{"id":35669,"date":"2025-12-20T17:39:00","date_gmt":"2025-12-20T09:39:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35669"},"modified":"2025-12-22T08:33:20","modified_gmt":"2025-12-22T00:33:20","slug":"2025-12-20-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%9b%ae%e6%a0%87%e6%a3%80%e6%b5%8b%e5%8d%81%e5%b9%b4%e8%bf%9b%e5%8c%96%e4%b9%8b%e8%b7%af%ef%bc%9a%e4%bb%8e%e5%83%8f%e7%b4%a0%e3%80%81%e7%82%b9%e4%ba%91","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/20\/35669\/","title":{"rendered":"2025-12-20 \u81ea\u52a8\u9a7e\u9a76\u76ee\u6807\u68c0\u6d4b\u5341\u5e74\u8fdb\u5316\u4e4b\u8def\uff1a\u4ece\u50cf\u7d20\u3001\u70b9\u4e91\u5230\u591a\u6a21\u6001\u5927\u6a21\u578b\u7684\u65f6\u4ee3"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.zhihu.com\/p\/1974215759224923628<\/a><\/p>\n\n\n\n

\u5bfc\u8bfb
\u5728\u81ea\u52a8\u9a7e\u9a76\u91cc\uff0c\u8f66\u5b50\u771f\u6b63\u8981\u5b66\u4f1a\u7684\u7b2c\u4e00\u4ef6\u4e8b\uff0c\u662f\u201c\u770b\u61c2\u4e16\u754c\u201d\u3002
\u4e0d\u7ba1\u8bc6\u522b\u8f66\u8f86\u3001\u884c\u4eba\u3001\u9525\u6876\uff0c\u8fd8\u662f\u5224\u65ad\u8fdc\u5904\u7684\u4e00\u8f86\u5361\u8f66\u662f\u9759\u6b62\u8fd8\u662f\u79fb\u52a8\uff0c\u80cc\u540e\u90fd\u6307\u5411\u540c\u4e00\u4e2a\u80fd\u529b\u2014\u2014\u76ee\u6807\u68c0\u6d4b<\/strong>\u3002
\u8fd9\u9879\u770b\u4f3c\u7b80\u5355\u7684\u80fd\u529b\uff0c\u5374\u6491\u8d77\u4e86\u81ea\u52a8\u9a7e\u9a76\u6574\u4e2a\u51b3\u7b56\u94fe\u6761\uff1a\u53ea\u6709\u770b\u6e05\u695a\uff0c\u624d\u80fd\u89c4\u5212\u3001\u63a7\u5236\u3001\u907f\u969c\u3002\u4e5f\u56e0\u6b64\uff0c\u76ee\u6807\u68c0\u6d4b\u7ecf\u5386\u4e86\u8fc7\u53bb\u5341\u5e74\u6700\u5267\u70c8\u7684\u6280\u672f\u66f4\u66ff\uff1a\u4ece\u65e9\u671f\u7684 2D \u6444\u50cf\u5934\u8bc6\u522b\uff0c\u5230 3D \u70b9\u4e91\u6df1\u5ea6\u5efa\u6a21\uff0c\u518d\u5230 2D\u20133D \u878d\u5408\u3001Transformer \u6846\u67b6<\/a><\/p>\n\n\n\n

\n

\u3001\u4e43\u81f3\u8fd1\u4e24\u5e74\u5174\u8d77\u7684 VLM\/LLM \u9a71\u52a8\u7684\u591a\u6a21\u6001\u68c0\u6d4b<\/strong>\u3002<\/p>\n<\/blockquote>\n\n\n\n

\u4eca\u5929\u8fd9\u7bc7\u76d8\u70b9\uff0c\u6211\u4eec\u6cbf\u7740\u6280\u672f\u8109\u7edc\uff0c\u628a\u81ea\u52a8\u9a7e\u9a76\u76ee\u6807\u68c0\u6d4b\u7684\u53d1\u5c55\u53f2\u68b3\u7406\u6210\u4e00\u6761\u6e05\u6670\u8fdb\u5316\u4e3b\u7ebf\uff0c\u56de\u987e\u8fd9\u9879\u6280\u672f\u5982\u4f55\u4e00\u6b65\u6b65\u53d8\u5316\u3001\u4e3a\u4ec0\u4e48\u5fc5\u987b\u8fd9\u4e48\u53d8\uff0c\u4ee5\u53ca\u884c\u4e1a\u53c8\u8d70\u5411\u4e86\u54ea\u91cc\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe1\uff5c\u81ea\u52a8\u9a7e\u9a76\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u7684\u5b8c\u6574\u5206\u7c7b\u4f53\u7cfb\u3002\u6839\u636e\u4f20\u611f\u5668\u914d\u7f6e\u3001\u6570\u636e\u8868\u793a\u3001\u878d\u5408\u7b56\u7565\u4e0e\u6a21\u578b\u7ed3\u6784\uff0c\u5c06\u65b9\u6cd5\u5212\u5206\u4e3a\u56db\u5927\u7c7b\u53ca\u5176\u4ee3\u8868\u6027\u5b50\u7c7b<\/figcaption><\/figure>\n\n\n\n

