{"id":34931,"date":"2025-11-21T17:32:07","date_gmt":"2025-11-21T09:32:07","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34931"},"modified":"2025-11-21T17:32:07","modified_gmt":"2025-11-21T09:32:07","slug":"2025-11-24-aaai-2026-oral-%e4%b8%9c%e5%8d%97%e5%a4%a7%e5%ad%a6%e7%ad%89%e6%8f%90%e5%87%bacomptrack%ef%bc%9a%e5%ae%9e%e6%97%b690-fps%ef%bc%8c%e4%bf%a1%e6%81%af%e7%93%b6%e9%a2%88%e5%bc%95%e5%af%bc","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/21\/34931\/","title":{"rendered":"2025-11-24 AAAI 2026 Oral | \u4e1c\u5357\u5927\u5b66\u7b49\u63d0\u51faCompTrack\uff1a\u5b9e\u65f690 FPS\uff0c\u4fe1\u606f\u74f6\u9888\u5f15\u5bfc\u7684\u70b9\u4e91\u8ddf\u8e2a\u65b0\u6846\u67b6"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1974806711706605368\">https:\/\/zhuanlan.zhihu.com\/p\/1974806711706605368<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-5e5c93eca6b13d68006ee972cd7ac5ef_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>: <a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=CompTrack&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">CompTrack<\/a><\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>: Information Bottleneck-Guided Low-Rank Dynamic Token Compression for Point Cloud Tracking<br><\/li>\n\n\n\n<li><strong>\u4f5c\u8005<\/strong>: Sifan Zhou, Yichao Cao, Jiahao Nie, Yuqian Fu, Ziyu Zhao, Xiaobo Lu, Shuo Wang<br><\/li>\n\n\n\n<li><strong>\u673a\u6784<\/strong>: \u4e1c\u5357\u5927\u5b66\u3001\u4e2d\u5357\u5927\u5b66\u3001\u6d59\u6c5f\u8d22\u7ecf\u5927\u5b66\u3001INSAIT, Sofia University\u3001\u660e\u7565\u79d1\u6280\u3001\u6089\u5c3c\u5927\u5b66<br><\/li>\n\n\n\n<li><strong>\u8bba\u6587\u5730\u5740<\/strong>: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2511.15580\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2511.15580<\/a><br><\/li>\n\n\n\n<li><strong>\u5f55\u7528\u4fe1\u606f<\/strong>: Accepted by AAAI 2026 (Oral)<br><\/li>\n<\/ul>\n\n\n\n<p>\u5927\u5bb6\u597d\uff0c\u4eca\u5929\u60f3\u548c\u5927\u5bb6\u804a\u4e00\u7bc7\u6765\u81ea\u4e1c\u5357\u5927\u5b66\u3001\u4e2d\u5357\u5927\u5b66\u7b49\u673a\u6784\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\uff0c\u4e00\u7bc7\u5173\u4e8e3D\u70b9\u4e91\u5355\u76ee\u6807\u8ddf\u8e2a\uff08Single Object Tracking, SOT\uff09\u7684\u8bba\u6587\uff0c\u5df2\u88ab\u4eba\u5de5\u667a\u80fd\u9876\u7ea7\u4f1a\u8baeAAAI 2026\u63a5\u6536\u4e3aOral\u8bba\u6587\u3002<\/p>\n\n\n\n<p>\u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u7684\u65b0\u6846\u67b6\u540d\u4e3a<strong>CompTrack<\/strong>\uff0c\u4e00\u4e2a\u975e\u5e38\u5de7\u5999\u7684\u540d\u5b57\uff0c\u662f\u201cCompression for