{"id":34969,"date":"2025-11-24T17:33:04","date_gmt":"2025-11-24T09:33:04","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34969"},"modified":"2025-11-24T17:33:04","modified_gmt":"2025-11-24T09:33:04","slug":"2025-11-24-%e6%b8%af%e7%a7%91%e5%b9%bflistar%ef%bc%9a%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b64d-lidar%e4%b8%96%e7%95%8c%e6%a8%a1%e5%9e%8b%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/24\/34969\/","title":{"rendered":"2025-11-24 \u6e2f\u79d1\u5e7fLiSTAR\uff1a\u81ea\u52a8\u9a7e\u9a764D LiDAR\u4e16\u754c\u6a21\u578b\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/75r1SOxdLjgnLnkm6GPtyA\">https:\/\/mp.weixin.qq.com\/s\/75r1SOxdLjgnLnkm6GPtyA<\/a><\/p>\n\n\n\n<p><strong>\u4e00\u3001 \u7814\u7a76\u80cc\u666f\u4e0e\u6311\u6218<\/strong><\/p>\n\n\n\n<p>4D LiDAR\u6570\u636e\uff083D\u7a7a\u95f4+\u65f6\u95f4\u7ef4\u5ea6\uff09\u7684\u9ad8\u4fdd\u771f\u3001\u53ef\u63a7\u5408\u6210\uff0c\u662f\u6784\u5efa\u81ea\u52a8\u9a7e\u9a76\u53ef\u6269\u5c55\u4eff\u771f\u73af\u5883\u7684\u6838\u5fc3\u9700\u6c42\u3002\u4f46\u8be5\u4efb\u52a1\u9762\u4e34\u4e09\u5927\u56fa\u6709\u6311\u6218\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f20\u611f\u5668\u7279\u6027\uff1aLiDAR\u7684\u7403\u5f62\u91c7\u6837\u51e0\u4f55\u4e0e\u4f20\u7edf\u7b1b\u5361\u5c14\u7f51\u683c\u79bb\u6563\u5316\u4e0d\u517c\u5bb9\uff0c\u6613\u4ea7\u751f\u91cf\u5316\u5931\u771f\u548c\u7ed3\u6784\u626d\u66f2\uff08figure1\uff09\uff1b<\/li>\n<\/ul>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6570\u636e\u7279\u6027\uff1a\u70b9\u4e91\u7684\u65f6\u95f4\u7a00\u758f\u6027\u5bfc\u81f4\u52a8\u6001\u573a\u666f\u7684\u65f6\u95f4\u8fde\u8d2f\u6027\u96be\u4ee5\u7ef4\u6301\uff0c\u5e38\u51fa\u73b0\u8868\u9762\u95ea\u70c1\u6216\u76ee\u6807\u5bf9\u9f50\u4e0d\u4e00\u81f4\uff1b<\/li>\n\n\n\n<li>\u53ef\u63a7\u6027\u74f6\u9888\uff1a\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d562D BEV\u5e03\u5c40\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165\uff0c\u6241\u5e73\u53163D\u7a7a\u95f4\u4fe1\u606f\uff0c\u65e0\u6cd5\u7cbe\u51c6\u63a7\u52363D\u573a\u666f\u7ed3\u6784\u548c\u76ee\u6807\u64cd\u7eb5\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u73b0\u6709LiDAR\u751f\u6210\u65b9\u6cd5\u867d\u6709\u8fdb\u5c55\uff0c\u4f46\u4ecd\u53d7\u9650\u4e8e\u7b1b\u5361\u5c14\u4f53\u7d20\u5316\u7684\u51e0\u4f55\u5931\u771f\u3001\u65f6\u95f4\u8fde\u8d2f\u6027\u4e0d\u8db3\u548c\u53ef\u63a7\u6027\u8584\u5f31\u7b49\u95ee\u9898\uff0c\u96be\u4ee5\u6ee1\u8db3\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5bf9\u771f\u5b9e\u6027\u548c\u7cbe\u51c6\u6027\u7684\u8981\u6c42\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aLiSTAR: Ray-Centric World Models for 4D LiDAR Sequences in Autonomous