REF<\/em><\/p>\n\n\n\n

\u8bba\u6587\u6807\u9898\uff1aAll You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion andMultimodal LLMs\/VLMs in Autonomous Vehicles<\/em><\/p>\n\n\n\n

\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2510.26641<\/a><\/em><\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u6700\u521d\u7684\u611f\u77e5\u5e76\u4e0d\u590d\u6742\uff1a\u6444\u50cf\u5934 + \u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u3002\u5728\u5f53\u65f6\uff0c\u76ee\u6807\u68c0\u6d4b\u4e3b\u8981\u662f\u5728 \u4e8c\u7ef4\u56fe\u50cf<\/strong>\u5e73\u9762\u5b8c\u6210\uff0c\u5178\u578b\u7279\u5f81\u5305\u62ec\uff1a<\/p>\n\n\n\n

\u25cf \u7528 CNN \u5b66\u4e60\u7eb9\u7406\u3001\u989c\u8272\u3001\u8fb9\u7f18\u7279\u5f81<\/p>\n\n\n\n

\u25cf \u8f93\u51fa 2D bounding box<\/p>\n\n\n\n

\u25cf \u65e0\u6cd5\u76f4\u63a5\u83b7\u53d6\u7269\u4f53\u7684\u771f\u5b9e\u8ddd\u79bb<\/p>\n\n\n\n

\u5728\u5f53\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u4e2d\uff0c2D \u6444\u50cf\u5934\u7c7b\u65b9\u6cd5\u4e3b\u8981\u4f5c\u4e3a \u81ea\u52a8\u9a7e\u9a76\u201c\u57fa\u7840\u8bc6\u522b\u201d\u4ee5\u53ca\u201c\u5feb\u901f\u68c0\u6d4b\u7ec4\u4ef6\u201d\u6a21\u5757<\/strong>\u51fa\u73b0\uff08\u5982\u884c\u4eba\u3001\u4ea4\u901a\u6807\u5fd7\u8bc6\u522b\u3001\u9053\u8def\u8fb9\u754c\u7b49\uff09\u3002<\/p>\n\n\n\n

\u25cf \u5178\u578b\u6a21\u578b\u5305\u62ec\uff1aYOLO \u7cfb\u5217<\/strong><\/p>\n\n\n\n

\u8fd9\u4e9b\u5c5e\u4e8e\u8f7b\u91cf\u7ea7\u5355\u76ee\u68c0\u6d4b\u7f51\u7edc\uff0c\u9002\u5408\u5b9e\u65f6\u6027\u8981\u6c42\u9ad8\u7684\u573a\u666f\u3002<\/p>\n\n\n\n

2D \u68c0\u6d4b\u7684\u4f18\u52bf\u5f88\u660e\u663e\uff1a<\/p>\n\n\n\n

\u25cf \u9ad8\u5206\u8fa8\u7387<\/p>\n\n\n\n

\u25cf \u6210\u672c\u4f4e<\/p>\n\n\n\n

\u25cf \u5bf9\u5916\u89c2\u3001\u7eb9\u7406\u975e\u5e38\u654f\u611f<\/p>\n\n\n\n

\u4f46\u6838\u5fc3\u95ee\u9898\u5728\u4e8e\uff1a<\/p>\n\n\n\n

\u5b83\u4e0d\u77e5\u9053\u8ddd\u79bb\u3002<\/strong><\/p>\n\n\n\n

\u4e5f\u5c31\u662f\u8bf4\uff0c\u4e8c\u7ef4\u68c0\u6d4b\u65e0\u6cd5\u6ee1\u8db3\u201c\u8f66\u5e94\u8be5\u5982\u4f55\u5728\u4e09\u7ef4\u4e16\u754c\u4e2d\u884c\u52a8\u201d\u7684\u9700\u6c42\u3002\u4e8e\u662f\uff0c\u81ea\u52a8\u9a7e\u9a76\u5f88\u5feb\u8fc8\u5165\u4e0b\u4e00\u9636\u6bb5\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe2\uff5c\u4e8c\u7ef4\u6444\u50cf\u5934\u68c0\u6d4b\u65b9\u6cd5\u7684\u6574\u4f53\u6846\u67b6\u3002(a) CNN-based \u6a21\u578b\u7684\u4e00\u822c\u7ed3\u6784\uff1b(b) Transformer-based \u6a21\u578b\u7684\u4e00\u822c\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n

3D \u68c0\u6d4b\u4e3a\u4ec0\u4e48\u5fc5\u987b\u51fa\u73b0\uff1f\u56e0\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\uff1a<\/p>\n\n\n\n