Tracking\u201d\u7684\u7f29\u5199\uff0c\u610f\u6307\u901a\u8fc7\u538b\u7f29\u6765\u8f85\u52a9\u8ffd\u8e2a\u3002\u5b83\u76f4\u9762\u4e86\u5f53\u524dLiDAR\u70b9\u4e91\u8ffd\u8e2a\u4efb\u52a1\u4e2d\u7684\u4e00\u4e2a\u6838\u5fc3\u75db\u70b9\uff1a\u6570\u636e\u5197\u4f59\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u662f<strong>\u53cc\u91cd\u5197\u4f59\uff08dual-redundancy\uff09<\/strong>\u3002\u8fd9\u9879\u5de5\u4f5c\u4e0d\u4ec5\u5728\u7406\u8bba\u4e0a\u63d0\u51fa\u4e86\u65b0\u9896\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u66f4\u5728\u5b9e\u9a8c\u4e2d\u53d6\u5f97\u4e86\u975e\u5e38\u4eae\u773c\u7684\u6210\u679c\uff0c\u5728\u5355\u4e2aRTX 3090 GPU\u4e0a\u5b9e\u73b0\u4e86\u9ad8\u8fbe<strong>90 FPS<\/strong>\u7684\u5b9e\u65f6\u8ffd\u8e2a\u901f\u5ea6\uff0c\u6027\u80fd\u548c\u6548\u7387\u53cc\u53cc\u5728\u7ebf\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1974806711706605368_0\">\u7814\u7a76\u80cc\u666f\uff1a\u70b9\u4e91\u8ffd\u8e2a\u7684\u201c\u53cc\u91cd\u5197\u4f59\u201d\u56f0\u5883<\/h2>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u673a\u5668\u4eba\u9886\u57df\uff0c\u57fa\u4e8eLiDAR\u70b9\u4e91\u76843D\u5355\u76ee\u6807\u8ddf\u8e2a\u662f\u4e2a\u5173\u952e\u6280\u672f\u3002\u7b80\u5355\u8bf4\uff0c\u5c31\u662f\u8981\u5728\u8fde\u7eed\u7684\u70b9\u4e91\u5e8f\u5217\u4e2d\uff0c\u6301\u7eed\u9501\u5b9a\u5e76\u8ffd\u8e2a\u540c\u4e00\u4e2a\u7269\u4f53\u3002\u5c3d\u7ba1\u8fd1\u4e9b\u5e74\u8fd9\u4e2a\u9886\u57df\u53d1\u5c55\u5f88\u5feb\uff0c\u4f46\u70b9\u4e91\u6570\u636e\u672c\u8eab\u56fa\u6709\u7684\u7a00\u758f\u6027\uff0c\u7ed9\u7cbe\u51c6\u3001\u9ad8\u6548\u7684\u8ffd\u8e2a\u5e26\u6765\u4e86\u4e0d\u5c0f\u7684\u9ebb\u70e6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-333416ab6afffc797aff21752d63cfad_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4f5c\u8005\u4e00\u9488\u89c1\u8840\u5730\u6307\u51fa\u4e86\u95ee\u9898\u7684\u6838\u5fc3\uff0c\u5373\u201c\u53cc\u91cd\u5197\u4f59\u201d\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7a7a\u95f4\u5197\u4f59 (Spatial Redundancy)<\/strong> \uff1a\u60f3\u8c61\u4e00\u4e0b\uff0c\u5728\u5e7f\u9614\u7684\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u8981\u8ffd\u8e2a\u4e00\u8f86\u8f66\u3002\u7edd\u5927\u90e8\u5206\u70b9\u4e91\u6570\u636e\u5176\u5b9e\u90fd\u5c5e\u4e8e\u80cc\u666f\uff08\u5982\u5730\u9762\u3001\u6811\u6728\u3001\u5efa\u7b51\u7269\uff09\uff0c\u771f\u6b63\u5c5e\u4e8e\u8f66\u8f86\u7684\u70b9\u53ea\u5360\u4e00\u5c0f\u90e8\u5206\u3002\u8fd9\u4e9b\u6d77\u91cf\u7684\u80cc\u666f\u70b9\u5c31\u50cf\u566a\u97f3\uff0c\u4e0d\u4ec5\u5e72\u6270\u4e86\u5bf9\u76ee\u6807\u7684\u51c6\u786e\u8bc6\u522b\uff0c\u8fd8\u767d\u767d\u6d88\u8017\u4e86\u5927\u91cf\u7684\u8ba1\u7b97\u8d44\u6e90\u3002<br><\/li>\n\n\n\n<li><strong>\u4fe1\u606f\u5197\u4f59 (Informational