{"id":35859,"date":"2025-12-26T17:31:28","date_gmt":"2025-12-26T09:31:28","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35859"},"modified":"2025-12-26T17:31:28","modified_gmt":"2025-12-26T09:31:28","slug":"2025-12-26-%e5%8d%8e%e7%a7%91%e6%b8%af%e5%a4%a7%e6%8f%90%e5%87%baunilion%ef%bc%9a%e5%9f%ba%e4%ba%8e%e7%ba%bf%e6%80%a7%e7%bb%84-rnn-%e7%9a%84%e7%bb%9f%e4%b8%80%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/26\/35859\/","title":{"rendered":"2025-12-26 \u534e\u79d1&amp;\u6e2f\u5927\u63d0\u51faUniLION\uff1a\u57fa\u4e8e\u7ebf\u6027\u7ec4 RNN \u7684\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/fMNgstvSkaELUqvS4jM24Q\">https:\/\/mp.weixin.qq.com\/s\/fMNgstvSkaELUqvS4jM24Q<\/a><\/p>\n\n\n\n<p>UniLION \u9707\u64bc\u53d1\u5e03\uff0c\u7531\u9999\u6e2f\u5927\u5b66\u3001\u534e\u4e2d\u79d1\u6280\u5927\u5b66\u548c\u767e\u5ea6\u8054\u5408\u7814\u53d1\u3002\u8fd9\u4e00\u521b\u65b0\u7684\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u901a\u8fc7\u7ebf\u6027\u7ec4 RNN \u6280\u672f\uff0c\u6210\u529f\u89e3\u51b3\u4e86\u5904\u7406\u5927\u89c4\u6a21\u70b9\u4e91\u6570\u636e\u548c\u591a\u89c6\u89d2\u56fe\u50cf\u65f6\u7684\u8ba1\u7b97\u6548\u7387\u95ee\u9898\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5e26\u6765\u4e86\u5168\u65b0\u7684\u6280\u672f\u8303\u5f0f\u3002<\/p>\n\n\n\n<p><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1 Transformer \u5728\u5404\u4e2a\u9886\u57df\u5c55\u793a\u4e86\u5353\u8d8a\u7684\u80fd\u529b\uff0c\u4f46\u5176\u4e8c\u6b21\u65b9\u590d\u6742\u5ea6\u7684\u6ce8\u610f\u529b\u673a\u5236\u5728\u5904\u7406\u957f\u5e8f\u5217\u6570\u636e\u65f6\u5f15\u5165\u4e86\u663e\u8457\u7684\u8ba1\u7b97\u5f00\u9500\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b UniLION\uff0c\u5b83\u57fa\u4e8e\u7ebf\u6027\u7ec4 RNN \u8fd0\u7b97\u7b26\uff08\u5373\u5bf9\u5206\u7ec4\u7279\u5f81\u6267\u884c\u7ebf\u6027 RNN\uff09\u9ad8\u6548\u5904\u7406\u5927\u89c4\u6a21 LiDAR \u70b9\u4e91\u3001\u9ad8\u5206\u8fa8\u7387\u591a\u89c6\u89d2\u56fe\u50cf\uff0c\u751a\u81f3\u65f6\u5e8f\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cUniLION\u4f5c\u4e3a\u5355\u4e00\u591a\u529f\u80fd\u67b6\u6784\uff0c\u4e14\u65e0\u9700\u663e\u5f0f\u7684\u65f6\u5e8f\u6216\u591a\u6a21\u6001\u878d\u5408\u6a21\u5757\uff0c\u4fbf\u53ef\u65e0\u7f1d\u652f\u6301\u591a\u79cd\u4e0d\u540c\u8bbe\u7f6e\uff08\u5373LiDAR-only\u3001Temporal LiDAR\u3001LiDAR-Camera\u548cTemporal LiDAR-Camera\uff09\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0cUniLION \u5728\u5e7f\u6cdb\u7684\u6838\u5fc3\u4efb\u52a1\u4e2d\u6301\u7eed\u63d0\u4f9b\u5177\u6709\u7ade\u4e89\u529b\u751a\u81f3\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5305\u62ec 3D \u611f\u77e5\uff08\u5982 3D \u7269\u4f53\u68c0\u6d4b\u30013D \u7269\u4f53\u8ddf\u8e2a\u30013D \u5360\u7528\u9884\u6d4b\u3001BEV \u5730\u56fe\u5206\u5272\uff09\u3001\u9884\u6d4b\uff08\u5982\u8fd0\u52a8\u9884\u6d4b\uff09\u548c\u89c4\u5212\uff08\u5982\u7aef\u5230\u7aef\u89c4\u5212\uff09\u3002\u8fd9\u79cd\u7edf\u4e00\u7684\u8303\u5f0f\u81ea\u7136\u7b80\u5316\u4e86\u591a\u6a21\u6001\u548c\u591a\u4efb\u52a1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8bbe\u8ba1\uff0c\u540c\u65f6\u4fdd\u6301\u5353\u8d8a\u7684\u6027\u80fd\u3002\u6700\u7ec8\uff0c\u6211\u4eec\u5e0c\u671b UniLION \u80fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684 3D \u57fa\u7840\u6a21\u578b\u5f00\u53d1\u63d0\u4f9b\u5168\u65b0\u89c6\u89d2\u3002<\/p>\n\n\n\n<p>\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/github.com\/happinesslz\/UniLION<\/p>\n\n\n\n<p><strong>\u9879\u76ee\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>UniLION \u662f\u4e00\u79cd\u57fa\u4e8e\u7ebf\u6027\u7ec4RNN\uff08\u4e5f\u53ef\u4ee5\u770b\u4f5c\u4e3alinear attention\uff09\u7684\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\uff0c\u5b83\u80fd\u591f\u9ad8\u6548\u5904\u7406\u5927\u89c4\u6a21 LiDAR \u70b9\u4e91\u3001\u9ad8\u5206\u8fa8\u7387\u591a\u89c6\u89d2\u56fe\u50cf\u548c\u65f6\u95f4\u5e8f\u5217\u6570\u636e\u3002UniLION\u4f5c\u4e3a\u5355\u4e00\u591a\u529f\u80fd\u67b6\u6784\uff0c\u4e14\u65e0\u9700\u663e\u5f0f\u7684\u65f6\u5e8f\u6216\u591a\u6a21\u6001\u878d\u5408\u6a21\u5757\uff0c\u4fbf\u53ef\u65e0\u7f1d\u652f\u6301\u591a\u79cd\u4e0d\u540c\u8bbe\u7f6e\uff08\u5373LiDAR-only\u3001Temporal LiDAR\u3001LiDAR-Camera\u548cTemporal