\u25cf \u7269\u4f53\u7684\u771f\u5b9e\u4e09\u7ef4\u4f4d\u7f6e<\/p>\n\n\n\n

\u25cf \u8fdc\u8fd1\u7cbe\u786e\u8ddd\u79bb<\/p>\n\n\n\n

\u25cf \u7a33\u5b9a\u7684\u51e0\u4f55\u7ed3\u6784\u63cf\u8ff0<\/p>\n\n\n\n

\u25cf \u5728\u5404\u79cd\u5149\u7167\u3001\u5929\u6c14\u4e2d\u4fdd\u6301\u53ef\u9760<\/p>\n\n\n\n

\u25cf \u957f\u8ddd\u79bb\u611f\u77e5\uff08\u8d85\u8d8a\u56fe\u50cf\u7684\u50cf\u7d20\u7ec6\u8282\u9650\u5236\uff09<\/p>\n\n\n\n

LiDAR \u7684\u4e09\u7ef4\u70b9\u4e91\u8ba9\u8fd9\u4e9b\u6210\u4e3a\u53ef\u80fd\uff0c3D\u7684\u68c0\u6d4b\u65b9\u6cd5\u53ef\u4ee5\u5927\u81f4\u5206\u4e3a\u4e94\u5927\u7c7b\uff1a<\/p>\n\n\n\n

Point-based<\/strong><\/h3>\n\n\n\n

point-based\u7684\u65b9\u6cd5\u6700\u63a5\u8fd1\u539f\u59cb LiDAR \u6570\u636e\u7684\u8868\u8fbe\u65b9\u5f0f\u3002\u70b9\u4e91\u672c\u8eab\u662f\u7a00\u758f\u3001\u65e0\u5e8f\u4e14\u4e09\u7ef4\u5206\u5e03\u7684\uff0c\u800c Point-based \u65b9\u6cd5\u76f4\u63a5\u5728\u70b9\u4e0a\u8fdb\u884c\u64cd\u4f5c\uff0c\u4e0d\u4f9d\u8d56\u4f53\u7d20\u5212\u5206\u6216\u6295\u5f71\uff0c\u56e0\u6b64\u80fd\u591f\u6700\u5927\u7a0b\u5ea6\u4fdd\u7559\u51e0\u4f55\u7ec6\u8282\u3002<\/p>\n\n\n\n

\u5178\u578b\u6d41\u7a0b\u5305\u542b\u201c\u70b9\u91c7\u6837\u2014\u90bb\u57df\u5206\u7ec4\u2014\u5c40\u90e8\u7279\u5f81\u63d0\u53d6\u201d\u7b49\u6b65\u9aa4\uff0c\u901a\u8fc7\u5bf9\u6bcf\u4e2a\u70b9\u53ca\u5176\u5c40\u90e8\u90bb\u57df\u5efa\u6a21\uff0c\u5f62\u6210\u80fd\u8868\u8fbe\u5f62\u72b6\u53d8\u5316\u7684\u9ad8\u7ef4\u7279\u5f81\u3002\u6b63\u56e0\u4e3a\u5bf9\u51e0\u4f55\u7ec6\u8282\u7684\u9ad8\u4fdd\u771f\u5efa\u6a21\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u66f4\u9002\u5408\u9700\u8981\u7ec6\u7c92\u5ea6\u7ed3\u6784\u4fe1\u606f\u7684\u573a\u666f\u3002<\/p>\n\n\n\n

\u4f46\u5b83\u4eec\u7684\u8ba1\u7b97\u4ee3\u4ef7\u5f80\u5f80\u8f83\u9ad8\uff0c\u70b9\u4e91\u6570\u91cf\u5927\u65f6\u5c24\u5176\u5bb9\u6613\u5f71\u54cd\u5b9e\u65f6\u6027\uff0c\u56e0\u6b64\u5728\u8f66\u8f7d\u90e8\u7f72\u4e2d\u53d7\u5230\u4e00\u5b9a\u9650\u5236\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe3\uff5c\u70b9\u7ea7\uff08Point-based\uff09\u4e09\u7ef4 LiDAR \u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

Voxel-based<\/strong><\/h3>\n\n\n\n

\u4f53\u7d20\u65b9\u6cd5\u662f\u8fd1\u51e0\u5e74\u81ea\u52a8\u9a7e\u9a76\u4e2d\u6700\u5177\u4ee3\u8868\u6027\u7684 3D \u68c0\u6d4b\u8def\u7ebf\u4e4b\u4e00\u3002\u5b83\u5c06\u4e09\u7ef4\u7a7a\u95f4\u5212\u5206\u4e3a\u89c4\u5219\u4f53\u7d20\uff0c\u5c06\u70b9\u4e91\u6620\u5c04\u5230\u56fa\u5b9a\u7ed3\u6784\u7684\u4f53\u7d20\u7f51\u683c\u4e2d\uff0c\u518d\u5229\u7528 3D CNN \u6216\u7a00\u758f\u5377\u79ef\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u3002<\/p>\n\n\n\n

