66\u8f86\u611f\u77e5\u7684\u5c40\u9650\u6027\u3002\u6b64\u5916\uff0cBEV\u8868\u5f81\u5177\u5907\u7ed3\u6784\u5316\u3001\u4e00\u81f4\u6027\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u80fd\u591f\u4e3a\u8def\u5f84\u89c4\u5212\u3001\u8f66\u8f86\u63a7\u5236\u7b49\u4e0b\u6e38\u4efb\u52a1\u63d0\u4f9b\u652f\u6301\uff0c\u6210\u4e3a\u590d\u6742\u534f\u4f5c\u9a7e\u9a76\u573a\u666f\u4e2d\u201c\u611f\u77e5-\u51b3\u7b56\u201d\u73af\u8282\u7684\u5173\u952e\u6865\u6881\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-20eba3b97b89453d1dd7b1369f961a71_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_3\">BEV\u611f\u77e5\u7684\u5b9e\u73b0\u65b9\u5f0f\uff08How\uff09<\/h3>\n\n\n\n<p>\u4e3a\u5e94\u5bf9\u65e5\u76ca\u590d\u6742\u7684\u52a8\u6001\u4ea4\u901a\u573a\u666f\u6311\u6218\uff0c\u611f\u77e5\u7cfb\u7edf\u6301\u7eed\u63a2\u7d22\u65b0\u8303\u5f0f\u4ee5\u63d0\u5347\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u3002\u5728\u672c\u6587\u7efc\u8ff0\u4e2d\uff0c\u6211\u4eec\u5c06\u5b89\u5168\u5bfc\u5411\u7684BEV\u611f\u77e5\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=SafeBEV&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SafeBEV<\/a><\/p>\n\n\n\n<p>\uff09\u7684\u6f14\u8fdb\u5212\u5206\u4e3a\u4e09\u4e2a\u4e3b\u8981\u9636\u6bb5\uff08\u5982\u56fe1\u6240\u793a\uff09\uff1aSafeBEV 1.0\uff08\u5355\u6a21\u6001\u8f66\u8f7d\u611f\u77e5\uff09\u3001SafeBEV 2.0\uff08\u591a\u6a21\u6001\u8f66\u8f7d\u611f\u77e5\uff09\u548cSafeBEV 3.0\uff08\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5\uff09\u3002\u5404\u9636\u6bb5\u7684\u7279\u5f81\u4e0e\u6280\u672f\u8fdb\u5c55\u5c06\u5728\u540e\u7eed\u7ae0\u8282\u8be6\u7ec6\u9610\u8ff0\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>SafeBEV 1.0\uff1a\u5355\u6a21\u6001\u8f66\u8f7d\u611f\u77e5<\/strong><br>\u8be5\u9636\u6bb5\u91c7\u7528\u5355\u4e00\u4f20\u611f\u5668\uff08\u5982\u76f8\u673a\u6216LiDAR\uff09\u5b9e\u73b0\u57fa\u4e8eBEV\u7684\u573a\u666f\u7406\u89e3\u3002\u65e9\u671f\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u4f9d\u8d56\u5355\u5e94\u6027\u53d8\u6362\uff0c\u4f46\u5728\u590d\u6742\u573a\u666f\u4e2d\u9c81\u68d2\u6027\u4e0d\u8db3\u3002\u8fd1\u5e74\u6765\u7684\u65b9\u6cd5\u8f6c\u5411\u6570\u636e\u9a71\u52a8\u7684BEV\u5efa\u6a21\uff0c\u5927\u81f4\u5206\u4e3a\u7a00\u758f\u8303\u5f0f\u4e0e\u5bc6\u96c6\u8303\u5f0f\u4e24\u7c7b\uff1a\u7a00\u758f\u65b9\u6cd5\u901a\u8fc7\u4f30\u8ba1\u6df1\u5ea6\u4fe1\u606f\u5c06\u4e8c\u7ef4\u7279\u5f81\u63d0\u5347\u4e3a\u4e09\u7ef4\u70b9\u4e91\uff0c\u518d\u4f53\u7d20\u5316\u751f\u6210BEV\uff0c\u4f46\u6027\u80fd\u53d7\u6df1\u5ea6\u4f30\u8ba1\u7cbe\u5ea6\u5f71\u54cd\u8f83\u5927\uff1b\u5bc6\u96c6\u65b9\u6cd5\u91c7\u7528\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u6216Transformer\uff08\u5982BEVFormer\u3001PETR\uff09\uff0c\u901a\u8fc7\u975e\u7ebf\u6027\u6295\u5f71\u6216\u8de8\u89c6\u89d2\u6ce8\u610f\u529b\u673a\u5236\u76f4\u63a5\u5c06\u4e8c\u7ef4\u7279\u5f81\u6620\u5c04\u5230BEV\u7a7a\u95f4\u3002BEVDepth\u3001BEVDet\u7b49\u6df7\u5408\u8bbe\u8ba1\u5219\u878d\u5408\u6df1\u5ea6\u9884\u6d4b\u4ee5\u4f18\u5316\u5bc6\u96c6BEV\u5efa\u6a21\u6548\u679c\u3002\u5bf9\u4e8eLiDAR\u611f\u77e5\uff0c\u4e3b\u6d41\u6d41\u7a0b\u901a\u5e38\u901a\u8fc7\u70b9\u4e91\u4f53\u7d20\u5316\u3001\u7a00\u758f\u5377\u79ef\uff08SparseConv\uff09\u6216PointNet\u7b49\u6280\u672f\u63d0\u53d6BEV\u7279\u5f81\uff0c\u5728\u7a7a\u95f4\u5206\u8fa8\u7387\u4e0e\u8ba1\u7b97\u6548\u7387\u95f4\u53d6\u5f97\u5e73\u8861\u3002<br><\/li>\n\n\n\n<li><strong>SafeBEV 2.0\uff1a\u591a\u6a21\u6001\u8f66\u8f7d\u611f\u77e5<\/strong><br>\u8be5\u9636\u6bb5\u901a\u8fc7\u96c6\u6210\u76f8\u673a\u3001LiDAR\u3001\u96f7\u8fbe\u7b49\u5f02\u6784\u4f20\u611f\u5668\u63d0\u5347BEV\u611f\u77e5\u6027\u80fd\uff0c\u7a81\u7834\u5355\u6a21\u6001\u7cfb\u7edf\u7684\u5c40\u9650\u6027\uff0c\u589e\u5f3a\u906e\u6321\u4e0e\u6076\u52a3\u5929\u6c14\u4e0b\u7684\u9c81\u68d2\u6027\u3002\u76ee\u524d\u7684\u878d\u5408\u7b56\u7565\u4e3b\u8981\u5206\u4e3a\u4e94\u7c7b\uff1a\u76f8\u673a-\u96f7\u8fbe\u878d\u5408\u3001\u76f8\u673a-LiDAR\u878d\u5408\u3001\u96f7\u8fbe-LiDAR\u878d\u5408\u3001\u76f8\u673a-LiDAR-\u96f7\u8fbe\u4e09\u6a21\u6001\u878d\u5408\u53ca\u65f6\u95f4\u878d\u5408\u3002\u6bcf\u79cd\u6a21\u6001\u7ec4\u5408\u5747\u5229\u7528\u4e86\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4e92\u8865\u7279\u6027\uff1a\u4f8b\u5982\uff0c\u76f8\u673a\u7684\u8bed\u4e49\u4fe1\u606f\u4e0eLiDAR\/\u96f7\u8fbe\u7684\u51e0\u4f55\u4fe1\u606f\u7ed3\u5408\u53ef\u63d0\u5347\u7cbe\u5ea6\u4e0e\u53ef\u9760\u6027\uff1bLiDAR\u7684\u7a7a\u95f4\u7cbe\u5ea6\u4e0e\u96f7\u8fbe\u7684\u901f\u5ea6\u611f\u77e5\u80fd\u529b\u7ed3\u5408\u53ef\u5b9e\u73b0\u8fdc\u8ddd\u79bb\u3001\u5168\u5929\u5019\u611f\u77e5\uff1b\u4e09\u6a21\u6001\u5168\u878d\u5408\u5219\u80fd\u6784\u5efa\u5168\u9762\u7684BEV\u8868\u5f81\uff1b\u65f6\u95f4\u878d\u5408\u8fdb\u4e00\u6b65\u63d0\u5347\u52a8\u6001\u573a\u666f\u4e2d\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u8fd9\u4e9b\u7b56\u7565\u5171\u540c\u589e\u5f3a\u4e86\u73b0\u5b9e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2dBEV\u611f\u77e5\u7684\u5b89\u5168\u6027\u3001\u9002\u5e94\u6027\u4e0e\u53ef\u9760\u6027\u3002<br><\/li>\n\n\n\n<li><strong>SafeBEV 3.0\uff1a\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5<\/strong><br>\u968f\u7740\u8f66\u8054\u7f51\uff08V2X\uff09\u6280\u672f\u7684\u53d1\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u53ef\u901a\u8fc7\u8f66-\u8f66\u3001\u8f66-\u57fa\u7840\u8bbe\u65bd\u95f4\u7684\u4fe1\u606f\u4ea4\u4e92\u4e0e\u8054\u5408\u63a8\u7406\uff0c\u7a81\u7834\u5355\u667a\u80fd\u4f53\u611f\u77e5\u7684\u5c40\u9650\u6027\u3002\u901a\u8fc7\u5728\u7edf\u4e00BEV\u7a7a\u95f4\u4e2d\u805a\u5408\u591a\u6e90\u4f20\u611f\u5668\u6570\u636e\uff0c\u534f\u4f5c\u611f\u77e5\u80fd\u591f\u5b9e\u73b0\u5168\u5c40\u73af\u5883\u5efa\u6a21\uff0c\u4e3a\u52a8\u6001\u4ea4\u901a\u4e2d\u7684\u5b89\u5168\u5bfc\u822a\u63d0\u4f9b\u5173\u952e\u652f\u6301\u3002V2VNet\u3001DiscoNet\u3001CoBEVT\u7b49\u4ee3\u8868\u6027\u6846\u67b6\u901a\u8fc7\u7279\u5f81\u538b\u7f29\u3001\u5e26\u5bbd\u9ad8\u6548\u534f\u8bae\u53ca\u5206\u5e03\u5f0f\u63a8\u7406\u6280\u672f\uff0c\u5728\u964d\u4f4e\u901a\u4fe1\u6210\u672c\u7684\u540c\u65f6\u5b9e\u73b0\u5b9e\u65f6\u3001\u53ef\u6269\u5c55\u7684\u534f\u4f5c\u3002\u6b64\u5916\uff0c\u591a\u667a\u80fd\u4f53\u89c2\u6d4b\u7684\u65f6\u7a7a\u878d\u5408\u6280\u672f\u80fd\u591f\u589e\u5f3a\u5168\u5c40\u6001\u52bf\u611f\u77e5\uff0c\u63d0\u5347\u5bf9\u906e\u6321\u6216\u8fdc\u8ddd\u79bb\u76ee\u6807\u7684\u611f\u77e5\u80fd\u529b\u3002\u8be5\u8303\u5f0f\u8fd8\u4e3a\u7fa4\u4f53\u51b3\u7b56\u3001\u534f\u4f5c\u8f68\u8ff9\u89c4\u5212\u53ca\u591a\u667a\u80fd\u4f53\u63a7\u5236\u7b49\u9ad8\u5c42\u529f\u80fd\u63d0\u4f9b\u652f\u6301\uff0c\u662f\u5411\u5927\u89c4\u6a21\u3001\u5b89\u5168\u3001\u667a\u80fd\u81ea\u52a8\u9a7e\u9a76\u8fc8\u8fdb\u7684\u5173\u952e\u4e00\u6b65\u3002<br><\/li>\n<\/ul>\n\n\n\n<p>\u9274\u4e8eBEV\u611f\u77e5\u6280\u672f\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u5df2\u6709\u90e8\u5206\u7efc\u8ff0\u6587\u732e\u6d8c\u73b0\uff1aMa\u7b49\u4eba\u805a\u7126\u4e8e\u7eaf\u76f8\u673aBEV\u65b9\u6cd5\uff0c\u603b\u7ed3\u4e86\u8be5\u9886\u57df\u4e09\u5341\u5e74\u7684\u53d1\u5c55\u5386\u7a0b\uff1bLi\u7b49\u4eba\u7efc\u8ff0\u4e86\u8f66\u8f7d\u5c42\u9762\u7684\u5355\u76ee\u4e0e\u591a\u6a21\u6001BEV\u611f\u77e5\u6280\u672f\uff1bZhao\u7b49\u4eba\u5bf9\u8f66-\u8f66\uff08V2V\uff09\u534f\u4f5c\u8303\u5f0f\u8fdb\u884c\u4e86\u5206\u7c7b\uff1bSingh\u7b49\u4eba\u5219\u7814\u7a76\u4e86\u6076\u52a3\u6761\u4ef6\u4e0b\u7684\u89c6\u89c9-\u96f7\u8fbe\u878d\u5408\u6280\u672f\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u5de5\u4f5c\u4ece\u7eaf\u76f8\u673a\u3001\u591a\u6a21\u6001\u878d\u5408\u3001V2V\u534f\u4f5c\u7b49\u89c6\u89d2\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u6982\u8ff0\uff0c\u4f46\u4ecd\u5b58\u5728\u4ee5\u4e0b\u5173\u952e\u7f3a\u53e3\uff1a\uff081\uff09\u4ece\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u89c6\u89d2\u5bf9BEV\u611f\u77e5\u7684\u5206\u6790\u4e0d\u8db3\uff1b\uff082\uff09\u5bf9\u8def\u4fa7BEV\u7cfb\u7edf\u53ca\u66f4\u5e7f\u6cdb\u7684\u534f\u4f5c\u8303\u5f0f\uff08\u5982\u8f66-\u57fa\u7840\u8bbe\u65bd\uff08V2I\uff09\u3001\u57fa\u7840\u8bbe\u65bd-\u57fa\u7840\u8bbe\u65bd\uff08I2I\uff09\uff09\u8986\u76d6\u4e0d\u591f\u5168\u9762\uff1b\uff083\uff09\u7f3a\u4e4f\u5bf9\u5927\u89c4\u6a21\u8f66\u8f7d\u53ca\u591a\u667a\u80fd\u4f53\u6570\u636e\u96c6\u7684\u6df1\u5165\u63