LiDAR-Camera\uff09\u3002<\/p>\n\n\n\n<p><strong>\u7814\u7a76\u80cc\u666f\u4e0e\u6311\u6218<\/strong><\/p>\n\n\n\n<p>\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5728\u5904\u7406\u591a\u6a21\u6001\u6570\u636e\u548c\u65f6\u5e8f\u4fe1\u606f\u65f6\u9762\u4e34\u4ee5\u4e0b\u6311\u6218\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u8ba1\u7b97\u6548\u7387\u95ee\u9898<\/strong>\uff1a\u4f20\u7edf\u7684 Transformer \u6a21\u578b\u5728\u5904\u7406\u957f\u5e8f\u5217\u6570\u636e\u65f6\uff0c\u5176\u4e8c\u6b21\u65b9\u590d\u6742\u5ea6\u7684\u6ce8\u610f\u529b\u673a\u5236\u5f15\u5165\u4e86\u663e\u8457\u7684\u8ba1\u7b97\u5f00\u9500\u3002<\/li>\n\n\n\n<li><strong>\u591a\u6a21\u6001\u878d\u5408\u590d\u6742\u6027<\/strong>\uff1a\u73b0\u6709\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u4e13\u95e8\u8bbe\u8ba1\u7684\u878d\u5408\u6a21\u5757\u6765\u6574\u5408\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u589e\u52a0\u4e86\u7cfb\u7edf\u7684\u590d\u6742\u6027\u3002<\/li>\n\n\n\n<li><strong>\u65f6\u5e8f\u4fe1\u606f\u5904\u7406<\/strong>\uff1a\u6709\u6548\u5730\u5904\u7406\u548c\u6574\u5408\u65f6\u5e8f\u4fe1\u606f\u5bf9\u4e8e\u51c6\u786e\u7684\u73af\u5883\u611f\u77e5\u548c\u9884\u6d4b\u81f3\u5173\u91cd\u8981\uff0c\u4f46\u8fd9\u901a\u5e38\u9700\u8981\u989d\u5916\u7684\u4e13\u7528\u6a21\u5757\u3002<\/li>\n\n\n\n<li><strong>\u591a\u4efb\u52a1\u5b66\u4e60\u96be\u5ea6<\/strong>\uff1a\u5728\u5355\u4e00\u6846\u67b6\u4e2d\u540c\u65f6\u5904\u7406\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u591a\u79cd\u4efb\u52a1\u5177\u6709\u6311\u6218\u6027\uff0c\u5f80\u5f80\u9700\u8981\u590d\u6742\u7684\u67b6\u6784\u8bbe\u8ba1\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1016\" height=\"988\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-156.png\" alt=\"\" class=\"wp-image-35865\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-156.png 1016w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-156-300x292.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-156-768x747.png 768w\" sizes=\"(max-width: 1016px) 100vw, 1016px\" \/><\/figure>\n\n\n\n<p><strong>UniLION \u7684\u521b\u65b0\u70b9<\/strong><\/p>\n\n\n\n<p>UniLION \u5c55\u73b0\u51fa\u56db\u4e2a\u663e\u8457\u7279\u70b9\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7edf\u4e00\u7684 3D \u9aa8\u5e72\u7f51\u7edc<\/strong>\uff1a\u57fa\u4e8e\u7ebf\u6027\u7ec4 RNN\uff0cUniLION \u63d0\u4f9b\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684 3D \u9aa8\u5e72\u7f51\u7edc\uff0c\u80fd\u591f\u65e0\u7f1d\u5904\u7406\u4e0d\u540c\u6a21\u6001\u548c\u65f6\u5e8f\u4fe1\u606f\uff0c\u65e0\u9700\u4efb\u4f55\u663e\u5f0f\u878d\u5408\u6a21\u5757\u3002<\/li>\n\n\n\n<li><strong>\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6<\/strong>\uff1a\u5229\u7528\u7ebf\u6027\u7ec4 RNN \u7684\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6\uff0c\u76f4\u63a5\u5c06\u591a\u89c6\u56fe\u50cf\u3001LiDAR \u70b9\u4e91\u548c\u65f6\u5e8f\u4fe1\u606f\uff0c\u76f4\u63a5\u8f6c\u6210token\u8fdb\u884c\u62fc\u63a5\uff08\u7c7b\u4f3cVIT\u5f62\u5f0f\uff09\uff0c\u57283D\u7a7a\u95f4\u4e2d\u8fdb\u884c\u7edf\u4e00\u7684\u878d\u5408\uff0c\u6d88\u9664\u4e86\u5bf9\u663e\u5f0f\u878d\u5408\u6a21\u5757\u7684\u9700\u6c42\u3002<\/li>\n\n\n\n<li><strong>\u7d27\u51d1\u7edf\u4e00\u7684 BEV \u8868\u793a<\/strong>\uff1aUniLION \u80fd\u591f\u5c06\u5f02\u6784\u591a\u6a21\u6001\u4fe1\u606f\u548c\u65f6\u95f4\u5e8f\u5217\u538b\u7f29\u6210\u7d27\u51d1\u3001\u7edf\u4e00\u7684\u9e1f\u77b0\u56fe (BEV) \u7279\u5f81\u8868\u793a\uff0c\u4f5c\u4e3a\u591a\u79cd\u4e0b\u6e38\u4efb\u52a1\u7684\u5171\u4eab\u7279\u5f81\u3002<\/li>\n\n\n\n<li><strong>\u591a\u4efb\u52a1\u5e76\u884c\u5b66\u4e60<\/strong>\uff1aUniLION\u91c7\u7528\u591a\u4efb\u52a1\u5171\u4eab\u7684 BEV\uff0c\u80fd\u591f\u901a\u8fc7\u5e76\u884c\u591a\u4efb\u52a1\u5b66\u4e60\uff0c\u65e0\u7f1d\u5904\u7406\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u591a\u79cd\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u6280\u672f\u67b6\u6784<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"566\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-157-1024x566.png\" alt=\"\" class=\"wp-image-35866\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-157-1024x566.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-157-300x166.