\u7531\u4e8e\u6570\u636e\u7ed3\u6784\u89c4\u6574\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u5929\u7136\u9002\u5408\u5377\u79ef\u64cd\u4f5c\uff0c\u80fd\u9ad8\u6548\u6355\u6349\u5c40\u90e8\u4e0e\u5168\u5c40\u7a7a\u95f4\u5173\u7cfb\uff0c\u4e5f\u56e0\u6b64\u5728 KITTI\u3001nuScenes \u7b49\u57fa\u51c6\u4e0a\u53d6\u5f97\u975e\u5e38\u5f3a\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

\u4f46\u4f53\u7d20\u65b9\u6cd5\u4e5f\u6709\u56fa\u6709\u9650\u5236\uff0c\u4f8b\u5982\u4f53\u7d20\u5206\u8fa8\u7387\u5fc5\u987b\u5728\u7cbe\u5ea6\u4e0e\u6548\u7387\u4e4b\u95f4\u5e73\u8861\uff1a\u5206\u8fa8\u7387\u8fc7\u4f4e\u4f1a\u5bfc\u81f4\u51e0\u4f55\u4fe1\u606f\u635f\u5931\uff0c\u8fc7\u9ad8\u53c8\u4f1a\u663e\u8457\u589e\u52a0\u7b97\u529b\uff0c\u5e76\u5e26\u6765\u91cf\u5316\u8bef\u5dee\uff0c\u8fd9\u4e5f\u662f\u4f53\u7d20\u65b9\u6cd5\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\u5fc5\u987b\u9762\u5bf9\u7684\u8bbe\u8ba1\u53d6\u820d\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe4\uff5c\u4f53\u7d20\uff08Voxel-based\uff09\u4e09\u7ef4 LiDAR \u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

Pillar-based<\/strong><\/h3>\n\n\n\n

Pillar-based \u65b9\u6cd5<\/a><\/p>\n\n\n\n

\u5219\u662f\u4e3a\u4e86\u89e3\u51b3\u4f53\u7d20\u65b9\u6cd5\u5728\u8ba1\u7b97\u4e0a\u7684\u6210\u672c\u95ee\u9898\u800c\u63d0\u51fa\u7684\u4e00\u6761\u8f7b\u91cf\u7ea7\u8def\u7ebf\u3002\u8fd9\u7c7b\u65b9\u6cd5\u5c06\u4e09\u7ef4\u7a7a\u95f4\u6cbf\u9ad8\u5ea6\u65b9\u5411\u201c\u538b\u6241\u201d\uff0c\u5c06\u70b9\u4e91\u5212\u5206\u4e3a\u7ad6\u76f4\u67f1\u72b6\u533a\u57df\uff08pillars\uff09\uff0c\u4ec5\u5728\u5e73\u9762\u4e0a\u8fdb\u884c\u5212\u5206\u3002<\/p>\n\n\n\n

\u6bcf\u4e2a pillar \u5185\u7684\u70b9\u901a\u8fc7\u8f7b\u91cf\u5316 PointNet \u7f16\u7801\uff0c\u518d\u88ab\u6620\u5c04\u6210 BEV \u5e73\u9762\u4e0a\u7684 pseudo-image \u7279\u5f81\uff0c\u540e\u7eed\u5373\u53ef\u4f7f\u7528\u6807\u51c6\u7684 2D CNN \u5b8c\u6210\u68c0\u6d4b\u3002<\/p>\n\n\n\n

\u8fd9\u79cd\u7ed3\u6784\u6781\u5927\u964d\u4f4e\u4e86 3D \u5377\u79ef\u7684\u5f00\u9500\uff0c\u975e\u5e38\u9002\u5408\u5b9e\u65f6\u6027\u8981\u6c42\u9ad8\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\uff0c\u662f\u8f66\u89c4\u90e8\u7f72\u4e2d\u5e38\u7528\u7684\u9ad8\u6548\u7ed3\u6784\u3002<\/p>\n\n\n\n

\u4e0d\u8fc7\uff0c\u7531\u4e8e\u5b8c\u5168\u4e22\u5f03\u9ad8\u5ea6\u7ef4\u4fe1\u606f\uff0cPillar-based \u65b9\u6cd5\u5728\u8bc6\u522b\u9ad8\u5ea6\u5f62\u6001\u590d\u6742\u6216\u5782\u76f4\u7ed3\u6784\u660e\u663e\u7684\u7269\u4f53\u65f6\u6709\u56fa\u6709\u9650\u5236\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u5b83\u7528\u901f\u5ea6\u6362\u4e86\u90e8\u5206\u7a7a\u95f4\u8868\u8fbe\u80fd\u529b\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe5\uff5c\u67f1\u72b6\uff08Pillar-based\uff09\u4e09\u7ef4 LiDAR \u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