a2\u8ba8\u3002\u6b64\u5916\uff0cBEV\u611f\u77e5\u4e0e\u65b0\u5174\u8303\u5f0f\uff08\u5982\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3001\u5927\u578b\u8bed\u8a00\u6a21\u578b\u3001\u5177\u8eab\u667a\u80fd\uff09\u7684\u878d\u5408\u4e5f\u5c1a\u672a\u5f97\u5230\u5145\u5206\u7814\u7a76\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u9996\u6b21\u4ece\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u89c6\u89d2\uff0c\u5bf9\u8f66\u8f7d\u53ca\u534f\u4f5c\u5f0fBEV\u611f\u77e5\u65b9\u6cd5\u8fdb\u884c\u5168\u9762\u7efc\u8ff0\uff0c\u5c06\u73b0\u6709\u65b9\u6cd5\u5212\u5206\u4e3a\u5355\u6a21\u6001\u8f66\u8f7d\u611f\u77e5\u3001\u591a\u6a21\u6001\u8f66\u8f7d\u611f\u77e5\u3001\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u611f\u77e5\u4e09\u4e2a\u9636\u6bb5\u3002\u6b64\u5916\uff0c\u672c\u6587\u7cfb\u7edf\u7efc\u8ff0\u4e86\u5173\u952e\u516c\u5f00\u6570\u636e\u96c6\uff0c\u8bc4\u4f30\u4e86\u8fd9\u4e9b\u6570\u636e\u96c6\u5bf9\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u7814\u7a76\u7684\u652f\u6301\u7a0b\u5ea6\uff0c\u5e76\u5efa\u7acb\u4e86\u76f8\u5e94\u7684\u8bc4\u4f30\u6307\u6807\u4e0e\u57fa\u51c6\u3002\u4e3a\u63d0\u5347\u7814\u7a76\u7684\u53ef\u8bbf\u95ee\u6027\u4e0e\u53ef\u590d\u73b0\u6027\uff0c\u672c\u6587\u7ef4\u62a4\u4e86\u4e00\u4e2aGitHub\u4ed3\u5e93\uff0c\u5305\u542b\u65b9\u6cd5\u5b9e\u73b0\u3001\u6570\u636e\u96c6\u4f7f\u7528\u6307\u5357\u53ca\u793a\u4f8b\u4ee3\u7801\u3002\u6700\u540e\uff0c\u672c\u6587\u6307\u51fa\u4e86BEV\u611f\u77e5\u5728\u5f00\u653e\u4e16\u754c\u573a\u666f\u4e2d\u9762\u4e34\u7684\u5173\u952e\u5b89\u5168\u6311\u6218\uff08\u5982\u5f00\u653e\u96c6\u90e8\u7f72\u3001\u5927\u89c4\u6a21\u672a\u6807\u6ce8\u6570\u636e\u3001\u4f20\u611f\u5668\u6027\u80fd\u9000\u5316\u3001\u591a\u667a\u80fd\u4f53\u901a\u4fe1\u5ef6\u8fdf\uff09\uff0c\u5e76\u63a2\u8ba8\u4e86\u5176\u4e0e\u5177\u8eab\u667a\u80fd\u3001\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3001\u5927\u578b\u8bed\u8a00\u6a21\u578b\u878d\u5408\u7684\u672a\u6765\u8d8b\u52bf\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u5176\u4f59\u90e8\u5206\u7ed3\u6784\u5982\u4e0b\uff1a\u7b2c2\u7ae0\u7efc\u8ff0\u57fa\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8D%95%E6%A8%A1%E6%80%81%E8%BD%A6%E8%BD%BD%E4%BC%A0%E6%84%9F%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5355\u6a21\u6001\u8f66\u8f7d\u4f20\u611f\u5668<\/a>\u7684BEV\u611f\u77e5\u6280\u672f\uff1b\u7b2c3\u7ae0\u4ece\u5b89\u5168\u6027\u4e0e\u9c81\u68d2\u6027\u89c6\u89d2\u63a2\u8ba8<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E8%9E%8D%E5%90%88%E7%AD%96%E7%95%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u878d\u5408\u7b56\u7565<\/a><\/p>\n\n\n\n<p>\uff1b\u7b2c4\u7ae0\u5206\u6790\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u5f0fBEV\u611f\u77e5\u6280\u672f\uff0c\u5305\u62ec\u8def\u4fa7\u611f\u77e5\u4e0eV2X\u534f\u4f5c\uff1b\u7b2c5\u7ae0\u7efc\u8ff0\u6db5\u76d6\u8f66\u8f7d\u3001\u8def\u4fa7\u53ca\u534f\u4f5c\u573a\u666f\u7684\u516c\u5f00\u6570\u636e\u96c6\uff0c\u6307\u51fa\u5f53\u524d\u5c40\u9650\u6027\u4e0e\u672a\u6765\u65b9\u5411\uff1b\u7b2c6\u7ae0\u4e0e\u7b2c7\u7ae0\u603b\u7ed3\u6311\u6218\uff0c\u5e76\u6982\u8ff0\u9762\u5411\u73b0\u5b9e\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u9c81\u68d2\u578bBEV\u611f\u77e5\u7684\u672a\u6765\u7814\u7a76\u65b9\u5411\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-07c9cf2581b52710968a951382588760_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1951941490029885103_4\">\u4e8c\u3001SafeBEV 1.0\uff1a\u57fa\u4e8e\u8f66\u8f86\u7684\u5355\u6a21\u6001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=263201563&amp;content_type=Article&amp;match_order=1&amp;q=%E9%B8%9F%E7%9E%B0%E5%9B%BE%E6%84%9F%E7%9F%A5&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9e1f\u77b0\u56fe\u611f\u77e5<\/a><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1951941490029885103_4\">\u65b9\u6cd5<\/h2>\n\n\n\n<p>\u57fa\u4e8e\u8f66\u8f86\u7684\u5355\u6a21\u6001BEV\u611f\u77e5\u662f\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u57fa\u7840\u9636\u6bb5\uff0c\u5b83\u4ec5\u901a\u8fc7\u76f8\u673a\u6216LiDAR\u8fd9\u4e00\u79cd\u4f20\u611f\u5668\uff0c\u5c31\u80fd\u5b9e\u73b0\u9ad8\u6548\u7684\u4fef\u89c6\u89c6\u89d2\u573a\u666f\u7406\u89e3\u3002\u5c3d\u7ba1\u8be5\u65b9\u6cd5\u5177\u6709\u7cfb\u7edf\u590d\u6742\u5ea6\u4f4e\u3001\u8ba1\u7b97\u6210\u672c\u4f4e\u7684\u4f18\u52bf\uff0c\u4f46\u5176\u5728\u6076\u52a3\u6761\u4ef6\u4e0b\u7684\u9c81\u68d2\u6027\u4ecd\u6709\u9650\uff1a\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u5bf9\u5149\u7167\u53d8\u5316\u3001\u906e\u6321\u548c\u6df1\u5ea6\u4f30\u8ba1\u8bef\u5dee\u8f83\u4e3a\u654f\u611f\uff0c\u800c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u5219\u9762\u4e34\u70b9\u4e91\u6570\u636e\u7a00\u758f\u6027\u548c\u5929\u6c14\u5bfc\u81f4\u7684\u6027\u80fd\u8870\u51cf\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-d0ffed56468af5cbc2bb4dabaafabe3a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_5\">\u57fa\u4e8e\u89c6\u89c9\u7684\u9e1f\u77b0\u56fe\u611f\u77e5\uff08BEV Camera\uff09<\/h3>\n\n\n\n<p>\u57fa\u4e8e\u8f66\u8f86\u4fa7\u7eaf\u76f8\u673a\u7684\u9e1f\u77b0\u56fe\u611f\u77e5\u9762\u4e34\u4e00\u4e2a\u6838\u5fc3\u6311\u6218\uff1a\u5982\u4f55\u4ece\u4e8c\u7ef4\uff082D\uff09\u56fe\u50cf\u4e2d\u63a8\u65ad\u51fa\u7a7a\u95f4\u4e00\u81f4\u6027\u7684\u9e1f\u77b0\u56fe\u8868\u793a\u3002\u8fd1\u5e74\u6765\u7684\u76f8\u5173\u7814\u7a76\u8fdb\u5c55\u901a\u5e38\u91c7\u7528\u4e24\u9636\u6bb5\u6d41\u7a0b\uff1a\u5148\u4ece\u900f\u89c6\u89c6\u89d2\u56fe\u50cf\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u518d\u5c06\u8fd9\u4e9b\u7279\u5f81\u7a7a\u95f4\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\u5e73\u9762\uff0c\u4ee5\u5b8c\u6210\u76ee\u6807\u68c0\u6d4b\u3001\u5730\u56fe\u5206\u5272\u7b49\u4e0b\u6e38\u4efb\u52a1\uff08\u89c1\u56fe3\uff08a\uff09\uff09\u3002\u88681\u6839\u636e\u76f8\u673a\u914d\u7f6e\uff08\u5355\u76ee\u76f8\u673a\u3001\u591a\u76f8\u673a\uff09\u548c\u7279\u5f81\u8f6c\u6362\u7b56\u7565\uff083D\u52302D\u30012D\u52303D\uff09\uff0c\u5bf9\u4ee3\u8868\u6027\u65b9\u6cd5\u8fdb\u884c\u4e86\u5206\u7c7b\u3002\u5176\u4e2d\uff0c\u201c3D\u52302D\u65b9\u6cd5\u201d\u4f1a\u5148\u63a8\u65ad\u4e2d\u95f43D\u51e0\u4f55\u4fe1\u606f\uff0c\u518d\u8fdb\u884c\u6295\u5f71\uff1b\u201c2D\u52303D\u65b9\u6cd5\u201d\u5219\u901a\u8fc7\u9e1f\u77b0\u56fe\u6620\u5c04\u76f4\u63a5\u5b66\u4e60\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u3002\u672c\u8282\u5c06\u7efc\u8ff0\u5404\u7c7b\u65b9\u6cd5\u7684\u6838\u5fc3\u5047\u8bbe\u3001\u7f16\u7801\u673a\u5236\u548c\u7a7a\u95f4\u8f6c\u6362\u8bbe\u8ba1\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_6\">\u5355\u76ee\u76f8\u673a\uff08Monocular\uff09<\/h3>\n\n\n\n<p><strong>2D\u52303D\u65b9\u6cd5\uff082D-to-3D Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u5355\u76eeBEV\u611f\u77e5\u4e2d\u56fa\u6709\u7684\u6df1\u5ea6\u6a21\u7cca\u95ee\u9898\uff0c\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u4e24\u9636\u6bb5\u7b56\u7565\uff1a\u5148\u4ece\u900f\u89c6\u89c6\u89d2\u56fe\u50cf\u4e2d\u63d0\u53d62D\u7279\u5f81\uff0c\u518d\u901a\u8fc7\u6df1\u5ea6\u4f30\u8ba1\u5c06\u8fd9\u4e9b\u7279\u5f81\u63d0\u5347\u52303D\u7a7a\u95f4\uff0c\u4ece\u800c\u5b9e\u73b0\u5411BEV\u5e73\u9762\u7684\u51c6\u786e\u6295\u5f71\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u201c\u4f2a\u6fc0\u5149\u96f7\u8fbe\u201d\u65b9\u6cd5\uff08Pseudo-LiDAR Methods\uff09<\/strong>\uff1a\u8fd9\u7c7b\u65b9\u6cd5\u5c06\u5355\u76ee\u6216\u53cc\u76ee\u56fe\u50cf\u8f6c\u6362\u4e3a\u6df1\u5ea6\u56fe\uff0c\u518d\u5c06\u6df1\u5ea6\u56fe\u53cd\u5411\u6295\u5f71\u52303D\u7a7a\u95f4\uff0c\u4ee5\u6a21\u62df\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u3002\u4f8b\u5982\uff0cAM3D\u901a\u8fc7\u5c06\u5355\u76ee3D\u68c0\u6d4b\u6846\u67b6\u4e0e\u7279\u5f81\u878d\u5408\u76f8\u7ed3\u5408\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u68c0\u6d4b\u7cbe\u5ea6\uff1bSimonelli\u7b49\u4eba\u5219\u901a\u8fc7\u5f15\u51653D\u7f6e\u4fe1\u5ea6\u4f30\u8ba1\u6a21\u5757\uff0c\u589e\u5f3a\u4e86\u65b9\u6cd5\u7684\u53ef\u9760\u6027\u3002<br><\/li>\n\n\n\n<li><strong>\u6df1\u5ea6\u5206\u5e03\u65b9\u6cd5\uff08Depth Distribution