Driving<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2511.16049<\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/ocean-luna.github.io\/LiSTAR.gitub.io\/<\/li>\n<\/ul>\n\n\n\n<p><strong>\u4e8c\u3001\u6838\u5fc3\u521b\u65b0\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n<p>LiSTAR\u901a\u8fc7\u4e09\u5927\u534f\u540c\u521b\u65b0\uff0c\u6784\u5efa\u4e86\u7aef\u5230\u7aef\u7684\u751f\u6210\u5f0f\u4e16\u754c\u6a21\u578b\uff0c\u540c\u65f6\u89e3\u51b3\u51e0\u4f55\u4fdd\u771f\u3001\u65f6\u95f4\u8fde\u8d2f\u6027\u548c\u53ef\u63a7\u5408\u6210\u95ee\u9898\uff1a<\/p>\n\n\n\n<p><strong>\u6df7\u5408\u5706\u67f1-\u7403\u9762\uff08HCS\uff09\u5750\u6807\u4f53\u7d20\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"654\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112401.png\" alt=\"\" class=\"wp-image-34980\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112401.png 654w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112401-300x101.png 300w\" sizes=\"(max-width: 654px) 100vw, 654px\" \/><\/figure>\n\n\n\n<p><strong>\u5c04\u7ebf\u4e2d\u5fc3\u65f6\u7a7a\u6ce8\u610f\u529b\uff08START\uff09\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u4e13\u95e8\u8bbe\u8ba1\u7528\u4e8e\u5efa\u6a21LiDAR\u5e8f\u5217\u7684\u65f6\u7a7a\u4f9d\u8d56\uff0c\u7531\u4e24\u4e2a\u6838\u5fc3\u7ec4\u4ef6\u6784\u6210\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7a7a\u95f4\u5c04\u7ebf\u4e2d\u5fc3\u6ce8\u610f\u529b\uff08SRA\uff09\uff1a\u5c06\u7279\u5f81\u6cbf\u5c04\u7ebf\u7ef4\u5ea6\u5c55\u5f00\uff0c\u901a\u8fc7\u81ea\u6ce8\u610f\u529b\u805a\u5408\u6240\u6709\u5c04\u7ebf\u7684\u5168\u5c40\u4e0a\u4e0b\u6587\uff0c\u7cbe\u51c6\u6355\u6349\u89c6\u7ebf\u65b9\u5411\u4e0a\u7684\u906e\u6321\u5173\u7cfb\u548c\u7a7a\u95f4\u5173\u8054\uff0c\u5728\u53ef\u63a7\u8ba1\u7b97\u6210\u672c\u5185\u4fdd\u7559\u7ec6\u7c92\u5ea6\u7ed3\u6784\uff1b<\/li>\n\n\n\n<li>\u5faa\u73af\u79fb\u4f4d\u65f6\u95f4\u56e0\u679c\u6ce8\u610f\u529b\uff08CSTA\uff09\uff1a\u89e3\u51b3\u7403\u5f62\u5750\u6807\u5c55\u5f00\u540e\u7684\u65b9\u4f4d\u89d2\u8fb9\u754c\u4e0d\u8fde\u7eed\u6027\uff080\u00b0\/360\u00b0\u63a5\u7f1d\u5904\u7684\u51e0\u4f55\u5272\u88c2\u95ee\u9898\uff09\uff0c\u540c\u65f6\u901a\u8fc7\u4e25\u683c\u7684\u65f6\u95f4\u56e0\u679c\u7ea6\u675f\uff0c\u786e\u4fdd\u9884\u6d4b\u4ec5\u4f9d\u8d56\u5386\u53f2\u548c\u5f53\u524d\u4fe1\u606f\uff0c\u907f\u514d\u672a\u6765\u4fe1\u606f\u6cc4\u9732\uff0c\u7ef4\u6301\u52a8\u6001\u573a\u666f\u7684\u65f6\u95f4\u8fde\u8d2f\u6027\uff08figure3\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"622\" height=\"684\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-264.png\" alt=\"\" class=\"wp-image-34981\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-264.png 622w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-264-273x300.png 273w\" sizes=\"(max-width: 622px) 100vw, 