Range-based<\/strong><\/h3>\n\n\n\n

\u9664\u4e86\u70b9\u548c\u4f53\u7d20\uff0c\u8fd8\u6709\u4e00\u79cd\u601d\u8def\u662f\u5c06 LiDAR \u70b9\u4e91\u6295\u5f71\u5230\u201c\u6df1\u5ea6\u56fe\u201d\u5f62\u5f0f\u52a0\u4ee5\u5904\u7406\u3002Range View \u65b9\u6cd5\u7684\u6d41\u7a0b\u4e3a\uff1a\u5c06\u70b9\u4e91\u6620\u5c04\u5230\u4ee5\u65b9\u4f4d\u89d2\u3001\u4fef\u4ef0\u89d2\u548c\u8ddd\u79bb\u4e3a\u5750\u6807\u7684\u4e8c\u7ef4\u7f51\u683c\uff0c\u4f7f\u5176\u53d8\u6210\u89c4\u5219\u7684\u56fe\u50cf\uff0c\u518d\u7528\u6210\u719f\u7684 2D CNN \u7f51\u7edc\u63d0\u53d6\u7279\u5f81\u3002<\/p>\n\n\n\n

\u56e0\u4e3a\u6295\u5f71\u76f4\u63a5\u4fdd\u7559\u4e86\u8ddd\u79bb\u548c\u89d2\u5ea6\u51e0\u4f55\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u5728\u957f\u8ddd\u79bb\u611f\u77e5\u4e2d\u5177\u5907\u4f18\u52bf\uff0c\u4e14\u8ba1\u7b97\u6210\u672c\u8f83\u4f4e\u3002\u4e0d\u8fc7\u4e8c\u7ef4\u5c55\u5f00\u4e0d\u53ef\u907f\u514d\u5730\u5e26\u6765\u7a7a\u95f4\u7578\u53d8\uff0c\u5bf9\u89c6\u89d2\u53d8\u5316\u548c\u906e\u6321\u654f\u611f\uff0c\u56e0\u6b64\u5b83\u9002\u5408\u5bf9\u201c\u6548\u7387\u4f18\u5148\u201d\u7684\u7cfb\u7edf\uff0c\u4f46\u4e0d\u4e00\u5b9a\u80fd\u6355\u83b7\u7a7a\u95f4\u7ed3\u6784\u7684\u5168\u90e8\u7ec6\u8282\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe6\uff5c\u57fa\u4e8e Range View \u7684\u4e09\u7ef4 LiDAR \u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

BEV-based<\/strong><\/h3>\n\n\n\n

\u8fd9\u91cc\u6211\u4eec\u628a BEV-based \u65b9\u6cd5<\/a><\/p>\n\n\n\n

\u4e5f\u5f52\u4e3a LiDAR \u8868\u793a\u7684\u4e00\u7c7b\uff0c\u5c3d\u7ba1 BEV \u5728\u540e\u671f\u66f4\u591a\u7528\u4e8e\u591a\u6a21\u6001\u878d\u5408\u3002BEV-based \u7684\u6838\u5fc3\u601d\u60f3\u662f\u5c06 LiDAR \u70b9\u4e91\u538b\u7f29\u5230\u5730\u9762\u5e73\u9762\u7684\u9e1f\u77b0\u89c6\u56fe\uff0c\u628a\u7a7a\u95f4\u7ed3\u6784\u8f6c\u6362\u4e3a\u89c4\u5219\u7684 2D \u7f51\u683c\uff0c\u518d\u4f7f\u7528 CNN \u6216 Transformer \u63d0\u53d6\u7279\u5f81\u3002<\/p>\n\n\n\n

\u4ece\u51e0\u4f55\u4e0a\u770b\uff0c\u8fd9\u79cd\u8868\u793a\u5929\u7136\u4e0e\u81ea\u52a8\u9a7e\u9a76\u7684\u89c4\u5212\u4e0e\u5730\u56fe\u5bf9\u9f50\uff0c\u975e\u5e38\u65b9\u4fbf\u6574\u4e2a\u7cfb\u7edf\u5171\u4eab\u7a7a\u95f4\u8bed\u4e49\u3002\u6b64\u5916 BEV \u7684\u8ba1\u7b97\u7ed3\u6784\u53cb\u597d\u3001\u6613\u6269\u5c55\uff0c\u662f\u8fd1\u4e24\u5e74 LiDAR \u611f\u77e5\u548c\u878d\u5408\u611f\u77e5\u4f53\u7cfb\u7684\u4e3b\u6d41\u57fa\u7840\u3002<\/p>\n\n\n\n