Methods\uff09<\/strong>\uff1a\u8fd9\u7c7b\u65b9\u6cd5\u5c06\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u5efa\u6a21\u4e3a\u6982\u7387\u5206\u5e03\uff0c\u5e76\u76f4\u63a5\u5c06\u5176\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\u7a7a\u95f4\uff0c\u65e0\u9700\u663e\u5f0f\u6784\u5efa\u70b9\u4e91\u5373\u53ef\u5b9e\u73b0\u9ad8\u6548\u7684\u51e0\u4f55\u63a8\u7406\u3002\u4f8b\u5982\uff0cOFT\uff08\u6b63\u4ea4\u7279\u5f81\u53d8\u6362\uff09\u901a\u8fc7\u5c06\u56fe\u50cf\u7279\u5f81\u6b63\u4ea4\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\uff0c\u5e76\u6cbf\u9ad8\u5ea6\u8f74\u805a\u5408\u7279\u5f81\uff0c\u89e3\u51b3\u4e86\u900f\u89c6\u7578\u53d8\u95ee\u9898\uff1bCaDDN\uff08\u5206\u7c7b\u6df1\u5ea6\u5206\u5e03\u7f51\u7edc\uff09\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u901a\u8fc7\u9884\u6d4b\u5206\u7c7b\u6df1\u5ea6\u5206\u5e03\uff0c\u5e76\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u76d1\u7763\u7684\u6295\u5f71\u51e0\u4f55\uff0c\u589e\u5f3a\u4e86\u5355\u76ee\u8f93\u5165\u4e0b\u7684\u9e1f\u77b0\u56fe\u7279\u5f81\u8868\u793a\u3002<br><\/li>\n<\/ul>\n\n\n\n<p><strong>3D\u52302D\u65b9\u6cd5\uff083D-to-2D Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u4e0e\u4f9d\u8d56\u6df1\u5ea6\u4f30\u8ba1\u76842D\u52303D\u65b9\u6cd5\u4e0d\u540c\uff0c3D\u52302D\u65b9\u6cd5\u5229\u7528\u9884\u5b9a\u4e49\u76843D\u5148\u9a8c\u77e5\u8bc6\uff0c\u5f15\u5bfc\u56fe\u50cf\u5e73\u9762\u7279\u5f81\u5411\u9e1f\u77b0\u56fe\u7a7a\u95f4\u6295\u5f71\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8e\u9006\u900f\u89c6\u6620\u5c04\u7684\u65b9\u6cd5\uff08IPM-based Methods\uff09<\/strong>\uff1a\u8fd9\u7c7b\u65b9\u6cd5\u5229\u7528\u9006\u900f\u89c6\u6620\u5c04\uff08IPM\uff09\u6574\u5408\u51e0\u4f55\u5148\u9a8c\uff0c\u5b9e\u73b0\u4ece\u56fe\u50cf\u5e73\u9762\u5230\u9e1f\u77b0\u56fe\u57df\u7684\u7279\u5f81\u8f6c\u6362\u3002\u65e9\u671f\u7814\u7a76\u901a\u8fc7\u76f8\u673a\u6210\u50cf\u539f\u7406\uff0c\u89e3\u51b3\u4e86\u5355\u76ee\u8f93\u5165\u4e2d\u56fa\u6709\u7684\u6df1\u5ea6\u6a21\u7cca\u95ee\u9898\uff0c\u4ece\u800c\u5c06\u900f\u89c6\u89c6\u89d2\u7684\u5206\u5272\u7ed3\u679c\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\u7a7a\u95f4\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0cKim\u7b49\u4eba\u5c06\u6821\u6b63\u540e\u7684\u524d\u89c6\u56fe\u50cf\u4e0e\u9006\u900f\u89c6\u6620\u5c04\u76f8\u7ed3\u5408\uff0c\u5e76\u5229\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNNs\uff09\u76f4\u63a5\u5728\u9e1f\u77b0\u56fe\u7a7a\u95f4\u4e2d\u8fdb\u884c\u76ee\u6807\u68c0\u6d4b\uff0c\u4e3a\u9006\u900f\u89c6\u6620\u5c04\u5f15\u5bfc\u7684\u9e1f\u77b0\u56fe\u611f\u77e5\u5960\u5b9a\u4e86\u57fa\u7840\u6846\u67b6\u3002<br><\/li>\n\n\n\n<li><strong>\u57fa\u4e8e\u591a\u5c42\u611f\u77e5\u673a\u7684\u65b9\u6cd5\uff08MLP-based Methods\uff09<\/strong>\uff1a\u53e6\u4e00\u7c7b\u7814\u7a76\u65b9\u5411\u63a2\u7d22\u5229\u7528\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u67b6\u6784\uff0c\u4ee5\u6570\u636e\u9a71\u52a8\u7684\u65b9\u5f0f\u5b66\u4e60\u4ece\u900f\u89c6\u89c6\u89d2\u5230\u9e1f\u77b0\u56fe\u8868\u793a\u7684\u9690\u5f0f\u6620\u5c04\uff0c\u65e0\u9700\u663e\u5f0f\u6784\u5efa\u51e0\u4f55\u6a21\u578b\u3002\u4f8b\u5982\uff0cPYVA\u5f15\u5165\u5faa\u73afMLP\u6846\u67b6\u4ee5\u589e\u5f3a\u7a7a\u95f4\u4e00\u81f4\u6027\uff0c\u5e76\u7ed3\u5408\u57fa\u4e8eTransformer\u7684\u6a21\u5757\u5b9e\u73b0\u8de8\u89c6\u89d2\u5bf9\u9f50\uff1bBEV-LaneDet\uff08\u9e1f\u77b0\u56fe\u8f66\u9053\u68c0\u6d4b\u7f51\u7edc\uff09\u5219\u901a\u8fc7\u865a\u62df\u76f8\u673a\u8bbe\u8ba1\u548c\u57fa\u4e8e\u7279\u5f81\u91d1\u5b57\u5854\u7f51\u7edc\uff08FPN\uff09\u7684\u7279\u5f81\u805a\u5408\u7b56\u7565\uff0c\u8fdb\u4e00\u6b65\u6539\u8fdb\u4e86\u51e0\u4f55\u5f52\u4e00\u5316\u548c\u591a\u5c3a\u5ea6\u878d\u5408\u6548\u679c\u3002<br><\/li>\n\n\n\n<li><strong>\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\uff08Transformer-based Methods\uff09<\/strong>\uff1a\u8fd1\u5e74\u6765\u51fa\u73b0\u7684\u4e00\u79cd\u65b0\u8303\u5f0f\u662f\u5229\u7528Transformer\u67b6\u6784\uff0c\u901a\u8fc7\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u673a\u5236\u5b9e\u73b0\u89c6\u89d2\u8f6c\u6362\uff0c\u901a\u5e38\u4f1a\u7528\u5230\u9e1f\u77b0\u56fe\u67e5\u8be2\uff08BEV queries\uff09\u548c\u89e3\u7801\u5668\u6a21\u5757\u3002\u4f8b\u5982\uff0cPON\uff08\u6781\u7ebf\u7279\u5f81\u6295\u5f71\u7f51\u7edc\uff09\u7387\u5148\u5c06\u6781\u7ebf\u7279\u5f81\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\u4e2d\uff0c\u7528\u4e8e\u8bed\u4e49\u5206\u5272\uff1bSTSU\uff08\u7ed3\u6784\u5316\u67e5\u8be2Transformer\uff09\u901a\u8fc7\u5728\u7edf\u4e00Transformer\u4e2d\u5f15\u5165\u7ed3\u6784\u5316\u67e5\u8be2\uff0c\u5b9e\u73b0\u4e86\u9053\u8def\u62d3\u6251\u4f30\u8ba1\u4e0e\u76ee\u6807\u68c0\u6d4b\u7684\u8054\u5408\u4efb\u52a1\uff1b\u4e3a\u5b9e\u73b0\u7ec6\u7c92\u5ea6\u7a7a\u95f4\u63a8\u7406\uff0cTIIM\u5c06\u89c6\u89d2\u8f6c\u6362\u5efa\u6a21\u4e3a\u5e8f\u5217\u5230\u5e8f\u5217\u7684\u8fc7\u7a0b\uff0c\u5e76\u5f15\u5165\u53cc\u6ce8\u610f\u529b\u673a\u5236\uff1bPanopticBEV\uff08\u5168\u666f\u9e1f\u77b0\u56fe\u7f51\u7edc\uff09\u5229\u7528\u4e24\u4e2a\u4e13\u7528Transformer\u5206\u522b\u5904\u7406\u5782\u76f4\u533a\u57df\u548c\u5e73\u9762\u533a\u57df\u7684\u6295\u5f71\uff1bHFT\uff08\u6df7\u5408\u7279\u5f81\u53d8\u6362\uff09\u5219\u878d\u5408\u4e86\u201c\u76f8\u673a\u611f\u77e5\u201d\u548c\u201c\u76f8\u673a\u65e0\u5173\u201d\u4e24\u6761\u8def\u5f84\uff0c\u4ee5\u589e\u5f3a\u9e1f\u77b0\u56fe\u7279\u5f81\u8868\u793a\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_7\">\u591a\u76f8\u673a\uff08Multi-camera\uff09<\/h3>\n\n\n\n<p><strong>2D\u52303D\u65b9\u6cd5\uff082D-to-3D Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u5728\u591a\u76f8\u673a\u914d\u7f6e\u4e2d\uff0c2D\u52303D\u65b9\u6cd5\u7684\u539f\u7406\u4e0e\u5355\u76ee\u76f8\u673a\u7cfb\u7edf\u7c7b\u4f3c\uff0c\u4f46\u591a\u76f8\u673a\u7cfb\u7edf\u80fd\u63d0\u4f9b\u66f4\u4f18\u7684\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u548c\u66f4\u5bc6\u96c6\u7684\u573a\u666f\u91cd\u5efa\u6548\u679c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u201c\u4f2a\u6fc0\u5149\u96f7\u8fbe\u201d\u65b9\u6cd5\uff08Pseudo-LiDAR Methods\uff09<\/strong>\uff1a\u57fa\u4e8e\u53cc\u76ee\u89c6\u89c9\u7684\u65b9\u6cd5\u5229\u7528\u66f4\u5bc6\u96c6\u7684\u6df1\u5ea6\u7ebf\u7d22\u751f\u6210\u4f2a\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff0c\u76f8\u6bd4\u5355\u76ee\u4f30\u8ba1\u80fd\u63d0\u4f9b\u66f4\u7cbe\u7ec6\u7684\u7a7a\u95f4\u7ec6\u8282\u3002\u7136\u800c\uff0c\u53cc\u76ee\u89c6\u89c9\u7684\u89c6\u573a\u6709\u9650\uff0c\u9650\u5236\u4e86\u5168\u5c40\u611f\u77e5\u80fd\u529b\uff0c\u56e0\u6b64\u7814\u7a76\u4eba\u5458\u5f00\u53d1\u4e86\u201c\u8ddd\u79bb\u611f\u77e5\u589e\u5f3a\u201d\u6280\u672f\u3002\u4f8b\u5982\uff0cPseudo-LiDAR++\u901a\u8fc7\u6539\u8fdb\u53cc\u76ee\u6df1\u5ea6\u4f30\u8ba1\u4f18\u5316\u4e86\u65e9\u671f\u8bbe\u8ba1\uff1bE2E Pseudo-LiDAR\uff08\u7aef\u5230\u7aef\u4f2a\u6fc0\u5149\u96f7\u8fbe\uff09\u5f15\u5165\u53ef\u5fae\u5750\u6807\u53d8\u6362\uff0c\u652f\u6301\u7aef\u5230\u7aef\u8bad\u7ec3\uff1b\u540e\u7eed\u7814\u7a76\u8fd8\u901a\u8fc7\u5f15\u5165\u201c\u7f6e\u4fe1\u5ea6\u611f\u77e5\u6df1\u5ea6\u4f18\u5316\u201d\u548c\u201c\u9ad8\u6548\u53cc\u76ee\u5339\u914d\u201d\u6280\u672f\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u65b9\u6cd5\u7684\u7cbe\u5ea6\u548c\u8fd0\u884c\u6548\u7387\u3002<br><\/li>\n\n\n\n<li><strong>\u6df1\u5ea6\u5206\u5e03\u65b9\u6cd5\uff08Depth Distribution Methods\uff09<\/strong>\uff1a\u53e6\u4e00\u7c7b\u4e3b\u6d41\u7b56\u7565\u662f\u4f30\u8ba1\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u5206\u5e03\uff0c\u5e76\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u52303D\u7a7a\u95f4\u3002\u4f8b\u5982\uff0cLSS\uff08 Lift, Splat, Shoot\uff09\u901a\u8fc7\u4f30\u8ba1\u6982\u7387\u6df1\u5ea6\u5206\u5e03\uff0c\u5e76\u5229\u7528\u5916\u79ef\u8fd0\u7b97\u5c06\u56fe\u50cf\u7279\u5f81\u6295\u5f71\u52303D\u4f53\u7d20\u4e2d\uff0c\u751f\u6210\u7edf\u4e00\u7684\u9e1f\u77b0\u56fe\u7279\u5f81\u56fe\uff1b\u5728\u6b64\u8303\u5f0f\u57fa\u7840\u4e0a\uff0cBEVDet\u3001BEVDepth\u548cMatrixVT\u7b49\u65b9\u6cd5\u91c7\u7528LSS\u98ce\u683c\u7684\u89c6\u89d2\u8f6c\u6362\uff0c\u5e76\u901a\u8fc7\u67b6\u6784\u4f18\u5316\uff0c\u89e3\u51b3\u4e86\u539f\u59cb\u6846\u67b6\u5728\u7cbe\u5ea6\u3001\u6548\u7387\u548c\u53ef\u6269\u5c55\u6027\u65b9\u9762\u7684\u5c40\u9650\u6027\u3002<br><\/li>\n<\/ul>\n\n\n\n<p><strong>3D\u52302D\u65b9\u6cd5\uff083D-to-2D Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u5355\u76ee\u76f8\u673a\u573a\u666f\u4e2d3D\u52302D\u65b9\u6cd5\u7684\u6709\u6548\u6027\uff0c\u63a8\u52a8\u4e86\u5176\u5728\u591a\u76f8\u673a\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u2014\u2014\u591a\u76f8\u673a\u7684\u6807\u5b9a\u89c6\u56fe\u80fd\u589e\u5f3a\u7a7a\u95f4\u4e0a\u4e0b\u6587\u5efa\u6a21\uff0c\u51cf\u5c11\u906e\u6321\u5f71\u54cd\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u57fa\u4e8e\u591a\u5c42\u611f\u77e5\u673a\u7684\u65b9\u6cd5\uff08MLP-based