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-157-768x425.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-157.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>UniLION Block<\/strong><\/p>\n\n\n\n<p>UniLION Block \u662f UniLION \u67b6\u6784\u7684\u6838\u5fc3\u7ec4\u4ef6\uff0c\u5b83\u7531\u4ee5\u4e0b\u90e8\u5206\u7ec4\u6210\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>UniLION Layer<\/strong>\uff1a\u5229\u7528\u7ebf\u6027\u7ec4 RNN \u64cd\u4f5c\u7b26\u5b9e\u73b0\u957f\u8ddd\u79bb\u7279\u5f81\u4ea4\u4e92\u3002\u6bcf\u4e2a UniLION Layer \u5305\u542b\u4e24\u4e2a\u7ebf\u6027\u7ec4 RNN \u64cd\u4f5c\u7b26\uff0c\u5206\u522b\u57fa\u4e8e X \u8f74\u548c Y \u8f74\u7a97\u53e3\u5212\u5206\u6267\u884c\u7279\u5f81\u4ea4\u4e92\uff0c\u4ece\u800c\u83b7\u5f97\u66f4\u5145\u5206\u7684\u7279\u5f81\u8868\u793a\u3002<\/li>\n\n\n\n<li><strong>3D \u7a7a\u95f4\u7279\u5f81\u63cf\u8ff0\u5668<\/strong>\uff1a\u89e3\u51b3\u5c06 3D \u4f53\u7d20\u7279\u5f81\u5c55\u5e73\u4e3a 1D \u5e8f\u5217\u65f6\u53ef\u80fd\u4e22\u5931\u7684\u7a7a\u95f4\u4fe1\u606f\u95ee\u9898\u3002\u8be5\u63cf\u8ff0\u5668\u7531 3D \u5b50\u6d41\u5f62\u5377\u79ef\u3001LayerNorm \u5c42\u548c GELU \u6fc0\u6d3b\u51fd\u6570\u7ec4\u6210\uff0c\u4e3a UniLION Layer \u63d0\u4f9b\u4e30\u5bcc\u7684 3D \u5c40\u90e8\u4f4d\u7f6e\u611f\u77e5\u4fe1\u606f\u3002<\/li>\n\n\n\n<li><strong>\u4f53\u7d20\u5408\u5e76\u4e0e\u4f53\u7d20\u6269\u5c55<\/strong>\uff1a\u4f53\u7d20\u5408\u5e76\u7528\u4e8e\u7279\u5f81\u4e0b\u91c7\u6837\uff0c\u4f53\u7d20\u6269\u5c55\u7528\u4e8e\u7279\u5f81\u4e0a\u91c7\u6837\uff0c\u4f7f\u7f51\u7edc\u80fd\u591f\u83b7\u53d6\u591a\u5c3a\u5ea6\u7279\u5f81\u3002\u8fd9\u4e9b\u64cd\u4f5c\u4e13\u4e3a\u9ad8\u5ea6\u7a00\u758f\u7684\u70b9\u4e91\u6570\u636e\u8bbe\u8ba1\uff0c\u89e3\u51b3\u4e86\u4e0d\u89c4\u5219\u6570\u636e\u683c\u5f0f\u7684\u5904\u7406\u95ee\u9898\u3002<\/li>\n\n\n\n<li><strong>\u81ea\u56de\u5f52\u4f53\u7d20\u751f\u6210<\/strong>\uff1a\u901a\u8fc7\u5229\u7528\u7ebf\u6027\u7ec4 RNN \u7684\u81ea\u56de\u5f52\u80fd\u529b\uff0c\u5728\u524d\u666f\u4f53\u7d20\u5468\u56f4\u751f\u6210\u6269\u6563\u4f53\u7d20\uff0c\u89e3\u51b3\u4f53\u7d20\u5408\u5e76\u53ef\u80fd\u5bfc\u81f4\u7684\u4fe1\u606f\u4e22\u5931\u95ee\u9898\u3002\u8be5\u7b56\u7565\u901a\u8fc7\u6cbf\u4e0d\u540c\u65b9\u5411\u6269\u6563\u9009\u5b9a\u7684\u524d\u666f\u4f53\u7d20\uff0c\u5e76\u5229\u7528 UniLION Block \u7684\u81ea\u56de\u5f52\u80fd\u529b\u6709\u6548\u751f\u6210\u6269\u6563\u7279\u5f81\u3002<\/li>\n<\/ol>\n\n\n\n<p>UniLION Block \u91c7\u7528\u5c42\u6b21\u5316\u7ed3\u6784\uff0c\u80fd\u591f\u66f4\u597d\u5730\u63d0\u53d6\u591a\u5c3a\u5ea6\u7279\u5f81\uff0c\u4e3a\u4e0b\u6e38\u4efb\u52a1\u63d0\u4f9b\u4e30\u5bcc\u7684\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"535\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-158-1024x535.png\" alt=\"\" class=\"wp-image-35867\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-158-1024x535.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-158-300x157.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-158-768x401.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-158.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7edf\u4e00\u7279\u5f81\u8868\u793a (Unified Feature Representation)<\/strong><\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u65b9\u6cd5\u4e0d\u540c\uff0cUniLION \u4e0d\u9700\u8981\u989d\u5916\u8bbe\u8ba1\u7684\u878d\u5408\u6a21\u5757\u6765\u5b9e\u73b0\u591a\u6a21\u6001\u6216\u65f6\u5e8f\u878d\u5408\u3002\u5176\u7edf\u4e00\u7279\u5f81\u8868\u793a\u80fd\u529b\u4e3b\u8981\u4f53\u73b0\u5728\u4ee5\u4e0b\u4e24\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u7279\u5f81\u5b66\u4e60<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>LiDAR \u70b9\u4e91\u63d0\u4f9b\u7cbe\u786e\u7684\u51e0\u4f55\u7ed3\u6784\uff0c\u800c\u76f8\u673a\u56fe\u50cf\u8d21\u732e\u4e30\u5bcc\u7684\u8bed\u4e49\u5916\u89c2\u4fe1\u606f\uff0c\u4e24\u8005\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u5c55\u73b0\u51fa\u5f3a\u4e92\u8865\u6027\u3002<\/li>\n\n\n\n<li>UniLION \u9996\u5148\u5c06\u70b9\u4e91\u91cf\u5316\u4e3a\u4f53\u7d20\uff0c\u5e76\u4f7f\u7528\u4f53\u7d20\u7279\u5f81\u7f16\u7801\u5668(VFE)\u63d0\u53d6 LiDAR \u4f53\u7d20\u7279\u5f81\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u591a\u89c6\u89d2\u56fe\u50cf\uff0c\u91c7\u7528\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\u63d0\u53d6\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u6df1\u5ea6\u9884\u6d4b\u7f51\u7edc\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u4e3a\u76f8\u673a\u4f53\u7d20\u7279\u5f81\u3002<\/li>\n\n\n\n<li>\u5c06 LiDAR \u4f53\u7d20\u7279\u5f81\u548c\u76f8\u673a\u4f53\u7d20\u7279\u5f81\u8fde\u63a5\uff0c\u751f\u6210\u591a\u6a21\u6001\u4f53\u7d20\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u4f53\u7d20\u5408\u5e76\u7b56\u7565\u5904\u7406\u91cd\u53e0\u7684\u591a\u6a21\u6001\u4f53\u7d20\u3002<\/li>\n\n\n\n<li>\u6700\u7ec8\u5c06\u5408\u5e76\u540e\u7684\u591a\u6a21\u6001\u4f53\u7d20\u76f4\u63a5\u8f93\u5165 UniLION 3D \u9aa8\u5e72\u7f51\u7edc\uff0c\u5728 3D \u7a7a\u95f4\u4e2d\u8fdb\u4e00\u6b65\u63d0\u53d6\u591a\u6a21\u6001\u7279\u5f81\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u65f6\u5e8f\u7279\u5f81\u5b66\u4e60<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u65f6\u5e8f\u4fe1\u606f\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u51c6\u786e\u8fd0\u52a8\u9884\u6d4b\u548c\u8f68\u8ff9\u89c4\u5212\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u5f53\u524d\u5e27\u7684\u591a\u6a21\u6001\u4f53\u7d20\uff0cUniLION \u4ece\u65f6\u5e8f\u8bb0\u5fc6\u5e93\u4e2d\u83b7\u53d6\u5386\u53f2\u591a\u6a21\u6001\u4f53\u7d20\uff08\u5982\u679c\u53ef\u7528\uff09\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528\u6570\u636e\u96c6\u63d0\u4f9b\u7684\u53d8\u6362\u77e9\u9635\u8fdb\u884c\u7a7a\u95f4\u5bf9\u9f50\uff0c\u786e\u4fdd\u8de8\u65f6\u95f4\u5e27\u7684\u7a7a\u95f4\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n<li>\u5c06\u5386\u53f2\u4f53\u7d20\u548c\u5f53\u524d\u4f53\u7d20\u8fde\u63a5\u6784\u5efa\u65f6\u5e8f\u4f53\u7d20\uff0c\u5e76\u91c7\u7528\u4f53\u7d20\u5408\u5e76\u7b56\u7565\u5904\u7406\u8de8\u65f6\u95f4\u5e27\u53ef\u80fd\u5360\u636e\u76f8\u540c 3D \u4f4d\u7f6e\u7684\u591a\u4e2a\u4f53\u7d20\u3002<\/li>\n\n\n\n<li>\u76f4\u63a5\u5c06\u5408\u5e76\u540e\u7684\u4f53\u7d20\u8f93\u5165 UniLION 3D \u9aa8\u5e72\u7f51\u7edc\uff0c\u81ea\u9002\u5e94\u5b66\u4e60\u65f6\u5e8f\u4fe1\u606f\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u901a\u8fc7\u7ebf\u6027\u7ec4 RNN \u5f3a\u5927\u7684\u957f\u8ddd\u79bb\u5efa\u6a21\u80fd\u529b\uff0cUniLION \u80fd\u591f\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u3001LiDAR \u70b9\u4e91\u548c\u65f6\u95f4\u4fe1\u606f\u6574\u5408\u5230\u7edf\u4e00\u7684 3D \u9aa8\u5e72\u7f51\u7edc\u4e2d\uff0c\u65e0\u9700\u989d\u5916\u7684\u878d\u5408\u6a21\u5757\uff0c\u4e3a\u4e0b\u6e38\u4efb\u52a1\u63d0\u4f9b\u7d27\u51d1\u7edf\u4e00\u7684\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-159-1024x292.png\" alt=\"\" class=\"wp-image-35868\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-159-1024x292.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-159-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-159-768x219.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-159.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u6001\u591a\u4efb\u52a1\u635f\u5931 (Dynamic Multi-task Loss)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"382\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/122601.png\" alt=\"\" class=\"wp-image-35869\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/122601.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/122601-300x166.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u5206\u6790<\/strong><\/p>\n\n\n\n<p>UniLION\u5728\u591a\u79cd\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e0a\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u6027\u80fd\uff0c\u901a\u8fc7\u4e00\u7cfb\u5217\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u5176\u6709\u6548\u6027\u3001\u9c81\u68d2\u6027\u548c\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6574\u4f53\u6027\u80fd\u8868\u73b0<\/strong><\/p>\n\n\n\n<p>UniLION\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5b83\u57283D\u7269\u4f53\u68c0\u6d4b\u3001\u591a\u76ee\u6807\u8ddf\u8e2a\u3001BEV\u5730\u56fe\u5206\u5272\u548c3D\u5360\u7528\u9884\u6d4b\u7b49\u4efb\u52a1\u4e0a\u5747\u8fbe\u5230\u4e86\u5177\u6709\u7ade\u4e89\u529b\u751a\u81f3\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u57fa\u4e8eSwin-Tiny\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\u7684UniLION\u7684\u591a\u6a21\u6001\u7248\u