Redundancy)<\/strong> \uff1a\u5373\u4fbf\u6211\u4eec\u628a\u524d\u666f\u7269\u4f53\uff08\u6bd4\u5982\u90a3\u8f86\u8f66\uff09\u5355\u72ec\u62ce\u51fa\u6765\uff0c\u5b83\u8eab\u4e0a\u7684\u70b9\u4e5f\u4e0d\u662f\u4e2a\u4e2a\u90fd\u6709\u7528\u3002\u8f66\u95e8\u3001\u8f66\u9876\u8fd9\u79cd\u5927\u5e73\u9762\u4e0a\u7684\u70b9\uff0c\u5b83\u4eec\u7684\u5c40\u90e8\u51e0\u4f55\u7279\u5f81\u975e\u5e38\u76f8\u4f3c\uff0c\u5f88\u96be\u63d0\u4f9b\u7cbe\u786e\u7684\u5b9a\u4f4d\u7ebf\u7d22\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u8f66\u706f\u3001\u8fb9\u89d2\u8fd9\u4e9b\u7ed3\u6784\u53d8\u5316\u4e30\u5bcc\u7684\u5730\u65b9\uff0c\u624d\u662f\u5b9a\u4f4d\u7684\u5173\u952e\u3002\u8fd9\u5c31\u597d\u6bd4\u6211\u4eec\u73a9\u201c\u627e\u4e0d\u540c\u201d\uff0c\u80af\u5b9a\u4f1a\u76ef\u7740\u7279\u5f81\u660e\u663e\u7684\u5730\u65b9\u770b\u3002\u73b0\u6709\u65b9\u6cd5\u5f80\u5f80\u5ffd\u7565\u4e86\u524d\u666f\u70b9\u4e91\u5185\u90e8\u7684\u8fd9\u79cd\u4fe1\u606f\u5197\u4f59\uff0c\u5bfc\u81f4\u6548\u7387\u53d7\u9650\u3002<br><\/li>\n<\/ol>\n\n\n\n<p>\u5982\u4f55\u540c\u65f6\u89e3\u51b3\u8fd9\u4e24\u79cd\u5197\u4f59\uff0c\u6b63\u662fCompTrack\u8bd5\u56fe\u653b\u514b\u7684\u96be\u9898\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1974806711706605368_1\">CompTrack\uff1a\u4e24\u6b65\u8d70\uff0c\u4f18\u96c5\u5730\u89e3\u51b3\u5197\u4f59<\/h2>\n\n\n\n<p>\u4e3a\u4e86\u7cfb\u7edf\u6027\u5730\u6d88\u9664\u8fd9\u4e24\u79cd\u5197\u4f59\uff0cCompTrack\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5305\u542b\u4e24\u4e2a\u6838\u5fc3\u6a21\u5757\u7684\u7aef\u5230\u7aef\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-d5b0370d657f929d41f0eac4a2e7c6f7_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1974806711706605368_2\">\u7b2c\u4e00\u6b65\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=%E7%A9%BA%E9%97%B4%E5%89%8D%E6%99%AF%E9%A2%84%E6%B5%8B%E5%99%A8&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u7a7a\u95f4\u524d\u666f\u9884\u6d4b\u5668<\/a><\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1974806711706605368_2\">\uff08SFP\uff09\uff0c\u8fc7\u6ee4\u80cc\u666f\u566a\u58f0<\/h3>\n\n\n\n<p>\u9996\u5148\u767b\u573a\u7684\u662f<strong>\u7a7a\u95f4\u524d\u666f\u9884\u6d4b\u5668 (Spatial Foreground Predictor, SFP)<\/strong> \uff0c\u5b83\u7684\u4efb\u52a1\u662f\u5904\u7406\u201c\u7a7a\u95f4\u5197\u4f59\u201d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-ed49d7b49ddf0ba2b1870392638101c3_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>SFP\u662f\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7684CNN\u6a21\u5757\uff0c\u8f93\u5165\u662f\u6a21\u677f\u548c\u641c\u7d22\u533a\u57df\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u3002\u5b83\u4f1a\u5b66\u4e60\u9884\u6d4b\u4e00\u4e2a\u7a7a\u95f4\u91cd\u8981\u6027\u70ed\u529b\u56fe\uff0c\u7ed9\u6bcf\u4e2a\u4f4d\u7f6e\u6253\u5206\u3002\u5206\u6570\u9ad8\u7