Methods\uff09<\/strong>\uff1a\u8fd9\u7c7b\u65b9\u6cd5\u4e3a\u591a\u89c6\u89d2\u56fe\u50cf\u7279\u5f81\u5230\u9e1f\u77b0\u56fe\u57df\u7684\u6620\u5c04\u63d0\u4f9b\u4e86\u8f7b\u91cf\u4e14\u9ad8\u6548\u7684\u65b9\u6848\u3002\u4f8b\u5982\uff0cNEAT\uff08\u795e\u7ecf\u6ce8\u610f\u529b\u573a\u7f51\u7edc\uff09\u91c7\u7528\u57fa\u4e8eMLP\u7684\u9690\u5f0f\u89e3\u7801\u5668\u878d\u5408\u7279\u5f81\uff0c\u5b9e\u73b0\u9e1f\u77b0\u56fe\u5206\u5272\u4e0e\u8fd0\u52a8\u89c4\u5212\u7684\u8054\u5408\u4efb\u52a1\uff1bVPN\uff08\u89c6\u89c9\u5173\u7cfb\u7f51\u7edc\uff09\u5f15\u5165\u57fa\u4e8eMLP\u7684\u89c6\u89c9\u5173\u7cfb\u6a21\u5757\uff0c\u805a\u5408\u8de8\u89c6\u89d2\u7684\u591a\u5c3a\u5ea6\u4e0a\u4e0b\u6587\u7279\u5f81\uff1b\u4e3a\u63d0\u5347\u5bf9\u76f8\u673a\u6807\u5b9a\u566a\u58f0\u7684\u9c81\u68d2\u6027\uff0cSun\u7b49\u4eba\u63d0\u51fa\u53cc\u7a7a\u95f4\u4f4d\u7f6e\u7f16\u7801\u65b9\u6848\uff0c\u5e76\u7ed3\u5408MLP\u878d\u5408\uff0c\u5b9e\u73b0\u51c6\u786e\u7684\u9e1f\u77b0\u56fe\u5730\u56fe\u9884\u6d4b\u3002<br><\/li>\n\n\n\n<li><strong>\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\uff08Transformer-based Methods\uff09<\/strong>\uff1aTransformer\u901a\u8fc7\u9690\u5f0f\u6df1\u5ea6\u5efa\u6a21\u548c\u5168\u5c40\u7279\u5f81\u805a\u5408\uff0c\u5728\u591a\u76f8\u673a\u9e1f\u77b0\u56fe\u611f\u77e5\u4e2d\u5c55\u73b0\u51fa\u5de8\u5927\u6f5c\u529b\u3002\u4f8b\u5982\uff0cLaRa\uff08\u6fc0\u5149\u96f7\u8fbe\u8f85\u52a9\u9e1f\u77b0\u56fe\u7f51\u7edc\uff09\u6574\u5408\u51e0\u4f55\u611f\u77e5\u7684\u5c04\u7ebf\u5d4c\u5165\u548c\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u589e\u5f3a\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\uff1bPETR\uff08\u4f4d\u7f6e\u5d4c\u5165\u8f6c\u6362\u7f51\u7edc\uff09\u901a\u8fc7\u7aef\u5230\u7aef\u67b6\u6784\u6d88\u9664\u663e\u5f0f\u89c6\u89d2\u8f6c\u6362\uff0c\u89e3\u51b3\u4e86DETR3D\u7684\u6295\u5f71\u4f2a\u5f71\u95ee\u9898\uff1bPolarFormer\u3001PolarDETR\u548cEgo3RT\u5229\u7528\u6781\u5750\u6807\u5148\u9a8c\uff0c\u4e30\u5bcc\u9e1f\u77b0\u56fe\u7279\u5f81\u7f16\u7801\uff1bGraphDETR3D\u91c7\u7528\u52a8\u6001\u56fe\u673a\u5236\uff0c\u5c06\u76ee\u6807\u67e5\u8be2\u4e0e\u56fe\u50cf\u4e2d\u7684\u4fe1\u606f\u533a\u57df\u5173\u8054\uff0c\u7f13\u89e3\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\uff1bCoBEVT\uff08\u534f\u540c\u9e1f\u77b0\u56feTransformer\uff09\u5219\u901a\u8fc7\u534f\u540cTransformer\u8bbe\u8ba1\uff0c\u5b9e\u73b0\u9ad8\u6548\u7684\u591a\u89c6\u89d2\u9e1f\u77b0\u56fe\u5206\u5272\u3002<br><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_8\">\u7cbe\u5ea6-\u9c81\u68d2\u6027-\u5b89\u5168\u6027\u5206\u6790<\/h3>\n\n\n\n<p>\u7eaf\u76f8\u673a\u9e1f\u77b0\u56fe\u611f\u77e5\u7684\u6027\u80fd\u9ad8\u5ea6\u4f9d\u8d56\u8f93\u5165\u8d28\u91cf\u548c\u7b97\u6cd5\u7684\u6297\u5e72\u6270\u80fd\u529b\uff1a2D\u52303D\u65b9\u6cd5\u901a\u8fc7\u4f30\u8ba1\u6df1\u5ea6\u5e76\u5c06\u7279\u5f81\u63d0\u5347\u52303D\u7a7a\u95f4\uff0c\u63d0\u5347\u4e86\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u4f46\u5728\u4f4e\u5149\u7167\u3001\u906e\u6321\u6216\u6076\u52a3\u5929\u6c14\u7b49\u4e0d\u5229\u6761\u4ef6\u4e0b\uff0c\u5176\u53ef\u9760\u6027\u4f1a\u663e\u8457\u4e0b\u964d\uff1b3D\u52302D\u65b9\u6cd5\u901a\u8fc7\u5c06\u7ed3\u6784\u5148\u9a8c\u76f4\u63a5\u878d\u5165\u9e1f\u77b0\u56fe\u8868\u793a\uff0c\u907f\u5f00\u4e86\u663e\u5f0f\u6df1\u5ea6\u9884\u6d4b\u6b65\u9aa4\uff0c\u4f46\u53ef\u80fd\u4f1a\u635f\u5931\u51e0\u4f55\u4fdd\u771f\u5ea6\u3002\u56e0\u6b64\uff0c\u5728\u7eaf\u89c6\u89c9\u9e1f\u77b0\u56fe\u611f\u77e5\u7cfb\u7edf\u4e2d\uff0c\u5982\u4f55\u5e73\u8861\u201c\u51c6\u786e3D\u91cd\u5efa\u201d\u4e0e\u201c\u9ad8\u6548\u9e1f\u77b0\u56fe\u8868\u793a\u201d\uff0c\u4ecd\u662f\u4e00\u4e2a\u6838\u5fc3\u6311\u6218\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_9\">\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u9e1f\u77b0\u56fe\u611f\u77e5\uff08BEV LiDAR\uff09<\/h3>\n\n\n\n<p>\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u9e1f\u77b0\u56fe\u65b9\u6cd5\u4e3b\u8981\u901a\u8fc7\u7279\u5f81\u63d0\u53d6\u548c\u89c6\u89d2\u8f6c\u6362\u751f\u6210\u9e1f\u77b0\u56fe\u7279\u5f81\u56fe\uff0c\u8fdb\u800c\u5b9e\u73b0\u76ee\u6807\u68c0\u6d4b\uff08\u5982\u88681\u6240\u793a\uff09\u3002\u4e0e\u76f8\u673a\u76f8\u6bd4\uff0c\u6fc0\u5149\u96f7\u8fbe\u80fd\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u6df1\u5ea6\u7ebf\u7d22\uff0c\u4f46\u5b58\u5728\u70b9\u4e91\u6570\u636e\u7a00\u758f\u7684\u95ee\u9898\u3002\u6839\u636e\u201c\u7279\u5f81\u63d0\u53d6\u4e0e\u6295\u5f71\u7684\u5148\u540e\u987a\u5e8f\u201d\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u901a\u5e38\u5206\u4e3a\u4e24\u7c7b\uff1a<strong>Pre-BEV\u65b9\u6cd5<\/strong>\uff08\u6295\u5f71\u524d\u5148\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff09\u548c<strong>Post-BEV\u65b9\u6cd5<\/strong>\uff08\u6295\u5f71\u540e\u518d\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-5e3c8bdab367e6ecd3c962d45a4e99c5_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_10\">Pre-BEV\u65b9\u6cd5\uff08\u6295\u5f71\u524d\u7279\u5f81\u63d0\u53d6\uff09<\/h3>\n\n\n\n<p>Pre-BEV\u65b9\u6cd5\u901a\u5e38\u5206\u4e3a\u4f53\u7d20\u57fa\u65b9\u6cd5\uff08voxel-based\uff09\u548c\u70b9-\u4f53\u7d20\u6df7\u5408\u57fa\u65b9\u6cd5\uff08point-voxel-based\uff09\u3002\u5176\u4e2d\uff0c\u4f53\u7d20\u57fa\u65b9\u6cd5\u5c06\u70b9\u4e91\u79bb\u6563\u4e3a\u89c4\u5219\u7f51\u683c\uff0c\u4ee5\u5b9e\u73b0\u7ed3\u6784\u5316\u5904\u7406\uff1b\u70b9-\u4f53\u7d20\u6df7\u5408\u57fa\u65b9\u6cd5\u5219\u65e8\u5728\u7ed3\u5408\u70b9\u4e91\u57fa\u65b9\u6cd5\u7684\u51e0\u4f55\u7cbe\u5ea6\u548c\u4f53\u7d20\u57fa\u65b9\u6cd5\u7684\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u4e8e\u4f53\u7d20\u7684\u65b9\u6cd5\uff08Voxel-based Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u4f53\u7d20\u57fa\u65b9\u6cd5\u5c06\u4e0d\u89c4\u5219\u7684\u70b9\u4e91\u8f6c\u6362\u4e3a\u5bc6\u96c6\u7684\u4f53\u7d20\u7f51\u683c\uff0c\u4ee5\u4fbf\u8fdb\u884c3D\u5377\u79ef\u5904\u7406\u3002\u4f8b\u5982\uff0cSECOND\uff08\u7a00\u758f\u5377\u79ef\u76ee\u6807\u68c0\u6d4b\u7f51\u7edc\uff09\u5728VoxelNet\u7684\u57fa\u7840\u4e0a\u5f15\u5165\u7a00\u758f\u5377\u79ef\uff0c\u964d\u4f4e\u8ba1\u7b97\u5f00\u9500\uff1bVoxel R-CNN\u91c7\u7528\u4e24\u9636\u6bb5\u6846\u67b6\uff0c\u5728\u4fdd\u8bc1\u7cbe\u5ea6\u7684\u540c\u65f6\u964d\u4f4e\u6210\u672c\uff1bInfoFocus\u901a\u8fc7\u201c\u5bc6\u5ea6\u611f\u77e5\u589e\u5f3a\u201d\u6280\u672f\uff0c\u4f18\u5316\u4e86\u7a00\u758f\u6761\u4ef6\u4e0b\u7684\u7c97\u4f53\u7d20\u7279\u5f81\uff1bVoTr\uff08\u4f53\u7d20Transformer\uff09\u548cSST\uff08\u7a00\u758fTransformer\uff09\u7b49\u57fa\u4e8eTransformer\u7684\u53d8\u4f53\uff0c\u5219\u5c06\u6ce8\u610f\u529b\u673a\u5236\u4e0e\u7a00\u758f\u5377\u79ef\u7ed3\u5408\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u7279\u5f81\u63d0\u53d6\u80fd\u529b\u548c\u53ef\u6269\u5c55\u6027\u3002<\/p>\n\n\n\n<p><strong>\u70b9-\u4f53\u7d20\u6df7\u5408\u65b9\u6cd5\uff08Point-voxel-based Methods\uff09<\/strong><\/p>\n\n\n\n<p>\u8fd9\u7c7b\u65b9\u6cd5\u6574\u5408\u4e86\u70b9\u4e91\u57fa\u7279\u5f81\u548c\u4f53\u7d20\u57fa\u7279\u5f81\u7684\u4f18\u52bf\u3002\u4f8b\u5982\uff0cPV-RCNN\uff08\u70b9-\u4f53\u7d20R-CNN\uff09\u3001PVGNet\uff08\u70b9-\u4f53\u7d20\u56fe\u7f51\u7edc\uff09\u548cPV-RCNN++\u901a\u8fc7\u9ad8\u6548\u7684\u878d\u5408\u7b56\u7565\uff0c\u5b9e\u73b0\u4e86\u7cbe\u5ea6\u63d0\u5347\u3001\u6210\u672c\u964d\u4f4e\u548c\u63a8\u7406\u52a0\u901f\uff1bHVPR\uff08\u6df7\u5408\u4f53\u7d20\u70b9\u8868\u793a\u7f51\u7edc\uff09\u5f15\u5165\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u6a21\u5757\uff0c\u63d0\u53d6\u5c3a\u5ea6\u611f\u77e5\u8868\u793a\uff0c\u7f13\u89e3\u4e86\u70b9\u4e91\u56fa\u6709\u7684\u7a00\u758f\u6027\u548c\u4e0d\u89c4\u5219\u6027\u95ee\u9898\uff1bPyramid