\u7f3a\u70b9\u662f\u5782\u76f4\u5c42\u6b21\u4fe1\u606f\u88ab\u538b\u7f29\uff0c\u53ef\u80fd\u5bf9\u4f9d\u8d56\u9ad8\u5ea6\u4fe1\u606f\u7684\u573a\u666f\u5e26\u6765\u4e00\u5b9a\u6311\u6218\uff0c\u4f46 BEV \u7684\u6574\u4f53\u7a33\u5b9a\u6027\u4e0e\u53ef\u6269\u5c55\u6027\u4ecd\u4f7f\u5176\u6210\u4e3a\u5f53\u524d\u6700\u91cd\u8981\u7684\u7a7a\u95f4\u8868\u793a\u4e4b\u4e00\u3002<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u53d8\u5f97\u8d8a\u6765\u8d8a\u590d\u6742\uff0c\u4ec5\u4f9d\u8d56\u5355\u4e00\u4f20\u611f\u5668\u5df2\u7ecf\u96be\u4ee5\u6ee1\u8db3\u5b9e\u9645\u9053\u8def\u7684\u9700\u6c42\u3002<\/p>\n\n\n\n

\u25cf \u6444\u50cf\u5934\u62e5\u6709\u9ad8\u5206\u8fa8\u7387\u3001\u7eb9\u7406\u4e30\u5bcc\uff0c\u4f46\u5728\u591c\u665a\u3001\u96fe\u5929\u6216\u9006\u5149\u6761\u4ef6\u4e0b\u5bb9\u6613\u5931\u6548\uff1b<\/p>\n\n\n\n

\u25cf LiDAR \u5bf9\u8ddd\u79bb\u548c\u51e0\u4f55\u7ed3\u6784\u654f\u611f\uff0c\u5374\u96be\u4ee5\u7406\u89e3\u8bed\u4e49\u7ec6\u8282\uff1b<\/p>\n\n\n\n

\u25cf Radar \u5177\u5907\u5f3a\u6e17\u900f\u80fd\u529b\uff0c\u4f46\u7a7a\u95f4\u5206\u8fa8\u7387\u6709\u9650\u3002<\/p>\n\n\n\n

\u6b63\u56e0\u5982\u6b64\uff0c\u8de8\u4f20\u611f\u5668\u878d\u5408\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u6700\u5177\u73b0\u5b9e\u610f\u4e49\u7684\u4e00\u6b21\u6280\u672f\u6f14\u8fdb\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe7\uff5c\u81ea\u52a8\u9a7e\u9a76\u4e2d\u4e3b\u8981\u4f20\u611f\u5668\u7684\u7c7b\u522b\u4e0e\u611f\u77e5\u6027\u80fd\u6982\u89c8\u3002\u611f\u77e5\u6027\u80fd\u6309 1\u20135 \u8fdb\u884c\u8bc4\u5206\uff0c1=\u5f88\u4f4e\uff0c2=\u4f4e\uff0c3=\u4e2d\u7b49\uff0c4=\u9ad8\uff0c5=\u5f88\u9ad8<\/figcaption><\/figure>\n\n\n\n

\u5728\u878d\u5408\u65b9\u5f0f\u4e0a\uff0c\u5927\u81f4\u53ef\u4ee5\u5206\u4e3a\u4e09\u79cd\u5c42\u7ea7\uff1a\u6570\u636e\u7ea7\u3001\u7279\u5f81\u7ea7\u548c\u51b3\u7b56\u7ea7\u3002<\/p>\n\n\n\n

\u25cf \u6570\u636e\u7ea7\u878d\u5408\u901a\u5e38\u88ab\u79f0\u4e3a Early Fusion\uff0c\u5373\u5728\u8f93\u5165\u5c42\u9762\u5c31\u5c06 LiDAR \u4e0e\u6444\u50cf\u5934\u6570\u636e\u8fdb\u884c\u5bf9\u9f50\u4e0e\u62fc\u63a5\uff0c\u4f8b\u5982\u5c06 LiDAR \u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\uff0c\u6216\u751f\u6210\u5bc6\u96c6\u6df1\u5ea6\u56fe\u540e\u76f4\u63a5\u4f5c\u4e3a\u7f51\u7edc\u8f93\u5165\u3002\u8fd9\u6837\u7684\u65b9\u5f0f\u4fdd\u7559\u4e86\u6700\u4e30\u5bcc\u7684\u5e95\u5c42\u4fe1\u606f\uff0c\u4f46\u4e5f\u5bf9\u6807\u5b9a\u7cbe\u5ea6\u63d0\u51fa\u4e86\u66f4\u82db\u523b\u7684\u8981\u6c42\uff0c\u540c\u65f6\u8f93\u5165\u7ef4\u5ea6\u5927\u3001\u8ba1\u7b97\u6210\u672c\u9ad8\uff0c\u4f7f\u5176\u66f4\u9002\u5408\u7b97\u529b\u5145\u8db3\u3001\u7cbe\u5ea6\u4f18\u5148\u7684\u7cfb\u7edf\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe8\uff5cEarly Fusion\uff08\u6570\u636e\u7ea7\u878d\u5408\uff09\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