672c\u6a21\u578b\uff0c\u57283D\u7269\u4f53\u68c0\u6d4b\u4e0a\u8fbe\u5230\u4e8674.9% NDS\u548c72.2% mAP\uff0c\u5728\u591a\u76ee\u6807\u8ddf\u8e2a\u4e0a\u8fbe\u5230\u4e8676.2% AMOTA\uff0c\u5728BEV\u5730\u56fe\u5206\u5272\u4e0a\u8fbe\u5230\u4e8672.3% mIoU\uff0c\u57283D\u5360\u7528\u9884\u6d4b\u4e0a\u8fbe\u5230\u4e8650.8% RayIoU\u3002\u5bf9\u4e8e\u6700\u5f3a\u7684\u65f6\u5e8f\u591a\u6a21\u6001UniLION\uff0c\u5728\u6240\u6709\u8bc4\u4f30\u4efb\u52a1\u4e2d\u5747\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u6216\u6781\u5177\u7ade\u4e89\u529b\u7684\u6027\u80fd\u8868\u73b0\uff1a\u68c0\u6d4b\u4efb\u52a1\u8fbe\u523075.4% NDS\u548c73.2% mAP\uff0c\u8ddf\u8e2a\u4efb\u52a1\u8fbe\u523076.5% AMOTA\uff0c\u5730\u56fe\u5206\u5272\u8fbe\u523073.3% mIoU\uff0c\u5360\u7528\u9884\u6d4b\u8fbe\u523051.3% RayIoU\uff0c\u8f66\u8f86\u8fd0\u52a8\u9884\u6d4b\u8fbe\u52300.57 minADE\uff0c\u884c\u4eba\u8fd0\u52a8\u9884\u6d4b\u8fbe\u52300.37 minADE\uff0c\u4ee5\u53ca\u89c4\u5212\u4efb\u52a1\u4e2d\u6781\u4f4e\u76840.18%\u78b0\u649e\u7387\uff0c\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u5728\u89c4\u5212\u4efb\u52a1\u4e2d\u6ca1\u6709\u4f7f\u7528\u81ea\u8f66\u72b6\u6001\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"887\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-160-1024x887.png\" alt=\"\" class=\"wp-image-35870\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-160-1024x887.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-160-300x260.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-160-768x666.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-160.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4e0d\u540c\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u63d0\u4f9b\u4e86\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u7248\u672c\u7684UniLION\uff0c\u91c7\u7528ResNet-50\u4f5c\u4e3a\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\uff0c\u56fe\u50cf\u5206\u8fa8\u7387\u4e3a256\u00d7704\u3002\u4e0e\u57fa\u7840\u6a21\u578b\uff08\u4f7f\u7528Swin-tiny\u4f5c\u4e3a\u56fe\u50cf\u9aa8\u5e72\u7f51\u7edc\uff0c\u5206\u8fa8\u7387\u4e3a384\u00d71056\uff09\u76f8\u6bd4\uff0c\u8f7b\u91cf\u7ea7\u7248\u672c\u4ecd\u7136\u83b7\u5f97\u4e86\u4ee4\u4eba\u6ee1\u610f\u7684\u6027\u80fd\uff1a73.6% NDS\u300170.8% mAP\uff083D\u68c0\u6d4b\uff09\u300175.0% AMOTA\uff08\u591a\u76ee\u6807\u8ddf\u8e2a\uff09\u300171.8% mIoU\uff08\u5730\u56fe\u5206\u5272\uff09\u548c50.2% RayIoU\uff083D\u5360\u7528\uff09\u3002\u8fd9\u8868\u660e\u5373\u4f7f\u5728\u8ba1\u7b97\u8d44\u6e90\u53d7\u9650\u7684\u60c5\u51b5\u4e0b\uff0cUniLION\u4e5f\u80fd\u4fdd\u6301\u826f\u597d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u4e0d\u540c\u7ebf\u6027RNN\u64cd\u4f5c\u7b26\u7684\u7075\u6d3b\u6027<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6846\u67b6\u7684\u7075\u6d3b\u6027\uff0c\u6211\u4eec\u8bc4\u4f30\u4e86\u53e6\u4e00\u79cd\u4ee3\u8868\u6027\u7684\u7ebf\u6027RNN\u64cd\u4f5c\u7b26RWKV\u3002\u867d\u7136UniLION-RWKV\u7684\u6027\u80fd\u7565\u4f4e\u4e8eUniLION-Mamba\uff0c\u4f46\u5b83\u4ecd\u7136\u5728\u591a\u4e2a\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e0a\u53d6\u5f97\u4e86\u4f18\u5f02\u7684\u7ed3\u679c\uff0c\u6709\u6548\u5730\u8bc1\u660e\u4e86\u6211\u4eec\u6846\u67b6\u7684\u7075\u6d3b\u6027\u3002\u5728\u4f7f\u7528Swin-Tiny\u65f6\uff0c\u4e0eRWKV\u76f8\u6bd4\uff0cUniLION\u4f7f\u7528Mamba\u4ea7\u751f\u4e86\u4e00\u81f4\u7684\u6027\u80fd\u63d0\u5347\uff080.6% NDS\u30010.8% mAP\u30011.1% AMOTA\u30010.3% mIoU\u548c0.9% RayIoU\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"213\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-161-1024x213.png\" alt=\"\" class=\"wp-image-35871\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-161-1024x213.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-161-300x63.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-161-768x160.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-161.