R-CNN\uff08\u91d1\u5b57\u5854R-CNN\uff09\u5219\u901a\u8fc7\u5f15\u5165\u611f\u5174\u8da3\u533a\u57df\uff08RoI\uff09\u7f51\u683c\u91d1\u5b57\u5854\u3001\u57fa\u4e8e\u7f51\u683c\u7684\u6ce8\u610f\u529b\u548c\u5bc6\u5ea6\u611f\u77e5\u534a\u5f84\u9884\u6d4b\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u89e3\u51b3\u4e86\u8fd9\u4e9b\u6311\u6218\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_11\">Post-BEV\u65b9\u6cd5\uff08\u6295\u5f71\u540e\u7279\u5f81\u63d0\u53d6\uff09<\/h3>\n\n\n\n<p>\u4f20\u7edf\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u6d41\u6c34\u7ebf\u901a\u5e38\u4f9d\u8d56\u4f53\u7d20\u57fa\u8868\u793a\uff0c\u5e76\u901a\u8fc73D\u5377\u79ef\u6216\u7a00\u758f3D\u5377\u79ef\u5904\u7406\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u8ba1\u7b97\u5f00\u9500\u5927\uff0c\u96be\u4ee5\u5728\u5b9e\u65f6\u5de5\u4e1a\u7cfb\u7edf\u4e2d\u90e8\u7f72\u3002Post-BEV\u65b9\u6cd5\u901a\u8fc7\u5c06\u7279\u5f81\u63d0\u53d6\u6b65\u9aa4\u8f6c\u79fb\u5230\u9e1f\u77b0\u56fe\u7a7a\u95f4\uff0c\u5b8c\u5168\u907f\u5f00\u4e863D\u5377\u79ef\uff0c\u4ece\u800c\u89e3\u51b3\u4e86\u8fd9\u4e00\u5c40\u9650\u6027\u3002<\/p>\n\n\n\n<p>\u65e9\u671f\u65b9\u6cd5\u5982RT3D\uff08\u5b9e\u65f63D\u68c0\u6d4b\u7f51\u7edc\uff09\u548cPIXOR\uff08\u50cf\u7d20\u7ea7\u76ee\u6807\u68c0\u6d4b\u7f51\u7edc\uff09\uff0c\u5c063D\u70b9\u4e91\u6295\u5f71\u52302D\u7f51\u683c\u6216\u7c7b\u56fe\u50cf\u8868\u793a\u4e2d\uff0c\u5b9e\u73b0\u9ad8\u6548\u76ee\u6807\u68c0\u6d4b\uff1b\u4e3a\u89e3\u51b3\u8ddd\u79bb\u548c\u5206\u8fa8\u7387\u53d8\u5316\u5bfc\u81f4\u7684\u7279\u5f81\u7578\u53d8\uff0cBirdNet\u63d0\u51fa\u5c3a\u5ea6\u4e0d\u53d8\u7f16\u7801\u65b9\u6848\uff1bPointPillars\uff08\u70b9\u67f1\u7f51\u7edc\uff09\u548cPillarNet\uff08\u67f1\u7f51\u7edc\uff09\u901a\u8fc7\u5bf9\u201c\u4f2a\u56fe\u50cf\u7279\u5f81\u201d\u5e94\u75282D\u5377\u79ef\uff0c\u589e\u5f3a\u9e1f\u77b0\u56fe\u8868\u793a\uff1bPolarNet\uff08\u6781\u5750\u6807\u7f51\u7edc\uff09\u5229\u7528\u6781\u5750\u6807\u7cfb\u5efa\u6a21\u5f84\u5411\u7a7a\u95f4\u4f9d\u8d56\u5173\u7cfb\uff1b\u8fd1\u5e74\u6765\u7684\u7814\u7a76\u5219\u91c7\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\uff08\u5982SalsaNet\u548cCenterFormer\uff09\uff0c\u63d0\u5347\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u68c0\u6d4b\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_12\">\u7cbe\u5ea6-\u9c81\u68d2\u6027-\u5b89\u5168\u6027\u5206\u6790<\/h3>\n\n\n\n<p>\u5728\u96e8\u3001\u96fe\u3001\u7070\u5c18\u7b49\u6076\u52a3\u5929\u6c14\u4e0b\uff0c\u7eaf\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u4f1a\u56e0\u4fe1\u53f7\u6563\u5c04\u548c\u5438\u6536\u800c\u6027\u80fd\u8870\u51cf\uff0c\u5bfc\u81f4\u566a\u58f0\u589e\u52a0\u3001\u63a2\u6d4b\u8ddd\u79bb\u7f29\u77ed\u548c\u70b9\u4e91\u8fd4\u56de\u4e0d\u5b8c\u6574\u3002\u8fd9\u4e9b\u95ee\u9898\u4f1a\u52a0\u5267\u70b9\u4e91\u7a00\u758f\u6027\u548c\u906e\u6321\u5f71\u54cd\uff0c\u589e\u52a0\u9057\u6f0f\u884c\u4eba\u3001\u5c0f\u578b\u969c\u788d\u7269\u7b49\u5173\u952e\u76ee\u6807\u7684\u98ce\u9669\u3002\u56e0\u6b64\uff0c\u8981\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u9700\u8981\u5f00\u53d1\u5bf9\u201c\u6570\u636e\u4e0d\u5b8c\u6574\u201d\u548c\u201c\u4f20\u611f\u5668\u6027\u80fd\u8870\u51cf\u201d\u5177\u6709\u9c81\u68d2\u6027\u7684\u7279\u5f81\u63d0\u53d6\u673a\u5236\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_13\">\u6311\u6218\u4e0e\u5c40\u9650\u6027\uff08Challenges and Limitations\uff09<\/h3>\n\n\n\n<p>\u57fa\u4e8e\u76f8\u673a\u6216\u6fc0\u5149\u96f7\u8fbe\u7684\u5355\u6a21\u6001\u9e1f\u77b0\u56fe\u611f\u77e5\uff0c\u80fd\u4ee5\u8f83\u4f4e\u6210\u672c\u5b9e\u73b0\u76ee\u6807\u68c0\u6d4b\u548c\u5730\u56fe\u6784\u5efa\uff0c\u4f46\u5728\u590d\u6742\u6761\u4ef6\u4e0b\u4ecd\u5b58\u5728\u660e\u663e\u4e0d\u8db3\uff1a\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u5728\u4f4e\u5149\u7167\u548c\u6076\u52a3\u5929\u6c14\u4e0b\u6027\u80fd\u4e0b\u964d\uff0c\u800c\u6fc0\u5149\u96f7\u8fbe\u867d\u80fd\u63d0\u4f9b\u51c6\u786e\u6df1\u5ea6\u4fe1\u606f\uff0c\u5374\u9762\u4e34\u70b9\u4e91\u7a00\u758f\u3001\u566a\u58f0\u5e72\u6270\u548c\u786c\u4ef6\u8106\u5f31\u6027\u95ee\u9898\uff0c\u5bb9\u6613\u9057\u6f0f\u8fdc\u8ddd\u79bb\u6216\u4f4e\u53cd\u5c04\u7387\u76ee\u6807\u3002\u6b64\u5916\uff0c\u900f\u89c6\u89c6\u89d2\u8f6c\u6362\u8fc7\u7a0b\u4f1a\u963b\u788d3D\u7ed3\u6784\u6062\u590d\uff0c\u5bfc\u81f4\u906e\u6321\u6216\u4e0d\u5e73\u5766\u5730\u5f62\u573a\u666f\u4e0b\u7684\u9ad8\u5ea6\u4f30\u8ba1\u548c\u7a7a\u95f4\u63a8\u7406\u80fd\u529b\u53d7\u9650\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u5c40\u9650\u6027\uff0c\u8fd1\u5e74\u6765\u7684\u7814\u7a76\u4e3b\u5f20\u91c7\u7528\u591a\u6a21\u6001\u878d\u5408\u6280\u672f\uff0c\u6574\u5408\u89c6\u89c9\u7ebf\u7d22\u4e0e\u6df1\u5ea6\u7ebf\u7d22\uff0c\u4ee5\u63d0\u5347\u611f\u77e5\u7cbe\u5ea6\u3001\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1951941490029885103_14\">\u4e09\u3001SafeBEV 2.0\uff1a\u57fa\u4e8e\u8f66\u8f86\u7684\u591a\u6a21\u6001\u9e1f\u77b0\u56fe\u611f\u77e5\u65b9\u6cd5<\/h2>\n\n\n\n<p>\u57fa\u4e8e\u8f66\u8f86\u7684\u591a\u6a21\u6001\u9e1f\u77b0\u56fe\u611f\u77e5\u901a\u8fc7\u6574\u5408\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u96f7\u8fbe\u7b49\u5f02\u6784\u4f20\u611f\u5668\u6570\u636e\uff0c\u7a81\u7834\u4e86\u5355\u6a21\u6001\u7cfb\u7edf\u7684\u5c40\u9650\u6027\uff0c\u63d0\u5347\u4e86\u906e\u6321\u548c\u6076\u52a3\u5929\u6c14\u4e0b\u7684\u611f\u77e5\u9c81\u68d2\u6027\uff0c\u4ece\u800c\u589e\u5f3a\u5bf9\u73af\u5883\u7684\u7406\u89e3\u80fd\u529b\u3002\u672c\u7ae0\u5c06\u591a\u6a21\u6001\u878d\u5408\u7b56\u7565\u5206\u4e3a\u4e94\u7c7b\uff1a\u76f8\u673a-\u96f7\u8fbe\u878d\u5408\u3001\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u3001\u96f7\u8fbe-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u3001\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe-\u96f7\u8fbe\u878d\u5408\u4ee5\u53ca\u65f6\u95f4\u878d\u5408\uff08\u5982\u88682\u6240\u793a\uff09\u3002\u6839\u636e\u878d\u5408\u9636\u6bb5\u7684\u4e0d\u540c\uff0c\u6bcf\u7c7b\u7b56\u7565\u53c8\u53ef\u8fdb\u4e00\u6b65\u5206\u4e3a<strong>\u5355\u9636\u6bb5\u878d\u5408\uff08SSF\uff09<\/strong> \u548c<strong>\u591a\u9636\u6bb5\u878d\u5408\uff08MSF\uff09<\/strong>\uff1a\u5355\u9636\u6bb5\u878d\u5408\u5728\u5355\u4e00\u8282\u70b9\u5b8c\u6210\u6570\u636e\u878d\u5408\uff0c\u6548\u7387\u9ad8\uff1b\u591a\u9636\u6bb5\u878d\u5408\u5219\u901a\u8fc7\u8fed\u4ee3\u5f0f\u8de8\u6a21\u6001\u4ea4\u4e92\uff0c\u5b9e\u73b0\u66f4\u4f18\u7684\u7279\u5f81\u5bf9\u9f50\u4e0e\u534f\u540c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-12305f7a6f7e1efe4eebbf9208ee806d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-09f6962647d2639b08359f5058b753a6_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_15\">\u76f8\u673a-\u96f7\u8fbe\u878d\u5408<\/h3>\n\n\n\n<p>\u76f8\u673a\u80fd\u63d0\u4f9b\u9ad8\u5206\u8fa8\u7387\u8bed\u4e49\u4fe1\u606f\uff0c\u9002\u7528\u4e8e\u76ee\u6807\u8bc6\u522b\uff0c\u4f46\u5728\u4f4e\u80fd\u89c1\u5ea6\u6761\u4ef6\u4e0b\u6027\u80fd\u8870\u51cf\uff1b\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5728\u6076\u52a3\u6761\u4ef6\u4e0b\u4ecd\u80fd\u5b9e\u73b0\u7a33\u5b9a\u6d4b\u8ddd\uff0c\u4f46\u7f3a\u4e4f\u8bed\u4e49\u7ec6\u8282\u3002\u4e8c\u8005\u878d\u5408\u53ef\u589e\u5f3a\u9c81\u68d2\u6027\u548c\u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u5176\u9e1f\u77b0\u56fe\u878d\u5408\u6d41\u6c34\u7ebf\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_16\">\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CRAFT\uff08\u76f8\u673a-\u96f7\u8fbe\u878d\u5408Transformer\uff09\uff1a\u5c06\u96f7\u8fbe\u56de\u6ce2\u4e0e\u56fe\u50cf\u68c0\u6d4b\u6846\u7ed3\u5408\uff0c\u4ee5\u6781\u4f4e\u7684\u8ba1\u7b97\u6210\u672c\u63d0\u5347\u68c0\u6d4b\u6027\u80fd\uff0c\u4f46\u5bf9\u96f7\u8fbe\u7279\u5f81\u7684\u5229\u7528\u4e0d\u591f\u5145\u5206\u3002<\/li>\n\n\n\n<li>CRN\uff08\u76f8\u673a-\u96f7\u8fbe\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5c06\u56fe\u50cf\u7279\u5f81\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\u4e2d\uff0c\u5e76\u4e0e\u96f7\u8fbe\u7279\u5f81\u62fc\u63a5\uff0c\u6539\u5584\u51e0\u4f55\u5bf9\u9f50\u6548\u679c\uff0c\u4f46\u6027\u80fd\u9ad8\u5ea6\u4f9d\u8d56\u6df1\u5ea6\u4f30\u8ba1\u7cbe\u5ea6\u3002<\/li>\n\n\n\n<li>RCFusion\uff08\u96f7\u8fbe-\u76f8\u673a\u7279\u5f81\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5229\u7528\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5c06\u57fa\u4e8e\u7279\u5f81\u91d1\u5b57\u5854\u7f51\u7edc\uff08FPN\uff09\u63d0\u53d6\u7684\u56fe\u50cf\u7279\u5f81\u4e0e\u96f7\u8fbe\u9e1f\u77b0\u56fe\u7279\u5f81\u5bf9\u9f50\uff0c\u4f46\u53ef\u80fd\u5b58\u5728\u89c6\u89d2\u9519\u4f4d\u95ee\u9898\u3002<\/li>\n\n\n\n<li>Redformer\uff08\u96f7\u8fbe\u589e\u5f3aTransformer\uff09\uff1a\u5728\u9e1f\u77b0\u56fe\u7a7a\u95f4\u4e2d\u5e94\u7528