684\u5730\u65b9\uff0c\u610f\u5473\u7740\u53ef\u80fd\u662f\u76ee\u6807\u6240\u5728\u533a\u57df\uff1b\u5206\u6570\u4f4e\u7684\u5730\u65b9\uff0c\u5219\u53ef\u80fd\u662f\u65e0\u5173\u80cc\u666f\u3002\u901a\u8fc7\u5c06\u8fd9\u4e2a\u70ed\u529b\u56fe\u4e0e\u539f\u59cb\u7684\u641c\u7d22\u7279\u5f81\u76f8\u4e58\uff0cSFP\u80fd\u591f\u52a8\u6001\u5730\u589e\u5f3a\u4e0e\u76ee\u6807\u76f8\u5173\u7684\u7279\u5f81\uff0c\u540c\u65f6\u6291\u5236\u80cc\u666f\u566a\u58f0\u3002<\/p>\n\n\n\n<p>\u6709\u8da3\u7684\u662f\uff0c\u4f5c\u8005\u4ece\u4fe1\u606f\u71b5\u7684\u89d2\u5ea6\u4e3aSFP\u7684\u6709\u6548\u6027\u63d0\u4f9b\u4e86\u7406\u8bba\u652f\u6491\u3002\u4ed6\u4eec\u6307\u51fa\uff0c\u5728\u7a00\u758f\u7684\u70b9\u4e91\u9e1f\u77b0\u56fe\u4e2d\uff0c\u5927\u90e8\u5206\u533a\u57df\u662f\u7a7a\u7684\u6216\u5c5e\u4e8e\u80cc\u666f\uff0c\u8fd9\u4e9b\u533a\u57df\u7684\u4fe1\u606f\u71b5\u8d21\u732e\u6781\u5c0f\u3002\u56e0\u6b64\uff0c\u8fc7\u6ee4\u6389\u8fd9\u4e9b\u70b9\u5728\u7406\u8bba\u4e0a\u662f\u201c\u4fe1\u606f\u65e0\u635f\u201d\u7684\uff0c\u8fd8\u80fd\u4e3a\u540e\u7eed\u5904\u7406\u63d0\u4f9b\u66f4\u201c\u7eaf\u51c0\u201d\u7684\u7279\u5f81\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1974806711706605368_3\">\u7b2c\u4e8c\u6b65\uff1a<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=%E4%BF%A1%E6%81%AF%E7%93%B6%E9%A2%88&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u4fe1\u606f\u74f6\u9888<\/a><\/h3>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1974806711706605368_3\">\u5f15\u5bfc\u7684\u52a8\u6001\u4ee4\u724c\u538b\u7f29\uff08IB-DTC\uff09\uff0c\u7cbe\u70bc\u524d\u666f\u4fe1\u606f<\/h3>\n\n\n\n<p>\u89e3\u51b3\u4e86\u80cc\u666f\u566a\u58f0\uff0c\u63a5\u4e0b\u6765\u5c31\u662f\u5904\u7406\u524d\u666f\u5185\u90e8\u7684\u201c\u4fe1\u606f\u5197\u4f59\u201d\u3002\u8fd9\u662fCompTrack\u7684\u7cbe\u9ad3\u6240\u5728\uff0c\u7531<strong>\u4fe1\u606f\u74f6\u9888\u5f15\u5bfc\u7684\u52a8\u6001\u4ee4\u724c\u538b\u7f29 (Information Bottleneck-guided Dynamic Token Compression, IB-DTC)<\/strong> \u6a21\u5757\u5b8c\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-8d61f36cbb9aa3cd3209e329bf079490_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8fd9\u4e2a\u6a21\u5757\u7684\u76ee\u6807\uff0c\u662f\u5c06\u6570\u91cf\u4f17\u591a\u4f46\u4fe1\u606f\u5197\u4f59\u7684\u524d\u666f\u7279\u5f81\u4ee4\u724c\uff08tokens\uff09\uff0c\u538b\u7f29\u6210\u4e00\u5c0f\u7ec4\u7d27\u51d1\u4e14\u4fe1\u606f\u91cf\u9ad8\u5ea6\u6d53\u7f29\u7684\u201c\u4ee3\u7406\u4ee4\u724c\u201d\uff08proxy tokens\uff09\uff0c\u540c\u65f6\u4fdd\u7559\u5bf9\u8ffd\u8e2a\u4efb\u52a1\u6700\u5173\u952e\u7684\u5224\u522b\u6027\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u5de7\u5999\u5730\u878d\u5408\u4e86\u4fe1\u606f\u74f6\u9888\uff08Information