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ec4\u4ef6\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u5bf9UniLION\u7684\u5404\u4e2a\u7ec4\u4ef6\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u5305\u62ec3D\u7a7a\u95f4\u7279\u5f81\u63cf\u8ff0\u5668\u548c\u4f53\u7d20\u751f\u6210\u6a21\u5757\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>3D\u7a7a\u95f4\u7279\u5f81\u63cf\u8ff0\u5668<\/strong>\uff1a\u5c063D\u7a7a\u95f4\u7279\u5f81\u63cf\u8ff0\u5668\u96c6\u6210\u5230\u57fa\u7ebf\u6a21\u578b\u4e2d\uff0c\u5e26\u6765\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\uff080.7% NDS\u30010.8% mAP\u30011.9% AMOTA\u30010.5% mIoU\u548c1.1% RayIoU\uff09\u3002\u8fd9\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u76843D\u7a7a\u95f4\u7279\u5f81\u63cf\u8ff0\u5668\u5728\u8865\u507f\u7ebf\u6027RNN\u6709\u9650\u7684\u7a7a\u95f4\u5efa\u6a21\u80fd\u529b\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/li>\n\n\n\n<li><strong>\u4f53\u7d20\u751f\u6210\u6a21\u5757<\/strong>\uff1a\u4f53\u7d20\u751f\u6210\u6a21\u5757\u901a\u8fc7\u589e\u5f3a\u524d\u666f\u4f53\u7d20\u7279\u5f81\u8868\u793a\uff0c\u76f8\u6bd4\u57fa\u7ebf\u6a21\u578b\u63d0\u5347\u4e860.6% NDS\u30011.1% mAP\u30012.7% AMOTA\u30010.1% mIoU\u548c0.3% RayIoU\u7684\u6027\u80fd\u3002<\/li>\n\n\n\n<li><strong>\u7ec4\u4ef6\u7ec4\u5408<\/strong>\uff1a\u5f53\u6240\u6709\u7ec4\u4ef6\u7ed3\u5408\u4f7f\u7528\u65f6\uff0cUniLION\u8fbe\u5230\u4e8673.6% NDS\u300170.8% mAP\u300175.0% AMOTA\u300171.8% mIoU\u548c50.2% RayIoU\uff0c\u76f8\u6bd4\u57fa\u7ebf\u6a21\u578b\u5206\u522b\u63d0\u5347\u4e860.7% NDS\u30011.8% mAP\u30013.1% AMOTA\u30011.6% mIoU\u548c1.8% RayIoU\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-162-1024x294.png\" alt=\"\" class=\"wp-image-35872\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-162-1024x294.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-162-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-162-768x220.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-162.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u6001\u635f\u5931\u673a\u5236\u7684\u6709\u6548\u6027<\/strong><\/p>\n\n\n\n<p>\u52a8\u6001\u635f\u5931\u673a\u5236\u5728\u5927\u591a\u6570\u4efb\u52a1\u4e0a\u5e26\u6765\u4e86\u4e00\u81f4\u7684\u6027\u80fd\u63d0\u5347\uff1a\u68c0\u6d4b\u4efb\u52a1\u63d0\u5347\u4e860.3% NDS\uff0c\u8ddf\u8e2a\u4efb\u52a1\u63d0\u5347\u4e860.9% AMOTA\uff0c\u5730\u56fe\u5206\u5272\u4efb\u52a1\u63d0\u5347\u4e860.6% mIoU\u3002\u7136\u800c\uff0c\u6211\u4eec\u89c2\u5bdf\u52303D\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u6027\u80fd\u7565\u6709\u4e0b\u964d\u3002\u8fd9\u53ef\u80fd\u662f\u56e0\u4e3a\u52a8\u6001\u635f\u5931\u673a\u5236\u9f13\u52b1UniLION\u4f18\u5148\u8003\u8651\u6574\u4f53\u4efb\u52a1\u5e73\u8861\uff0c\u8fd9\u53ef\u80fd\u4f1a\u4ee5\u727a\u7272\u4e2a\u522b\u4efb\u52a1\u4f18\u5316\u4e3a\u4ee3\u4ef7\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"220\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-163-1024x220.png\" alt=\"\" class=\"wp-image-35873\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-163-1024x220.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-163-300x64.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-163-768x165.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-163.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u4efb\u52a1\u5b66\u4e60\u7684\u5f71\u54cd<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u7814\u7a76\u4e86\u8054\u5408\u8bad\u7ec3\u5bf9\u4e0d\u540c\u4efb\u52a1\u6027\u80fd\u7684\u5f71\u54cd\u3002\u5f53\u8054\u5408\u8bad\u7ec33D\u68c0\u6d4b\u548c\u5730\u56fe\u5206\u5272\u4efb\u52a1\u65f6\uff0c\u5730\u56fe\u5206\u5272\u4efb\u52a1\u7684\u6027\u80fd\u663e\u8457\u63d0\u5347\uff0871.7% mIoU vs. 68.3% mIoU\uff09\u3002\u5f53\u8fdb\u4e00\u6b65\u52a0\u5165\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u65f6\uff0c\u6a21\u578b\u5728\u68c0\u6d4b\u4efb\u52a1\u4e0a\u6027\u80fd\u7565\u6709\u4e0b\u964d\uff0c\u4f46\u5728\u5360\u7528\u9884\u6d4b\u4efb\u52a1\u4e0a\u83b7\u5f97\u4e862.7% RayIoU\u7684\u663e\u8457\u63d0\u5347\uff0c\u8fd9\u8868\u660e\u68c0\u6d4b\u4efb\u52a1\u901a\u5e38\u53ef\u4ee5\u589e\u5f3a3D\u5360\u7528\u4f30\u8ba1\u80fd\u529b\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u8054\u5408\u8bad\u7ec3\u65b9\u6cd5\u76f8\u6bd4\u5355\u4efb\u52a1\u6a21\u578b\u8fbe\u5230\u4e86\u53ef\u6bd4\u751a\u81f3\u66f4\u4f18\u7684\u6027\u80fd\uff0c\u8bc1\u660e\u4e86UniLION 3D\u9aa8\u5e72\u7f51\u7edc\u63d0\u53d6\u7684\u7d27\u51d1BEV\u7279\u5f81\u8868\u793a\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"169\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-164-1024x169.png\" alt=\"\" class=\"wp-image-35874\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-164-1024x169.