\u8de8\u6a21\u6001\u6ce8\u610f\u529b\uff0c\u63d0\u5347\u878d\u5408\u8d28\u91cf\uff0c\u4f46\u4f1a\u589e\u52a0\u6a21\u578b\u590d\u6742\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_17\">\u591a\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CRFNet\uff08\u76f8\u673a-\u96f7\u8fbe\u878d\u5408\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u65e9\u671f\u591a\u5c3a\u5ea6\u878d\u5408\u7b56\u7565\uff0c\u4f46\u8de8\u6a21\u6001\u7279\u5f81\u7684\u4e30\u5bcc\u5ea6\u4e0d\u8db3\u3002<\/li>\n\n\n\n<li>CenterFusion\uff08\u4e2d\u5fc3\u878d\u5408\u7f51\u7edc\uff09\uff1a\u4ee5\u56fe\u50cf\u68c0\u6d4b\u6846\u5f15\u5bfc\u96f7\u8fbe\u7279\u5f81\u63d0\u53d6\uff0c\u6548\u679c\u8f83\u597d\uff0c\u4f46\u5bf9\u56fe\u50cf\u7684\u4f9d\u8d56\u6027\u5f3a\u3002<\/li>\n\n\n\n<li>Rvnet\uff08\u96f7\u8fbe-\u89c6\u89c9\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u5e76\u884c\u5b50\u6a21\u5757\u4e0e\u4e2d\u95f4\u4ea4\u4e92\u5b9e\u73b0\u7279\u5f81\u878d\u5408\uff0c\u63d0\u5347\u7a7a\u95f4\u9884\u6d4b\u7cbe\u5ea6\uff0c\u4f46\u4f1a\u589e\u52a0\u5ef6\u8fdf\u3002<\/li>\n\n\n\n<li>Radiant\uff08\u96f7\u8fbe-\u56fe\u50cf\u5173\u8054\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u4f18\u5316\u6846\u504f\u79fb\u91cf\u5b9e\u73b0\u8de8\u6a21\u6001\u4e00\u81f4\u6027\uff0c\u4f46\u589e\u52a0\u4e86\u6a21\u578b\u590d\u6742\u5ea6\u3002<\/li>\n\n\n\n<li>BEVCar\uff08\u9e1f\u77b0\u56fe\u8f66\u8f86\u611f\u77e5\u7f51\u7edc\uff09\uff1a\u5229\u7528\u96f7\u8fbe\u5728\u9e1f\u77b0\u56fe\u4e2d\u5b9e\u73b0\u56fe\u50cf\u8865\u5168\uff0c\u4f46\u5b58\u5728\u8f6c\u6362\u8bef\u5dee\u3002<\/li>\n\n\n\n<li>RCBEV\uff08\u96f7\u8fbe-\u76f8\u673a\u9e1f\u77b0\u56fe\u7f51\u7edc\uff09\u548cSparseFusion3D\uff08\u7a00\u758f\u4f20\u611f\u5668\u878d\u54083D\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u8de8\u89c6\u89d2Transformer\u548c\u7a00\u758f\u8865\u5168\u6280\u672f\u589e\u5f3a3D\u68c0\u6d4b\u6027\u80fd\uff0c\u4f46\u4ee5\u727a\u7272\u6548\u7387\u4e3a\u4ee3\u4ef7\u3002<\/li>\n\n\n\n<li>LXL\uff08\u6fc0\u5149\u96f7\u8fbe\u6392\u9664\u578b\u8f7b\u91cf\u7ea73D\u68c0\u6d4b\u7f51\u7edc\uff09\uff1a\u5229\u7528\u96f7\u8fbe\u6539\u8fdb\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4f46\u5bf9\u566a\u58f0\u654f\u611f\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_18\">\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408<\/h3>\n\n\n\n<p>\u56fe\u50cf\u80fd\u63d0\u4f9b\u4e30\u5bcc\u7684\u7eb9\u7406\u4fe1\u606f\uff0c\u6fc0\u5149\u96f7\u8fbe\u53ef\u63d0\u4f9b\u7cbe\u786e\u7684\u7a7a\u95f4\u6570\u636e\uff0c\u4e8c\u8005\u6709\u6548\u878d\u5408\u53ef\u663e\u8457\u63d0\u5347\u611f\u77e5\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_19\">\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>BEVFusion\uff08\u9e1f\u77b0\u56fe\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5c06\u5206\u522b\u7f16\u7801\u7684\u56fe\u50cf\u7279\u5f81\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u6295\u5f71\u5230\u7edf\u4e00\u7684\u9e1f\u77b0\u56fe\u7a7a\u95f4\uff0c\u7b80\u5316\u6d41\u7a0b\uff0c\u4f46\u7f3a\u4e4f\u6df1\u5ea6\u7279\u5f81\u4ea4\u4e92\u3002<\/li>\n\n\n\n<li>BEVFusion-MIT\uff08MIT\u7248\u9e1f\u77b0\u56fe\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5f15\u5165\u8f7b\u91cf\u7ea7\u7f16\u7801\u5668\u548c\u538b\u7f29\u6280\u672f\uff0c\u964d\u4f4e\u590d\u6742\u5ea6\u548c\u5ef6\u8fdf\uff0c\u63d0\u5347\u90e8\u7f72\u6548\u7387\uff0c\u4f46\u7075\u6d3b\u6027\u6709\u6240\u4e0b\u964d\u3002<\/li>\n\n\n\n<li>UVTR\uff08\u7edf\u4e00\u89c6\u56feTransformer\uff09\uff1a\u5229\u7528Transformer\u7edf\u4e00\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u6027\u80fd\u4f18\u5f02\uff0c\u4f46\u5bf9\u6570\u636e\u89c4\u6a21\u548c\u53c2\u6570\u8c03\u4f18\u8f83\u4e3a\u654f\u611f\u3002<\/li>\n\n\n\n<li>FusionFormer\uff08\u878d\u5408Transformer\uff09\uff1a\u901a\u8fc7\u591a\u5c3a\u5ea6Transformer\u548c\u6a21\u6001\u6ce8\u610f\u529b\u63d0\u5347\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\uff0c\u4f46Transformer\u9aa8\u5e72\u7f51\u7edc\u4f1a\u589e\u52a0\u5ef6\u8fdf\u548c\u53c2\u6570\u91cf\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u603b\u4f53\u800c\u8a00\uff0c\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5\u9002\u7528\u4e8e\u5b9e\u65f6\u573a\u666f\uff0c\u4f46\u5728\u590d\u6742\u573a\u666f\u4e2d\u96be\u4ee5\u6355\u6349\u7ec6\u7c92\u5ea6\u7279\u5f81\u4ea4\u4e92\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_20\">\u591a\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>MV3D\uff08\u591a\u89c6\u56fe3D\u68c0\u6d4b\u7f51\u7edc\uff09\uff1a\u7387\u5148\u5b9e\u73b0\u8de8\u5c3a\u5ea6\u9e1f\u77b0\u56fe\u878d\u5408\uff0c\u4f46\u53d7\u65e9\u671f\u6280\u672f\u9650\u5236\uff0c\u6027\u80fd\u6709\u9650\u3002<\/li>\n\n\n\n<li>PointAugmenting\uff08\u70b9\u4e91\u589e\u5f3a\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u56fe\u50cf\u5f15\u5bfc\u6ce8\u610f\u529b\u4f18\u5316\u70b9\u4e91\u7279\u5f81\uff0c\u63d0\u5347\u7a00\u758f\u573a\u666f\u4e0b\u7684\u68c0\u6d4b\u6027\u80fd\uff0c\u4f46\u4f1a\u589e\u52a0\u8ba1\u7b97\u91cf\uff0c\u4e14\u5bf9\u56fe\u50cf\u7684\u4f9d\u8d56\u6027\u5f3a\u3002<\/li>\n\n\n\n<li>SDVTracker\uff08\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u8ddf\u8e2a\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u6df1\u5ea6\u878d\u5408\u5b9e\u73b0\u8ddf\u8e2a\u4efb\u52a1\u7684\u65f6\u7a7a\u4e00\u81f4\u6027\uff0c\u4f46\u53d7\u6570\u636e\u89c4\u6a21\u548c\u6548\u7387\u9650\u5236\u3002<\/li>\n\n\n\n<li>TransFusion\uff08Transformer\u878d\u5408\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u57fa\u4e8eTransformer\u7684\u878d\u5408\u7b56\u7565\uff0c\u63d0\u5347\u5c0f\u578b\u76ee\u6807\u68c0\u6d4b\u7cbe\u5ea6\uff0c\u4f46\u6210\u672c\u8f83\u9ad8\u3002<\/li>\n\n\n\n<li>AutoAlign\uff08\u81ea\u52a8\u5bf9\u9f50\u7f51\u7edc\uff09\u548cAutoAlignV2\uff08\u81ea\u52a8\u5bf9\u9f50\u7f51\u7edcV2\uff09\uff1a\u901a\u8fc7\u5b66\u4e60\u5bf9\u9f50\u53c2\u6570\uff0c\u89e3\u51b3\u7a7a\u95f4\/\u8bed\u4e49\u9519\u4f4d\u95ee\u9898\uff0c\u63d0\u5347\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n\n\n\n<li>BEVFusion4D\uff084D\u9e1f\u77b0\u56fe\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5f15\u5165\u65f6\u7a7a\u878d\u5408\u5b9e\u73b04D\u611f\u77e5\uff0c\u4f46\u5bf9\u8d44\u6e90\u9700\u6c42\u8f83\u9ad8\u3002<\/li>\n\n\n\n<li>Fast-CLOCs\uff08\u5feb\u901f\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u76ee\u6807\u5019\u9009\u878d\u5408\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u7ea7\u8054\u878d\u5408\u5e73\u8861\u901f\u5ea6\u4e0e\u7cbe\u5ea6\uff0c\u9002\u7528\u4e8e\u5b9e\u65f6\u573a\u666f\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_21\">\u96f7\u8fbe-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408<\/h3>\n\n\n\n<p>\u6fc0\u5149\u96f7\u8fbe\u80fd\u63d0\u4f9b\u9ad8\u7cbe\u5ea63D\u51e0\u4f55\u4fe1\u606f\uff0c\u662f\u5b9a\u4f4d\u548c\u5730\u56fe\u6784\u5efa\u7684\u5173\u952e\uff0c\u4f46\u5728\u6076\u52a3\u5929\u6c14\u3001\u4f4e\u5149\u7167\u548c\u8fdc\u8ddd\u79bb\u573a\u666f\u4e0b\u6027\u80fd\u8870\u51cf\uff1b\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5728\u8fd9\u4e9b\u573a\u666f\u4e0b\u4ecd\u80fd\u4fdd\u6301\u9c81\u68d2\u6027\uff0c\u5e76\u53ef\u63d0\u4f9b\u53ef\u9760\u7684\u901f\u5ea6\u6d4b\u91cf\uff0c\u662f\u6fc0\u5149\u96f7\u8fbe\u7684\u7406\u60f3\u8865\u5145\u3002\u4e8c\u8005\u878d\u5408\u53ef\u5b9e\u73b0\u66f4\u5177\u97e7\u6027\u7684\u5168\u65b9\u4f4d\u611f\u77e5\uff0c\u5982\u56fe4\u6240\u793a\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_22\">\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<p>RadarNet\uff08\u96f7\u8fbe\u7f51\u7edc\uff09\uff1a\u5728\u4f53\u7d20\u7ea7\u5bf9\u96f7\u8fbe\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u8fdb\u884c\u65e9\u671f\u878d\u5408\uff0c\u63d0\u5347\u8fdc\u8ddd\u79bb\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\uff1b\u540c\u65f6\u901a\u8fc7\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u665a\u671f\u878d\u5408\u6539\u8fdb\u201c\u96f7\u8fbe-\u76ee\u6807\u5173\u8054\u201d\uff0c\u4e14\u65e0\u9700\u4f9d\u8d56\u5bc6\u96c6\u6807\u6ce8\u3002\u4f46\u8be5\u65b9\u6cd5\u7684\u6027\u80fd\u5bf9\u4f53\u7d20\u5206\u8fa8\u7387\u548c\u573a\u666f\u53d8\u5316\u8f83\u4e3a\u654f\u611f\uff0c\u4e14\u6613\u53d7\u96f7\u8fbe\u566a\u58f0\u5f71\u54cd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_23\">\u591a\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<p>InterFusion\uff08\u4ea4\u4e92\u878d\u5408\u7f51\u7edc\uff09\uff1a\u63d0\u51fa\u8f7b\u91cf\