622px\" \/><\/figure>\n\n\n\n<p><strong>MaskSTART\u53ef\u63a7\u751f\u6210\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>\u4e3a\u5b9e\u73b0\u7cbe\u51c6\u7684\u573a\u666f\u5408\u6210\uff0c\u63d0\u51fa4D\u70b9\u4e91\u5bf9\u9f50\u4f53\u7d20\u5e03\u5c40\u4f5c\u4e3a\u6761\u4ef6\u8f93\u5165\uff0c\u901a\u8fc7\u96f6\u521d\u59cb\u5316\u9002\u914d\u5668\u878d\u5408\u5e03\u5c40\u7279\u5f81\u4e0e\u70b9\u4e91\u7279\u5f81\uff0c\u907f\u514d\u8bad\u7ec3\u521d\u671f\u5bf9\u9aa8\u5e72\u7f51\u7edc\u7684\u5e72\u6270\u3002\u57fa\u4e8e\u79bb\u6563\u63a9\u7801\u751f\u6210\u673a\u5236\uff0cMaskSTART\u5728VQ-VAE\u5b66\u4e60\u7684\u7d27\u51d1token\u7a7a\u95f4\u4e0a\u64cd\u4f5c\uff0c\u901a\u8fc7\u8fed\u4ee3\u63a9\u7801\u9884\u6d4b\u5b9e\u73b0\u9ad8\u6548\u3001\u9ad8\u5206\u8fa8\u7387\u7684\u5e03\u5c40\u5f15\u5bfc\u751f\u6210\uff0c\u652f\u6301\u590d\u6742\u573a\u666f\u7ed3\u6784\u7684\u7cbe\u7ec6\u64cd\u63a7\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u6280\u672f\u7ec6\u8282\u62c6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>HCS-based 4D VQ-VAE<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"228\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/112402-1.png\" alt=\"\" class=\"wp-image-34983\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112402-1.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/112402-1-300x103.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>START\u6a21\u5757\u7684\u534f\u540c\u5de5\u4f5c\u673a\u5236<\/strong><\/p>\n\n\n\n<p>SRA\u548cCSTA\u7684\u7ec4\u5408\u5f62\u6210\u4e86\u5bf94D\u6570\u636e\u7684\u5168\u9762\u5efa\u6a21\u80fd\u529b\uff1aSRA\u805a\u7126\u5c04\u7ebf\u7ef4\u5ea6\u7684\u7a7a\u95f4\u5173\u8054\uff0c\u89e3\u51b3LiDAR\u7684\u539f\u751f\u51e0\u4f55\u7279\u6027\uff1bCSTA\u5904\u7406\u65b9\u4f4d\u89d2\u8fb9\u754c\u95ee\u9898\u548c\u65f6\u95f4\u52a8\u6001\uff0c\u786e\u4fdd\u5e8f\u5217\u8fde\u8d2f\u6027\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u6a21\u578b\u80fd\u540c\u65f6\u6355\u6349\u9759\u6001\u51e0\u4f55\u7ed3\u6784\u548c\u52a8\u6001\u8fd0\u52a8\u6a21\u5f0f\uff0c\u4e3a\u9ad8\u4fdd\u771f\u91cd\u5efa\u3001\u9884\u6d4b\u548c\u751f\u6210\u63d0\u4f9b\u6838\u5fc3\u652f\u6491\uff08table5\u9a8c\u8bc1\u4e86\u4e24\u8005\u534f\u540c\u7684\u5fc5\u8981\u6027\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"947\" height=\"505\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-265.png\" alt=\"\" class=\"wp-image-34984\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-265.png 947w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-265-300x160.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-265-768x410.png 768w\" sizes=\"(max-width: 947px) 100vw, 