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-164-300x49.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-164-768x127.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-164.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7a97\u53e3\u5927\u5c0f\u548c\u7ec4\u5927\u5c0f\u7684\u9c81\u68d2\u6027<\/strong><\/p>\n\n\n\n<p>UniLION\u7684\u4e00\u4e2a\u57fa\u672c\u4f18\u52bf\u5728\u4e8e\u901a\u8fc7\u7ebf\u6027RNN\u5b9e\u73b0\u957f\u8ddd\u79bb\u4f9d\u8d56\u5efa\u6a21\u7684\u80fd\u529b\u3002\u4e3a\u4e86\u8bc4\u4f30\u6211\u4eec\u65b9\u6cd5\u7684\u6cdb\u5316\u80fd\u529b\u548c\u53c2\u6570\u654f\u611f\u6027\uff0c\u6211\u4eec\u5bf9\u4e0d\u540c\u7a97\u53e3\u5927\u5c0f\u548c\u7ec4\u5927\u5c0f\u8fdb\u884c\u4e86\u5168\u9762\u7684\u9c81\u68d2\u6027\u5206\u6790\u3002\u5b9e\u9a8c\u8868\u660e\uff0cUniLION\u5728\u4e0d\u540c\u7a97\u53e3\u548c\u7ec4\u5927\u5c0f\u914d\u7f6e\u4e0b\u8868\u73b0\u51fa\u663e\u8457\u7684\u7a33\u5b9a\u6027\u548c\u4e00\u81f4\u6027\u80fd\u3002\u8fd9\u8868\u660eUniLION\u5177\u6709\u826f\u597d\u7684\u5916\u63a8\u80fd\u529b\uff0c\u4e0d\u8fc7\u5ea6\u4f9d\u8d56\u624b\u5de5\u8bbe\u8ba1\u7684\u5148\u9a8c\u77e5\u8bc6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-165-1024x229.png\" alt=\"\" class=\"wp-image-35875\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-165-1024x229.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-165-300x67.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-165-768x172.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-165.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u4f20\u611f\u5668\u9519\u4f4d\u7684\u9c81\u68d2\u6027<\/strong><\/p>\n\n\n\n<p>\u4f20\u611f\u5668\u9519\u4f4d\u95ee\u9898\u53ef\u80fd\u51fa\u73b0\u5728\u5927\u591a\u6570\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u3002\u56e0\u6b64\uff0c\u63a2\u7d22\u5bf9\u4f20\u611f\u5668\u9519\u4f4d\u7684\u9c81\u68d2\u6027\u5bf9\u4e8e\u786e\u4fdd\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u81f3\u5173\u91cd\u8981\u3002\u6211\u4eec\u6a21\u62df\u4e86LiDAR\u548c\u76f8\u673a\u6a21\u6001\u4e4b\u95f4\u7684\u4f20\u611f\u5668\u9519\u4f4d\uff0c\u5177\u4f53\u800c\u8a00\uff0c&#8221;\u4f4e&#8221;\u3001&#8221;\u4e2d&#8221;\u548c&#8221;\u9ad8&#8221;\u9519\u4f4d\u7ea7\u522b\u5206\u522b\u8868\u793a\u76f8\u673a\u5916\u53c2\u77e9\u9635\u6cbf\u5782\u76f4\u65b9\u5411\u65cb\u8f6c1.5\u00b0\u30013.0\u00b0\u548c5.0\u00b0\uff0c\u5e76\u5e73\u79fb0.15m\u30010.30m\u548c0.50m\u3002<\/p>\n\n\n\n<p>\u5728\u4f4e\u9519\u4f4d\u7ea7\u522b\u4e0b\uff0cUniLION\u5728\u4e0d\u540c\u4efb\u52a1\u4e0a\u4fdd\u6301\u4e86\u4e0e\u5bf9\u9f50\u6a21\u578b\u76f8\u5f53\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u5373\u4f7f\u5728\u9ad8\u9519\u4f4d\u7ea7\u522b\u4e0b\uff0c\u6211\u4eec\u7684UniLION\u4e5f\u4ec5\u51fa\u73b0\u4e86\u9002\u5ea6\u7684\u6027\u80fd\u4e0b\u964d\uff080.8% NDS\u30011.3% mAP\u30011.0% AMOTA\u30010.3% mIoU\u548c1.4% RayIoU\uff09\uff0c\u5c55\u793a\u4e86\u5f3a\u5927\u7684\u9c81\u68d2\u6027\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1\u5b58\u5728\u76f8\u673a-LiDAR\u9519\u4f4d\uff0c\u591a\u6a21\u6001UniLION\u4ecd\u7136\u59cb\u7ec8\u4f18\u4e8e\u4ec5\u4f7f\u7528LiDAR\u7684UniLION\u3002\u8fd9\u4e9b\u5b9e\u9a8c\u6709\u529b\u5730\u8bc1\u660e\u4e86UniLION\u5bf9\u4f20\u611f\u5668\u9519\u4f4d\u6311\u6218\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"248\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-166-1024x248.png\" alt=\"\" class=\"wp-image-35876\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-166-1024x248.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-166-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-166-768x186.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-166.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u8ba1\u7b97\u6548\u7387\u5206\u6790<\/strong><\/p>\n\n\n\n<p>UniLION\u901a\u8fc7\u7ebf\u6027\u7ec4RNN\u7684\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u8ba1\u7b97\u8d44\u6e90\u9700\u6c42\u548c\u63a8\u7406\u65f6\u95f4\u3002\u4e0e\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0cUniLION\u5728\u5904\u7406\u5927\u89c4\u6a21\u70b9\u4e91\u6570\u636e\u548c\u9ad8\u5206\u8fa8\u7387\u591a\u89c6\u89d2\u56fe\u50cf\u65f6\u5c55\u73b0\u51fa\u66f4\u9ad8\u7684\u8ba1\u7b97\u6548\u7387\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u8fd9\u4f7f\u5f97UniLION\u66f4\u9002\u5408\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u90e8\u7f72\uff0c\u7279\u522b\u662f\u5728\u8ba1\u7b97\u8d44\u6e90\u53d7\u9650\u7684\u73af\u5883\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-167-1024x252.png\" alt=\"\" class=\"wp-image-35877\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-167-1024x252.