u7ea7\u67b6\u6784\uff0c\u901a\u8fc7\u89d2\u5ea6\u8865\u507f\u548c\u8de8\u6a21\u6001\u5339\u914d\u5b9e\u73b0\u96f7\u8fbe\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u6e10\u8fdb\u5f0f\u5bf9\u9f50\uff0c\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u548c\u878d\u5408\u4f2a\u5f71\u3002\u4f46\u8be5\u65b9\u6cd5\u7684\u6548\u679c\u4f9d\u8d56\u9884\u5904\u7406\u8d28\u91cf\uff0c\u4e14\u7f3a\u4e4f\u8bed\u4e49\u7ea7\u7279\u5f81\u5efa\u6a21\uff0c\u5728\u590d\u6742\u573a\u666f\u4e0b\u9c81\u68d2\u6027\u6709\u9650\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_24\">\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe-\u96f7\u8fbe\u878d\u5408<\/h3>\n\n\n\n<p>\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u6574\u5408\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u96f7\u8fbe\u7684\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\uff0c\u5df2\u6210\u4e3a\u63d0\u5347\u611f\u77e5\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u7684\u5fc5\u8981\u624b\u6bb5\u3002\u4e09\u79cd\u6a21\u6001\u5404\u6709\u4f18\u52bf\u4e0e\u5c40\u9650\uff0c\u56e0\u6b64\u8bbe\u8ba1\u5408\u7406\u7684\u878d\u5408\u7b56\u7565\uff0c\u5bf9\u5b9e\u73b0\u590d\u6742\u52a8\u6001\u73af\u5883\u4e0b\u7684\u53ef\u9760\u611f\u77e5\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_25\">\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>HydraFusion\uff08 Hydra\u878d\u5408\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u52a8\u6001\u878d\u5408\u7b56\u7565\uff0c\u6839\u636e\u9a7e\u9a76\u573a\u666f\u81ea\u9002\u5e94\u9009\u62e9\u65e9\u671f\u3001\u4e2d\u671f\u6216\u665a\u671f\u878d\u5408\uff0c\u63d0\u5347\u590d\u6742\u6761\u4ef6\u4e0b\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u5bf9\u573a\u666f\u7406\u89e3\u7684\u51c6\u786e\u6027\u8981\u6c42\u9ad8\uff0c\u589e\u52a0\u4e86\u7cfb\u7edf\u590d\u6742\u5ea6\u3002<\/li>\n\n\n\n<li>FUTR3D\uff08\u672a\u67653D\u68c0\u6d4b\u7f51\u7edc\uff09\uff1a\u5f15\u5165\u5e26\u6709\u201c\u6a21\u6001\u65e0\u5173\u91c7\u6837\u5668\u201d\u7684Transformer\uff0c\u5b9e\u73b0\u8de8\u5f02\u6784\u4f20\u611f\u5668\u7684\u7aef\u5230\u7aef3D\u68c0\u6d4b\uff0c\u7075\u6d3b\u6027\u5f3a\uff0c\u4f46\u8ba1\u7b97\u6210\u672c\u9ad8\uff0c\u5728\u6570\u636e\u7a00\u758f\u6216\u6076\u52a3\u73af\u5883\u4e0b\u5b9e\u65f6\u6027\u4e0b\u964d\u3002<\/li>\n\n\n\n<li>BEVGuide\uff08\u9e1f\u77b0\u56fe\u5f15\u5bfc\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u201c\u4f4d\u7f6e\u611f\u77e5\u3001\u4f20\u611f\u5668\u65e0\u5173\u201d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5728\u9e1f\u77b0\u56fe\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u878d\u5408\uff0c\u65e0\u9700\u7a7a\u95f4\u626d\u66f2\uff0c\u6548\u7387\u8f83\u9ad8\u3002\u4f46\u56fa\u5b9a\u7684\u9e1f\u77b0\u56fe\u5206\u533a\u65b9\u5f0f\u53ef\u80fd\u5bfc\u81f4\u5c40\u90e8\u4fe1\u606f\u4e22\u5931\uff0c\u5f71\u54cd\u8868\u793a\u8d28\u91cf\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_26\">\u591a\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CLR-BNN\uff08\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe-\u96f7\u8fbe\u8d1d\u53f6\u65af\u795e\u7ecf\u7f51\u7edc\uff09\uff1a\u5229\u7528\u8d1d\u53f6\u65af\u795e\u7ecf\u7f51\u7edc\u6574\u5408\u4e09\u79cd\u6a21\u6001\u7279\u5f81\uff0c\u63d0\u5347\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u548c\u53d8\u6761\u4ef6\u4e0b\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u8ba1\u7b97\u6210\u672c\u589e\u52a0\uff0c\u5b9e\u65f6\u6027\u4e0b\u964d\u3002<\/li>\n\n\n\n<li>Hidden Gems\uff08\u9690\u85cf\u7279\u5f81\u6316\u6398\u7f51\u7edc\uff09\uff1a\u63d0\u51fa\u591a\u9636\u6bb5\u8de8\u6a21\u6001\u76d1\u7763\u6846\u67b6\uff0c\u5229\u7528\u6df1\u5ea6\u548c\u6d41\u573a\u4e00\u81f4\u6027\u5f15\u5bfc\u96f7\u8fbe\u8868\u793a\u5b66\u4e60\uff08\u57fa\u4e8e\u96f7\u8fbe\u573a\u666f\u6d41\u8303\u5f0f\uff09\u3002\u8be5\u65b9\u6cd5\u867d\u80fd\u6539\u8fdb\u8bed\u4e49\u548c\u8fd0\u52a8\u5efa\u6a21\uff08\u5c24\u5176\u5bf9\u8fdc\u8ddd\u79bb\u6216\u5c0f\u578b\u76ee\u6807\uff09\uff0c\u4f46\u589e\u52a0\u4e86\u8bad\u7ec3\u590d\u6742\u5ea6\uff0c\u4e14\u9700\u8981\u9ad8\u8d28\u91cf\u8de8\u6a21\u6001\u76d1\u7763\u6570\u636e\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_27\">\u65f6\u5e8f\u878d\u5408<\/h3>\n\n\n\n<p>\u65f6\u95f4\u878d\u5408\u901a\u8fc7\u6574\u5408\u591a\u5e27\u65f6\u7a7a\u7279\u5f81\uff0c\u589e\u5f3a\u52a8\u6001\u573a\u666f\u7406\u89e3\u548c\u76ee\u6807\u68c0\u6d4b\u80fd\u529b\u3002\u6839\u636e\u878d\u5408\u9636\u6bb5\uff0c\u53ef\u5206\u4e3a\u5355\u9636\u6bb5\u878d\u5408\uff08\u6548\u7387\u9ad8\u4f46\u65f6\u95f4\u6df1\u5ea6\u6709\u9650\uff09\u548c\u591a\u9636\u6bb5\u878d\u5408\uff08\u65f6\u95f4\u5efa\u6a21\u66f4\u4f18\u4f46\u8ba1\u7b97\u6210\u672c\u9ad8\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_28\">\u5355\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u8fd9\u7c7b\u65b9\u6cd5\u5728\u7edf\u4e00\u6b65\u9aa4\u4e2d\u878d\u5408\u591a\u5e27\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u901a\u5e38\u5229\u7528\u6ce8\u610f\u529b\u673a\u5236\u63d0\u5347\u6548\u7387\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>MotionNet\uff08\u8fd0\u52a8\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u65f6\u7a7a\u91d1\u5b57\u5854\u4ece\u591a\u5e27\u70b9\u4e91\u4e2d\u63d0\u53d6\u4e0a\u4e0b\u6587\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>FIERY\uff08\u672a\u6765\u5b9e\u4f8b\u9884\u6d4b\u7f51\u7edc\uff09\uff1a\u901a\u8fc73D\u878d\u5408\u805a\u5408\u8fde\u7eed\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u5b9e\u73b0\u672a\u6765\u9884\u6d4b\u3002<\/li>\n\n\n\n<li>BEVerse\uff08\u9e1f\u77b0\u56fe\u5168\u573a\u666f\u7f51\u7edc\uff09\uff1a\u5728\u878d\u5408\u524d\u5bf9\u9f50\u5386\u53f2\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u89e3\u51b3\u81ea\u8f66\u8fd0\u52a8\u5e72\u6270\u95ee\u9898\u3002<\/li>\n\n\n\n<li>BEVDet4D\uff084D\u9e1f\u77b0\u56fe\u68c0\u6d4b\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u8de8\u5e27\u878d\u5408\u6539\u8fdb\u901f\u5ea6\u4f30\u8ba1\u3002<\/li>\n\n\n\n<li>StreamPETR\uff08\u6d41\u5f0fPETR\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u57fa\u4e8e\u67e5\u8be2\u7684\u65f6\u95f4\u4f20\u64ad\u7b56\u7565\u3002<\/li>\n\n\n\n<li>BEVENet\uff08\u9e1f\u77b0\u56fe\u9ad8\u6548\u7f51\u7edc\uff09\uff1a\u8bbe\u8ba1\u4e13\u7528\u6a21\u5757\u5b9e\u73b0\u65f6\u95f4\u611f\u77e5\u8868\u793a\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_29\">\u591a\u9636\u6bb5\u878d\u5408\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u8fd9\u7c7b\u65b9\u6cd5\u901a\u8fc7\u8de8\u5e27\u6216\u8de8\u5c3a\u5ea6\u805a\u5408\u65f6\u95f4\u7279\u5f81\uff0c\u63d0\u5347\u7279\u5f81\u5173\u8054\u6548\u679c\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>STA-ST\uff08\u65f6\u7a7a\u6ce8\u610f\u529b-\u7a7a\u95f4\u53d8\u6362\u7f51\u7edc\uff09\uff1a\u91c7\u7528\u591a\u5c3a\u5ea6\u878d\u5408\u589e\u5f3a\u52a8\u6001\u573a\u666f\u7406\u89e3\u3002<\/li>\n\n\n\n<li>ST-P3\uff08\u65f6\u7a7aP3\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u53cc\u8def\u5f84\u8bbe\u8ba1\u5efa\u6a21\u8fc7\u53bb\u548c\u672a\u6765\u72b6\u6001\u3002<\/li>\n\n\n\n<li>SOLOFusion\uff08\u5355\u9636\u6bb5\u76ee\u6807\u5b9a\u4f4d\u878d\u5408\u7f51\u7edc\uff09\uff1a\u5bf9\u9f50\u5e76\u8fed\u4ee3\u878d\u5408\u9e1f\u77b0\u56fe\u7279\u5f81\uff0c\u4fdd\u8bc1\u5e27\u95f4\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n<li>Fast-BEV\uff08\u5feb\u901f\u9e1f\u77b0\u56fe\u7f51\u7edc\uff09\uff1a\u5229\u7528\u5feb\u901f\u5c04\u7ebf\u53d8\u6362\u5c06\u7279\u5f81\u9ad8\u6548\u6295\u5f71\u5230\u591a\u5c3a\u5ea6\u9e1f\u77b0\u56fe\u3002<\/li>\n\n\n\n<li>BEVFormer\uff08\u9e1f\u77b0\u56feTransformer\uff09\uff1a\u5f15\u5165\u57fa\u4e8e\u67e5\u8be2\u7684\u6846\u67b6\uff0c\u5b9e\u73b0\u7075\u6d3b\u7279\u5f81\u4ea4\u4e92\u3002<\/li>\n\n\n\n<li>PETRv2\uff08PETR\u7f51\u7edcV2\uff09\u548cUniFusion\uff08\u7edf\u4e00\u878d\u5408\u7f51\u7edc\uff09\uff1a\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u6574\u5408\u81ea\u8f66\u8fd0\u52a8\u548c\u76ee\u6807\u8fd0\u52a8\u3002<\/li>\n\n\n\n<li>DfM\uff08\u52a8\u6001\u7279\u5f81\u5339\u914d\u7f51\u7edc\uff09\u548cDORT\uff08\u5faa\u73af\u52a8\u6001\u76ee\u6807\u5efa\u6a21\u7f51\u7edc\uff09\uff1a\u5206\u522b\u901a\u8fc7\u5e27\u95f4\u5339\u914d\u548c\u5faa\u73af\u878d\u5408\u8fdb\u4e00\u6b65\u4f18\u5316\u7279\u5f81\u8868\u793a\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_30\">\u6311\u6218\u4e0e\u5c40\u9650\u6027<\/h3>\n\n\n\n<p>\u591a\u6a21\u6001\u878d\u5