\u25cf \u7279\u5f81\u7ea7\u878d\u5408\u662f\u5de5\u4e1a\u754c\u4f7f\u7528\u6700\u5e7f\u6cdb\u7684\u65b9\u6cd5\uff0c\u4e5f\u662f\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u7684\u4e3b\u6d41\u65b9\u6848\u3002\u5728\u8fd9\u4e00\u7b56\u7565\u4e2d\uff0cCamera \u4e0e LiDAR \u5404\u81ea\u7ecf\u8fc7 backbone \u63d0\u53d6\u7279\u5f81\uff0c\u518d\u901a\u8fc7\u62fc\u63a5\u3001\u52a0\u6743\u3001\u6ce8\u610f\u529b\u673a\u5236\u7b49\u65b9\u5f0f\u878d\u5408\u6210\u7edf\u4e00\u8868\u793a\u3002\u8fd9\u6837\u7684\u7ed3\u6784\u517c\u5bb9\u6027\u5f3a\uff0c\u53ef\u4ee5\u7075\u6d3b\u7ec4\u5408\u4e0d\u540c\u7684\u89c6\u89c9\u6216\u70b9\u4e91\u7f51\u7edc\uff0c\u540c\u65f6\u5bf9\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u5c0f\u5e45\u9519\u4f4d\u66f4\u5177\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe9\uff5cMid Fusion\uff08\u7279\u5f81\u7ea7\u878d\u5408\uff09\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

\u25cf \u51b3\u7b56\u7ea7\u878d\u5408\u5219\u66f4\u63a5\u8fd1\u201c\u7cfb\u7edf\u5b89\u5168\u5197\u4f59\u201d\u7684\u7406\u5ff5\u3002\u5176\u65b9\u6cd5\u662f\u5728\u5404\u81ea\u5b8c\u6210\u68c0\u6d4b\u540e\u518d\u5728\u51b3\u7b56\u5c42\u8fdb\u884c\u5408\u5e76\uff0c\u4f8b\u5982\u9009\u62e9\u7f6e\u4fe1\u5ea6\u66f4\u9ad8\u7684\u6846\u3001\u6216\u8005\u5229\u7528\u4ea4\u53c9 NMS \u8fdb\u884c\u6700\u7ec8\u7b5b\u9009\u3002\u8fd9\u7c7b\u65b9\u6cd5\u727a\u7272\u4e86\u8de8\u6a21\u6001\u4f4e\u5c42\u7279\u5f81\u4ea4\u4e92\u7684\u5b66\u4e60\u80fd\u529b\uff0c\u4f46\u5374\u5728\u5b89\u5168\u6027\u548c\u7a33\u5b9a\u6027\u4e0a\u8868\u73b0\u66f4\u597d\uff0c\u56e0\u6b64\u5e38\u7528\u4e8e\u81ea\u52a8\u7d27\u6025\u5236\u52a8\uff08AEB\uff09\u3001\u524d\u5411\u78b0\u649e\u9884\u8b66\u7b49\u5b89\u5168\u5173\u952e\u6a21\u5757\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe10\uff5cLate Fusion\uff08\u51b3\u7b56\u7ea7\u878d\u5408\uff09\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u7684\u6574\u4f53\u6846\u67b6<\/figcaption><\/figure>\n\n\n\n

\u603b\u4f53\u800c\u8a00\uff0c\u591a\u4f20\u611f\u5668\u878d\u5408\u8ba9\u81ea\u52a8\u9a7e\u9a76\u76ee\u6807\u68c0\u6d4b\u7684\u53ef\u9760\u6027\u5927\u5e45\u63d0\u5347\uff0c\u5176\u4e2d\u7279\u5f81\u7ea7\u878d\u5408\u5df2\u7ecf\u6210\u4e3a\u5f53\u524d\u4e3b\u6d41\uff0c\u800c\u6570\u636e\u7ea7\u4e0e\u51b3\u7b56\u7ea7\u65b9\u6cd5\u5219\u5206\u522b\u5728\u6781\u81f4\u6027\u80fd\u548c\u5b89\u5168\u5197\u4f59\u573a\u666f\u4e2d\u53d1\u6325\u4e0d\u53ef\u66ff\u4ee3\u7684\u4f5c\u7528<\/p>\n\n\n\n

\"\"\/<\/figure>\n\n\n\n

\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u5728\u5411\u201c\u591a\u6a21\u6001\u5927\u6a21\u578b<\/a><\/p>\n\n\n\n