Bottleneck, IB\uff09\u539f\u7406\u548c\u4f4e\u79e9\u8fd1\u4f3c\uff08Low-Rank Approximation\uff09\u7406\u8bba\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7406\u8bba\u4f9d\u636e<\/strong>\uff1a\u4fe1\u606f\u74f6\u9888\u539f\u7406\u544a\u8bc9\u6211\u4eec\uff0c\u4e00\u4e2a\u597d\u7684\u538b\u7f29\u8868\u793a\uff0c\u5e94\u8be5\u5728\u5c3d\u53ef\u80fd\u538b\u7f29\u8f93\u5165\u4fe1\u606f\u7684\u540c\u65f6\uff0c\u6700\u5927\u5316\u4fdd\u7559\u4e0e\u9884\u6d4b\u76ee\u6807\u76f8\u5173\u7684\u4fe1\u606f\u3002\u4f5c\u8005\u6307\u51fa\uff0c\u524d\u666f\u7279\u5f81\u77e9\u9635\u7684\u4fe1\u606f\u5197\u4f59\uff0c\u5728\u6570\u5b66\u4e0a\u5bf9\u5e94\u5176\u7279\u5f81\u7a7a\u95f4\u7684\u201c\u4f4e\u6709\u6548\u79e9\u201d\u7279\u6027\u3002\u6839\u636eEckart-Young\u5b9a\u7406\uff0c\u5bf9\u4e00\u4e2a\u77e9\u9635\u8fdb\u884c\u5947\u5f02\u503c\u5206\u89e3\uff08Singular Value Decomposition, SVD\uff09\u5e76\u4fdd\u7559\u5176\u6700\u5927\u7684K\u4e2a\u5947\u5f02\u503c\uff0c\u662f\u8be5\u77e9\u9635\u7684\u6700\u4f73K\u79e9\u8fd1\u4f3c\u3002\u7531\u4e8e\u524d\u666f\u7279\u5f81\u7684\u5947\u5f02\u503c\u4f1a\u5feb\u901f\u8870\u51cf\uff0c\u6240\u4ee5\u7528\u5c11\u6570\u51e0\u4e2a\u4e3b\u6210\u5206\u5c31\u80fd\u5f88\u597d\u5730\u8fd1\u4f3c\u539f\u59cb\u7279\u5f81\uff0c\u4ece\u800c\u5b9e\u73b0\u4fe1\u606f\u8fd1\u4e4e\u65e0\u635f\u7684\u538b\u7f29\u3002<br><\/li>\n\n\n\n<li><strong>\u5b9e\u73b0\u65b9\u5f0f<\/strong>\uff1a\u76f4\u63a5\u5728\u795e\u7ecf\u7f51\u7edc\u4e2d\u7528SVD\u662f\u4e0d\u53ef\u5bfc\u7684\u3002\u56e0\u6b64\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u79cdSVD\u5f15\u5bfc\u7684\u52a8\u6001\u538b\u7f29\u673a\u5236\uff1a<br><\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9C%A8%E7%BA%BF%E7%A7%A9%E4%BC%B0%E8%AE%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5728\u7ebf\u79e9\u4f30\u8ba1<\/a><\/strong><\/li>\n<\/ol>\n\n\n\n<p><strong>(Online Rank Estimation)<\/strong> \uff1a\u5bf9\u6bcf\u4e2a\u8f93\u5165\u6837\u672c\uff0c\u6a21\u5757\u4f1a\u5148\u8fdb\u884c\u4e00\u6b21\u5feb\u901f\u7684\u3001\u4e0d\u53c2\u4e0e\u53cd\u5411\u4f20\u64ad\u7684SVD\uff0c\u5206\u6790\u5176\u5947\u5f02\u503c\u80fd\u91cf\u5206\u5e03\uff0c\u4ece\u800c\u52a8\u6001\u5730\u786e\u5b9a\u5f53\u524d\u6837\u672c\u7684\u201c\u6709\u6548\u79e9\u201dK\u3002\u8fd9\u4e2aK\u51b3\u5b9a\u4e86\u9700\u8981\u591a\u5c11\u4ee3\u7406\u4ee4\u724c\u6765\u8868\u793a\u5f53\u524d\u7684\u524d\u666f\u3002<br><strong>\u52a8\u6001\u67e5\u8be2\u5b66\u4e60 (Dynamic Query Learning)<\/strong> \uff1a\u6a21\u5757\u7ef4\u62a4\u4e00\u4e2a\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\u6c60\u3002\u6839\u636e\u4e0a\u4e00\u6b65\u8ba1\u7b97\u51fa\u7684K\uff0c\u52a8\u6001\u9009\u62e9\u524dK\u4e2a\u67e5\u8be2\uff0c\u5e76\u7ed3\u5408SVD\u8ba1\u7b97\u51fa\u7684\u6700\u4f18\u57fa\u5411\u91cf\uff0c\u751f\u6210\u6700\u7ec8\u7684\u201c\u6fc0\u6d3b\u67e5\u8be2\u201d\uff08active