408\u901a\u8fc7\u5229\u7528\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\u548c\u96f7\u8fbe\u7684\u4e92\u8865\u4f18\u52bf\uff0c\u7f13\u89e3\u4e86\u201c\u5149\u7167\u654f\u611f\u201d\u201c\u70b9\u4e91\u7a00\u758f\u201d\u7b49\u5355\u6a21\u6001\u5c40\u9650\uff0c\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u7684\u5b89\u5168\u6027\u548c\u9c81\u68d2\u6027\uff0c\u4f46\u4ecd\u9762\u4e34\u5173\u952e\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6807\u5b9a\u4e0e\u540c\u6b65<\/strong>\uff1a\u5f02\u6784\u4f20\u611f\u5668\u7684\u5206\u8fa8\u7387\u548c\u566a\u58f0\u7279\u6027\u5dee\u5f02\u5927\uff0c\u9700\u7cbe\u786e\u6807\u5b9a\u548c\u65f6\u95f4\u540c\u6b65\uff0c\u5426\u5219\u4f1a\u5bfc\u81f4\u4e0b\u6e38\u4efb\u52a1\u6027\u80fd\u8870\u51cf\u3002<\/li>\n\n\n\n<li><strong>\u73af\u5883\u5e72\u6270<\/strong>\uff1a\u6076\u52a3\u5929\u6c14\u3001\u906e\u6321\u548c\u80fd\u89c1\u5ea6\u4e0d\u4e00\u81f4\u4f1a\u8fdb\u4e00\u6b65\u5f71\u54cd\u4f20\u611f\u5668\u53ef\u9760\u6027\uff0c\u589e\u52a0\u878d\u5408\u96be\u5ea6\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u65f6\u6027\u7ea6\u675f<\/strong>\uff1a\u8ba1\u7b97\u8d44\u6e90\u9650\u5236\u4e86\u5b9e\u65f6\u63a8\u7406\u80fd\u529b\uff0c\u9700\u5728\u7cbe\u5ea6\u4e0e\u6548\u7387\u95f4\u6743\u8861\u3002<\/li>\n\n\n\n<li><strong>\u89c6\u91ce\u5c40\u9650<\/strong>\uff1a\u8f66\u8f7d\u878d\u5408\u7cfb\u7edf\u7684\u89c6\u91ce\u6709\u9650\uff0c\u96be\u4ee5\u68c0\u6d4b\u906e\u6321\u6216\u7a00\u6709\u76ee\u6807\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u901a\u8fc7\u8f66\u8054\u7f51\uff08V2X\uff09\u5b9e\u73b0\u7684\u534f\u540c\u611f\u77e5\uff0c\u53ef\u901a\u8fc7\u8f66\u8f86\u4e0e\u57fa\u7840\u8bbe\u65bd\u95f4\u7684\u6570\u636e\u5171\u4eab\u6269\u5c55\u611f\u77e5\u8303\u56f4\uff0c\u63d0\u5347\u573a\u666f\u611f\u77e5\u80fd\u529b\uff0c\u4ece\u800c\u7f13\u89e3\u4e0a\u8ff0\u95ee\u9898\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1951941490029885103_31\">\u56db\u3001SafeBEV 3.0\uff1a\u57fa\u4e8e\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u7684BEV\u611f\u77e5\u65b9\u6cd5<\/h2>\n\n\n\n<p>\u968f\u7740SafeBEV\u4ece1.0\u9636\u6bb5\u6f14\u8fdb\u81f32.0\u9636\u6bb5\uff0c\u8f66\u8f7dBEV\u611f\u77e5\u7684\u9c81\u68d2\u6027\u5df2\u5f97\u5230\u63d0\u5347\uff0c\u4f46\u4ecd\u53d7\u9650\u4e8e\u906e\u6321\u3001\u611f\u77e5\u8303\u56f4\u6709\u9650\u53ca\u4f20\u611f\u5668\u5e03\u5c40\u7b49\u95ee\u9898\u3002SafeBEV 3.0\u5c06\u8fd9\u4e00\u8303\u5f0f\u8fdb\u4e00\u6b65\u63a8\u8fdb\u81f3\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u5c42\u9762\uff0c\u501f\u52a9\u8def\u4fa7\u57fa\u7840\u8bbe\u65bd\u4e0e\u8f66\u8f66\u901a\u4fe1\uff0c\u63d0\u5347\u7a7a\u95f4\u8986\u76d6\u8303\u56f4\u4e0e\u7cfb\u7edf\u5197\u4f59\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-020630254840604fcf15203d3d0618c3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_32\">\u8def\u4fa7BEV\u611f\u77e5\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u8def\u4fa7BEV\u611f\u77e5\u5229\u7528\u56fa\u5b9a\u5728\u9ad8\u5904\u7684\u4f20\u611f\u5668\uff08\u5982\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\uff09\uff0c\u5b9e\u65f6\u68c0\u6d4b\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u7c7b\u522b\u3001\u4f4d\u7f6e\u3001\u901f\u5ea6\u53ca\u671d\u5411\u3002\u4e0e\u8f66\u8f7d\u4f20\u611f\u5668\u76f8\u6bd4\uff0c\u8def\u4fa7\u8bbe\u5907\u5177\u6709\u66f4\u5f3a\u7684\u6297\u906e\u6321\u80fd\u529b\uff0c\u4e14\u80fd\u63d0\u4f9b\u66f4\u5e7f\u9614\u3001\u66f4\u7a33\u5b9a\u7684\u611f\u77e5\u8986\u76d6\u8303\u56f4\uff08\u5982\u56fe6\u6240\u793a\uff09\u3002\u672c\u8282\u5c06\u4ee3\u8868\u6027\u8def\u4fa7BEV\u65b9\u6cd5\u6309\u6a21\u6001\u7c7b\u578b\u5206\u4e3a\u4e09\u7c7b\u2014\u2014BEV\u76f8\u673a\u3001BEV\u6fc0\u5149\u96f7\u8fbe\u4e0eBEV\u878d\u5408\uff0c\u5e76\u5728\u88683\u4e2d\u6309\u4f20\u611f\u5668\u7c7b\u578b\u3001\u4efb\u52a1\u53ca\u4ee3\u7801\u53ef\u7528\u6027\u5bf9\u8fd9\u4e9b\u65b9\u6cd5\u8fdb\u884c\u6c47\u603b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-cf01911acc4938854824c52ce3d18bcd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-2f8fcb5c5d9767af09db81b9d080a209_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1951941490029885103_33\">BEV\u76f8\u673a<\/h3>\n\n\n\n<p>\u4e3a\u6269\u5927\u611f\u77e5\u8303\u56f4\u5e76\u786e\u4fdd\u9c81\u68d2\u6027\u4e0e\u51c6\u786e\u6027\uff0c\u57fa\u4e8e\u76f8\u673a\u7684\u8def\u4fa7BEV\u65b9\u6848\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u8fd9\u7c7b\u65b9\u6cd5\u53d7\u76ca\u4e8e\u76f8\u673a\u6280\u672f\u7684\u6210\u719f\u6027\u4e0e\u6210\u672c\u6548\u76ca\uff0c\u4e14\u8def\u4fa7\u8bbe\u5907\u7684\u56fa\u5b9a\u5b89\u88c5\u65b9\u5f0f\u53ef\u6700\u5927\u9650\u5ea6\u51cf\u5c11\u52a8\u6001\u6807\u5b9a\u8bef\u5dee\u3002\u901a\u8fc7\u5229\u7528\u8def\u4fa7\u57fa\u7840\u8bbe\u65bd\u91c7\u96c6\u7684\u89c6\u89c9\u6570\u636e\uff0c\u6b64\u7c7b\u7cfb\u7edf\u901a\u5e38\u901a\u8fc7\u201c\u56fe\u50cf\u7f16\u7801\u20142D\u52303D\u6295\u5f71\u2014\u57fa\u4e8e\u4f53\u7d20\u7684\u7a7a\u95f4\u63a8\u7406\u201d\u8fd9\u4e00\u6d41\u7a0b\uff0c\u5b9e\u73b0\u76ee\u6807\u68c0\u6d4b\u4e0e\u8f66\u9053\u7ebf\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p>\u4f20\u7edf\u57fa\u4e8e\u6df1\u5ea6\u7684BEV\u65b9\u6cd5\u5e38\u9762\u4e342D\u52303D\u6620\u5c04\u4e0d\u51c6\u786e\u7684\u95ee\u9898\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0cBEVHeight\u5229\u7528\u8def\u4fa7\u76f8\u673a\u7684\u5b89\u88c5\u9ad8\u5ea6\u9884\u6d4b\u6bcf\u4e2a\u50cf\u7d20\u7684\u9ad8\u7a0b\u4fe1\u606f\uff0c\u4ece\u800c\u63d0\u5347\u68c0\u6d4b\u9c81\u68d2\u6027\uff1bBEVHeight++\u8fdb\u4e00\u6b65\u878d\u5408\u6df1\u5ea6\u4e0e\u9ad8\u5ea6\u4fe1\u606f\uff0c\u589e\u5f3a\u51e0\u4f55\u53ef\u9760\u6027\u3002CoBEV\u5219\u5411\u7aef\u5230\u7aefBEV\u68c0\u6d4b\u65b9\u5411\u53d1\u5c55\uff0c\u5728\u8fdc\u8ddd\u79bb\u573a\u666f\u3001\u76f8\u673a\u566a\u58f0\u53ca\u573a\u666f\u53c2\u6570\u53d8\u5316\u4e0b\u4ecd\u80fd\u4fdd\u6301\u9c81\u68d2\u6027\u3002BEVSpread\u63d0\u51fa\u4e00\u79cd\u6539\u8fdb\u7684\u4f53\u7d20\u6c60\u5316\u673a\u5236\uff0c\u901a\u8fc7\u89e3\u51b3\u8fd1\u4f3c\u504f\u5dee\u51cf\u5c11\u5b9a\u4f4d\u8bef\u5dee\u3002\u9488\u5bf9\u591a\u76f8\u673a\u7cfb\u7edf\uff0cCBR\u63d0\u51fa\u65e0\u6807\u5b9aBEV\u8868\u5f81\u6846\u67b6\uff0c\u4ee5\u5e94\u5bf9\u5b89\u88c5\u5dee\u5f02\u4e0e\u6807\u5b9a\u566a\u58f0\uff1bRopeBEV\u5219\u8fdb\u4e00\u6b65\u89e3\u51b3\u591a\u89c6\u56fe\u878d\u5408\u4e2d\u7684\u7a00\u758f\u611f\u77e5\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u7cbe\u5ea6\u2014\u9c81\u68d2\u6027\u2014\u5b89\u5168\u6027\u5206\u6790<\/strong>\uff1a\u57fa\u4e8e\u76f8\u673a\u7684\u8def\u4fa7\u611f\u77e5\u7f13\u89e3\u4e86\u8f66\u8f7d\u7cfb\u7edf\u7684\u5173\u952e\u5c40\u9650\u6027\uff08\u5982\u906e\u6321\u3001\u89c6\u91ce\u72ed\u7a84\uff09\uff0c\u901a\u8fc7\u6269\u5927\u53ef\u89c2\u6d4b\u533a\u57df\u3001\u51cf\u5c11\u89c6\u91ce\u76f2\u533a\uff0c\u540c\u65f6\u63d0\u5347\u5b89\u5168\u6027\u4e0e\u611f\u77e5\u5197\u4f59\u5ea6\u3002\u7136\u800c\uff0c\u7eaf\u89c6\u89c9\u65b9\u6cd5\u6613\u53d7\u73af\u5883\u56e0\u7d20\u5f71\u54cd\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\uff0c\u4e14\u7f3a\u4e4f\u4e3b\u52a8\u611f\u77e5\u80fd\u529b\uff0c\u8fd9\u9650\u5236\u4e86\u5176\u9002\u5e94\u6027\u4e0e\u6d4b\u8ddd\u7cbe\u5ea6\u3002\u56e0\u6b64\uff0c\u5728\u5b89\u5168\u5173\u952e\u573a\u666f\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u901a\u5e38\u88ab\u89c6\u4e3a\u786e\u4fdd\u53ef\u9760\u6027\u7684\u5fc5\u8981\u8865\u5145\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" 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class=\"wp-block-heading\" id=\"h_1951941490029885103_55\">\u5c40\u9650\u6027\u4e0e\u672a\u6765\u5de5\u4f5c<\/h3>\n\n\n\n<p>\u5c3d\u7ba1\u4ece\u5355\u6a21\u6001\u7cfb\u7edf\u53d1\u5c55\u5230\u591a\u667a\u80fd\u4f53\u534f\u4f5c\uff0c\u5f53\u524dBEV\u6570\u636e\u96c6\u4ecd\u9762\u4e34\u5173\u952e\u5c40\u9650\uff1a\u5b89\u5168\u5173\u952e\u573a\u666f\uff08\u5982\u7a00\u6709\u4e8b\u6545\u3001\u906e\u6321\u3001\u8fb9\u7f18\u6848\u4f8b\uff09\u7684\u8868\u5f81\u4e0d\u8db3\uff0c\u9650\u5236\u4e86\u771f\u5b9e\u4e16\u754c\u9c81\u68d2\u6027\u7684\u8bc4\u4f30\uff1b\u65f6\u95f4\u4e0d\u8fde\u7eed\u6027\u4e0e\u4f20\u611f\u5668\u9000\u5316\u5efa\u6a21\u4e0d\u8db3\uff0c\u963b\u788d\u4e86\u9884\u6d4b\u80fd\u529b\u4e0e\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684\u7814\u53d1\uff1b\u5c3d\u7ba1SafeBEV 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