\u201d\u8f6c\u578b\u7684\u8d8b\u52bf\u3002\u8fc7\u53bb\u76ee\u6807\u68c0\u6d4b\u7684\u5904\u7406\u94fe\u8def\u4e3b\u8981\u5305\u62ec\u56fe\u50cf\u6216\u70b9\u4e91\u7684\u51e0\u4f55\u5efa\u6a21\uff0c\u800c\u8fd1\u4e24\u5e74\u7814\u7a76\u8005\u5c06\u8bed\u8a00\u6a21\u578b\uff08LLM\uff09\u4e0e\u89c6\u89c9\u8bed\u8a00\u6a21\u578b\uff08VLM\uff09\u5f15\u5165\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u5e0c\u671b\u901a\u8fc7\u66f4\u5f3a\u7684\u8bed\u4e49\u7406\u89e3\u80fd\u529b\u6765\u5f25\u8865\u4f20\u7edf\u6a21\u578b\u5728\u9ad8\u5c42\u63a8\u7406\u65b9\u9762\u7684\u4e0d\u8db3\u3002<\/p>\n\n\n\n

\"\"\/
\u56fe11\uff5c\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u591a\u6a21\u6001\u4f20\u611f\u5668\u4e0b\u7684\u76ee\u6807\u68c0\u6d4b\u53ef\u89c6\u5316\uff1aRGB \u56fe\u50cf\u5c55\u793a\u4e86\u5305\u542b\u8f66\u8f86\u3001\u884c\u4eba\u548c\u9a91\u884c\u8005\u7684\u4e8c\u7ef4\u68c0\u6d4b\uff1bLiDAR \u4e0e Radar \u70b9\u4e91\u901a\u8fc7\u7a7a\u95f4\u5bf9\u9f50\u7684\u4e09\u7ef4\u6846\u5b8c\u6210 3D \u68c0\u6d4b\u3002\u591a\u6a21\u6001 AI\uff08\u5305\u62ec LLM \u4e0e VLM\uff09\u7684\u878d\u5408\uff0c\u4f7f\u7cfb\u7edf\u80fd\u591f\u7ed3\u5408\u89c6\u89c9\u4e0e\u7a7a\u95f4\u4fe1\u606f\uff0c\u5b9e\u73b0\u66f4\u4e30\u5bcc\u7684\u573a\u666f\u7406\u89e3\u4e0e\u66f4\u9ad8\u7684\u68c0\u6d4b\u51c6\u786e\u5ea6<\/figcaption><\/figure>\n\n\n\n

\u8fd9\u4e00\u65b9\u5411\u5b55\u80b2\u51fa\u4e86\u8bf8\u591a\u65b0\u5de5\u4f5c\uff0c\u5b83\u4eec\u4e0d\u4e00\u5b9a\u76f4\u63a5\u6267\u884c\u68c0\u6d4b\u4efb\u52a1\uff0c\u5374\u9010\u6e10\u6210\u4e3a\u611f\u77e5\u7ed3\u679c\u4e4b\u540e\u7684\u201c\u8bed\u4e49\u89e3\u91ca\u5c42\u201d\uff0c\u7528\u4e8e\u8f85\u52a9\u7cfb\u7edf\u7406\u89e3\u573a\u666f\u7684\u6f5c\u5728\u98ce\u9669\u3001\u76ee\u6807\u5173\u7cfb\u4e0e\u52a8\u4f5c\u903b\u8f91\u3002<\/p>\n\n\n\n

LLM \u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u4f5c\u7528\u662f\u591a\u6837\u7684\uff0c\u5178\u578b\u529f\u80fd\u5305\u62ec\uff1a<\/p>\n\n\n\n

\u25cf \u5bf9\u573a\u666f\u8fdb\u884c\u8bed\u8a00\u63cf\u8ff0\u4e0e\u603b\u7ed3\uff1b<\/p>\n\n\n\n

\u25cf \u534f\u52a9\u7b56\u7565\u5c42\u7406\u89e3\u73af\u5883\u8bed\u4e49\uff1b<\/p>\n\n\n\n

\u25cf \u4e3a\u8f68\u8ff9\u9884\u6d4b\u63d0\u4f9b\u8bed\u8a00\u63a8\u7406\u80fd\u529b\uff0c\u8ba9\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u80fd\u4ece\u201c\u8bed\u4e49\u89c6\u89d2\u201d\u5224\u65ad\u8f66\u8f86\u8fd0\u52a8\u8d8b\u52bf\uff1b<\/p>\n\n\n\n

\u25cf \u5229\u7528\u8bed\u8a00\u7ed3\u6784\u5316\u80fd\u529b\u5bf9\u573a\u666f\u4e2d\u6f5c\u5728\u98ce\u9669\u8fdb\u884c\u5206\u6790\uff1b<\/p>\n\n\n\n

\u25cf \u901a\u8fc7\u7ed3\u5408\u70b9\u4e91\u4fe1\u606f\uff0c\u8ba9\u6a21\u578b\u80fd\u591f\u4ee5\u8bed\u8a00\u65b9\u5f0f\u8868\u8fbe\u4e09\u7ef4\u51e0\u4f55\u5173\u7cfb\uff1b<\/p>\n\n\n\n

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\"\"\/
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\"\"\/<\/figure>\n\n\n\n

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\n

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