queries\uff09\u3002<br><strong><a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=%E5%BC%95%E5%AF%BC%E4%BA%A4%E5%8F%89%E6%B3%A8%E6%84%8F%E5%8A%9B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5f15\u5bfc\u4ea4\u53c9\u6ce8\u610f\u529b<\/a><\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>(Guided Cross-Attention)<\/strong> \uff1a\u6700\u540e\uff0c\u5229\u7528\u8fd9\u4e9b\u6fc0\u6d3b\u67e5\u8be2\u548c\u539f\u59cb\u7684\u524d\u666f\u4ee4\u724c\u8fdb\u884c\u4ea4\u53c9\u6ce8\u610f\u529b\u8ba1\u7b97\uff0c\u751f\u6210\u6700\u7ec8\u7684\u3001\u538b\u7f29\u540e\u7684\u4ee3\u7406\u4ee4\u724c\u5e8f\u5217\u3002<br><\/li>\n<\/ol>\n\n\n\n<p>\u8fd9\u4e2a\u6df7\u5408\u65b9\u6cd5\u975e\u5e38\u806a\u660e\uff0c\u5b83\u5229\u7528SVD\u7684\u7406\u8bba\u6700\u4f18\u6027\u6765\u6307\u5bfc\u538b\u7f29\u6bd4\u4f8b\uff0c\u540c\u65f6\u53c8\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\u548c\u6ce8\u610f\u529b\u673a\u5236\u6765\u4fdd\u8bc1\u7aef\u5230\u7aef\u8bad\u7ec3\u7684\u53ef\u884c\u6027\uff0c\u8ba9\u6a21\u578b\u80fd\u81ea\u9002\u5e94\u5730\u4e3a\u4e0d\u540c\u76ee\u6807\u3001\u4e0d\u540c\u573a\u666f\u627e\u5230\u6700\u4f73\u7684\u538b\u7f29\u7b56\u7565\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1974806711706605368_4\">\u5b9e\u9a8c\u7ed3\u679c\uff1a\u7cbe\u5ea6\u4e0e\u901f\u5ea6\u7684\u53cc\u91cd\u80dc\u5229<\/h2>\n\n\n\n<p>\u7406\u8bba\u8bf4\u5f97\u597d\uff0c\u8fd8\u5f97\u770b\u7597\u6548\u3002CompTrack\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=KITTI&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">KITTI<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=nuScenes&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">nuScenes<\/a>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=266624701&amp;content_type=Article&amp;match_order=1&amp;q=Waymo&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymo<\/a><\/p>\n\n\n\n<p>\u8fd9\u4e09\u5927\u4e3b\u6d41\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5168\u9762\u9a8c\u8bc1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-4a01c9ff409225ca975636c96fc7d19f_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u7ecf\u5178\u7684<strong>KITTI<\/strong>\u6570\u636e\u96c6\u4e0a\uff0cCompTrack\u5728\u201c\u8f66\u8f86\u201d\u7c7b\u522b\u4e0a\u53d6\u5f97\u4e86<strong>73.4%\u7684\u6210\u529f\u7387\u548c85.2%\u7684\u7cbe\u786e\u7387<\/strong>\uff0c\u5168\u9762\u9886\u5148\u4e8e\u4e4b\u524d\u7684\u65b9\u6cd5\u3002\u66f4\u91cd\u8981\u7684\u662f\uff0c\u5b83\u7684\u8fd0\u884c\u901f\u5ea6\u8fbe\u5230\u4e86\u60ca\u4eba\u7684<strong>90 