947px\" \/><\/figure>\n\n\n\n<p><strong>MaskSTART\u7684\u9884\u6d4b\u4e0e\u751f\u6210\u903b\u8f91<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9884\u6d4b\u4efb\u52a1\uff1a\u8f93\u5165\u5386\u53f2\u89c2\u6d4b\u5e8f\u5217\uff0c\u5bf9\u672a\u6765\u5e27token\u65bd\u52a0\u968f\u673a\u63a9\u7801\uff0c\u6a21\u578b\u5b66\u4e60\u57fa\u4e8e\u5386\u53f2\u4e0a\u4e0b\u6587\u63a8\u65ad\u63a9\u7801token\uff0c\u901a\u8fc7\u5206\u7c7b\u5668\u65e0\u5173\u5f15\u5bfc\uff08CFG\uff09\u5e73\u8861\u4e00\u81f4\u6027\u548c\u591a\u6837\u6027\uff0c\u8fed\u4ee3\u4f18\u5316\u9ad8\u7f6e\u4fe1\u5ea6token\uff1b<\/li>\n\n\n\n<li>\u751f\u6210\u4efb\u52a1\uff1a\u4ee54D\u573a\u666f\u5e03\u5c40\u4e3a\u6761\u4ef6\uff0c\u901a\u8fc7\u9002\u914d\u5668\u7f51\u7edc\u63d0\u53d6\u5e03\u5c40\u7279\u5f81\u5e76\u4e0etoken\u5d4c\u5165\u878d\u5408\uff0c\u7ecf\u8fed\u4ee3\u63a9\u7801\u89e3\u7801\u751f\u6210\u7b26\u5408\u5e03\u5c40\u7ea6\u675f\u7684\u65b0\u5e8f\u5217\uff0c3D\u5e03\u5c40\u4fdd\u7559\u7684\u9ad8\u5ea6\u4fe1\u606f\u4f7f\u5782\u76f4\u65b9\u5411\uff08\u5982\u4ea4\u901a\u6807\u5fd7\u3001\u7ea2\u7eff\u706f\uff09\u7684\u63a7\u5236\u66f4\u7cbe\u51c6\uff08figure6\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"916\" height=\"744\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-266.png\" alt=\"\" class=\"wp-image-34985\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-266.png 916w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-266-300x244.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-266-768x624.png 768w\" sizes=\"(max-width: 916px) 100vw, 916px\" \/><\/figure>\n\n\n\n<p><strong>\u56db\u3001\u5b9e\u9a8c\u9a8c\u8bc1\u4e0e\u6027\u80fd\u8868\u73b0<\/strong><\/p>\n\n\n\n<p>\u5b9e\u9a8c\u57fa\u4e8e\u5927\u89c4\u6a21nuScenes\u6570\u636e\u96c6\uff0c\u8986\u76d6\u91cd\u5efa\u3001\u9884\u6d4b\u3001\u751f\u6210\u4e09\u5927\u6838\u5fc3\u4efb\u52a1\uff0c\u5168\u9762\u9a8c\u8bc1\u4e86\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027\uff1a<\/p>\n\n\n\n<p><strong>\u91cd\u5efa\u4efb\u52a1<\/strong><\/p>\n\n\n\n<p>\u76f8\u8f83\u4e8eOpenDWM\u57fa\u7ebf\uff0cIoU\u76f8\u5bf9\u63d0\u534732%\uff0cMMD\u964d\u4f4e60%\uff0cChamfer\u8ddd\u79bb\u51cf\u5c1141%\uff08table1\uff09\u3002\u5b9a\u6027\u7ed3\u679c\u663e\u793a\uff0c\u91cd\u5efa\u7ed3\u679c\u66f4\u5b8c\u6574\uff08\u7d2b\u7ea2\u8272\u4ea4\u96c6\u533a\u57df\u66f4\u5bc6\u96c6\uff09\uff0c\u4f2a\u5f71\uff08\u84dd\u8272\u70b9\uff09\u663e\u8457\u51cf\u5c11\uff0c\u4e14\u57283\u79d2\u65f6\u95f4\u8303\u56f4\u5185\u4fdd\u6301\u7a33\u5b9a\u4fdd\u771f\u5ea6\uff08figure4\u30017\uff09\u3002<\/p>\n\n\n\n<figure 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-268.png 615w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-268-300x217.png 300w\" sizes=\"(max-width: 615px) 100vw, 615px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"646\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-269-1024x646.png\" alt=\"\" class=\"wp-image-34988\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-269-1024x646.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-269-300x189.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-269-768x484.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-269.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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