FPS<\/strong>\uff0c\u8fdc\u8d85\u5176\u4ed6\u4e3b\u6d41\u7684\u9ad8\u7cbe\u5ea6\u8ffd\u8e2a\u5668\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-f7409fbb7f88e55eacaf04199ff4bffe_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-9cf6539dced8f00ab3e4546714c3308b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728\u70b9\u4e91\u66f4\u7a00\u758f\u3001\u573a\u666f\u66f4\u590d\u6742\u7684<strong>nuScenes<\/strong>\u548c<strong>Waymo<\/strong>\u6570\u636e\u96c6\u4e0a\uff0cCompTrack\u540c\u6837\u8868\u73b0\u51fa\u8272\uff0c\u5747\u53d6\u5f97\u4e86SOTA\u7ea7\u522b\u7684\u6027\u80fd\uff0c\u5c55\u73b0\u4e86\u5f3a\u5927\u7684\u6cdb\u5316\u80fd\u529b\u3002\u4f8b\u5982\uff0c\u5728nuScenes\u4e0a\uff0c\u5176\u5e73\u5747\u6210\u529f\u7387\u548c\u7cbe\u786e\u7387\u5206\u522b\u8fbe\u5230\u4e86<strong>61.04%\u548c73.68%<\/strong>\uff0c\u518d\u6b21\u8bc1\u660e\u4e86\u5176\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-871ca44ecebd0ccced92df9bfa5cffae_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-41980fa8296420d14312da31d3b8d453_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u6d88\u878d\u5b9e\u9a8c\uff0c\u4f5c\u8005\u4e5f\u9a8c\u8bc1\u4e86SFP\u548cIB-DTC\u4e24\u4e2a\u6a21\u5757\u7684\u6709\u6548\u6027\u3002\u5355\u72ec\u4f7f\u7528SFP\u6216IB-DTC\u90fd\u80fd\u5e26\u6765\u6027\u80fd\u63d0\u5347\uff0c\u800c\u5c06\u4e8c\u8005\u7ed3\u5408\uff0c\u5219\u80fd\u5b9e\u73b0\u7cbe\u5ea6\u548c\u901f\u5ea6\u7684\u6700\u4f18\u6743\u8861\u3002\u6709\u8da3\u7684\u662f\uff0c\u5173\u4e8eIB-DTC\u4e2d\u7684\u67e5\u8be2\u751f\u6210\u65b9\u5f0f\uff0c\u5b9e\u9a8c\u8868\u660e\uff0c\u5355\u7eaf\u4f7f\u7528\u53ef\u5b66\u4e60\u67e5\u8be2\u6216\u5355\u7eaf\u4f7f\u7528SVD\u5148\u9a8c\uff0c\u6548\u679c\u90fd\u4e0d\u5982\u5c06\u4e24\u8005\u7ed3\u5408\u7684\u6df7\u5408\u7b56\u7565\uff0c\u8fd9\u5145\u5206\u8bf4\u660e\u4e86\u5176\u8bbe\u8ba1\u7684\u5de7\u5999\u4e4b\u5904\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-452bbe4d1ec728a8566ed06d15975eee_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5bf9\u8ddf\u8e2a\u7ed3\u679c\u8fdb\u884c\u4e86\u53ef\u89c6\u5316\u5206\u6790\u3002\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u65e0\u8bba\u662f\u5728\u5bc6\u96c6\u573a\u666f\uff08a-\uff09\u8fd8\u662f\u7a00\u758f\u573a\u666f\uff08a-2\uff09\u4e2d\uff0cCompTrack\u65b9\u6cd5\u76f8\u8f83\u4e8e\u5148\u524dSOTA\u65b9\u6cd5P2P\u90fd\u80fd\u5b9e\u73b0\u66f4\u7d27\u5bc6\u7684\u76ee\u6807\u8ddf\u8e2a\uff0c\u51f8\u663e\u4e86\u5176\u5353\u8d8a\u6027\u80fd\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u7279\u5f81\u56fe\u53ef\u89c6\u5316\u5c55\u793a\u4e86SPF\u4e0eIB-DTC\u6a21\u5757\u7684\u8bbe\u8ba1\u6548\u679c(b)\uff0c\u8fd9\u4e9b\u53ef\u89c6\u5316\u7ed3\u679c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86CompTrack\u67b6\u6784\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" 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