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-167-300x74.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-167-768x189.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-167.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8ff0\u5b9e\u9a8c\u7ed3\u679c\u548c\u5206\u6790\uff0c\u6211\u4eec\u8bc1\u660e\u4e86UniLION\u4f5c\u4e3a\u4e00\u79cd\u7edf\u4e00\u7684\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u7684\u6709\u6548\u6027\u3001\u9c81\u68d2\u6027\u548c\u7075\u6d3b\u6027\u3002\u5b83\u4e0d\u4ec5\u80fd\u591f\u5728\u591a\u79cd\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e0a\u8fbe\u5230\u5177\u6709\u7ade\u4e89\u529b\u751a\u81f3\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u800c\u4e14\u5177\u6709\u826f\u597d\u7684\u8ba1\u7b97\u6548\u7387\u548c\u5bf9\u4f20\u611f\u5668\u9519\u4f4d\u7684\u9c81\u68d2\u6027\u3002\u8fd9\u4e9b\u7279\u6027\u4f7fUniLION\u6210\u4e3a\u4e00\u4e2a\u6709\u524d\u9014\u7684\u81ea\u52a8\u9a7e\u9a76\u57fa\u7840\u6a21\u578b\uff0c\u4e3a\u672a\u6765\u7684\u7814\u7a76\u548c\u5e94\u7528\u63d0\u4f9b\u4e86\u65b0\u7684\u53ef\u80fd\u6027\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7edf\u4e00\u7684\u591a\u6a21\u6001\u5904\u7406<\/strong>\uff1a\u57fa\u4e8e\u7ebf\u6027\u7ec4 RNN \u7684\u5353\u8d8a\u957f\u7a0b\u5efa\u6a21\u80fd\u529b\u548c\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6\uff0cUniLION \u80fd\u591f\u5c06\u591a\u89c6\u89d2\u56fe\u50cf\u3001LiDAR \u70b9\u4e91\u548c\u65f6\u95f4\u4fe1\u606f\u6574\u5408\u5230\u7edf\u4e00\u7684 3D \u9aa8\u5e72\u7f51\u7edc\u4e2d\uff0c\u6d88\u9664\u4e86\u901a\u5e38\u9700\u8981\u7684\u624b\u5de5\u8bbe\u8ba1\u878d\u5408\u6a21\u5757\u3002<\/li>\n\n\n\n<li><strong>\u7d27\u51d1\u7edf\u4e00\u7684\u7279\u5f81\u8868\u793a<\/strong>\uff1aUniLION \u6709\u6548\u5730\u5c06\u5f02\u6784\u591a\u6a21\u6001\u4fe1\u606f\u548c\u65f6\u95f4\u5e8f\u5217\u538b\u7f29\u6210\u7d27\u51d1\u3001\u7edf\u4e00\u7684\u9e1f\u77b0\u56fe\u7279\u5f81\u8868\u793a\uff0c\u4f5c\u4e3a\u65e0\u7f1d\u5904\u7406\u591a\u79cd\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u7684\u901a\u7528\u57fa\u7840\u3002<\/li>\n\n\n\n<li><strong>\u5353\u8d8a\u7684\u591a\u4efb\u52a1\u6027\u80fd<\/strong>\uff1aUniLION \u5728 3D \u611f\u77e5\uff083D \u7269\u4f53\u68c0\u6d4b\u30013D \u7269\u4f53\u8ddf\u8e2a\u3001\u5360\u7528\u9884\u6d4b\u3001\u5730\u56fe\u5206\u5272\uff09\u3001\u9884\u6d4b\uff08\u8fd0\u52a8\u9884\u6d4b\uff09\u548c\u89c4\u5212\uff08\u7aef\u5230\u7aef\u89c4\u5212\uff09\u4efb\u52a1\u4e0a\u8fbe\u5230\u4e86\u5177\u6709\u7ade\u4e89\u529b\u751a\u81f3\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u7a81\u663e\u4e86\u6211\u4eec\u65b9\u6cd5\u5728\u5e94\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6311\u6218\u65b9\u9762\u7684\u901a\u7528\u6027\u548c\u6709\u6548\u6027\u3002<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u6548\u7387\u4f18\u52bf<\/strong>\uff1aUniLION \u901a\u8fc7\u7ebf\u6027\u7ec4 RNN \u7684\u7ebf\u6027\u8ba1\u7b97\u590d\u6742\u5ea6\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u8ba1\u7b97\u8d44\u6e90\u9700\u6c42\u548c\u63a8\u7406\u65f6\u95f4\uff0c\u4f7f\u5176\u66f4\u9002\u5408\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u90e8\u7f72\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u672a\u6765\u5c55\u671b<\/strong><\/p>\n\n\n\n<p>\u4f5c\u4e3a\u4e00\u79cd\u7edf\u4e00\u7684\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\uff0cUniLION \u4e3a\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684 3D \u57fa\u7840\u6a21\u578b\u5f00\u53d1\u63d0\u4f9b\u4e86\u5168\u65b0\u89c6\u89d2\u3002\u6211\u4eec\u671f\u5f85\u8fd9\u79cd\u7edf\u4e00\u6846\u67b6\u80fd\u591f\u7b80\u5316\u591a\u6a21\u6001\u548c\u591a\u4efb\u52a1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u8bbe\u8ba1\uff0c\u540c\u65f6\u4fdd\u6301\u5353\u8d8a\u7684\u6027\u80fd\uff0c\u4e3a\u672a\u6765\u7684\u7814\u7a76\u548c\u5e94\u7528\u5e26\u6765\u65b0\u7684\u53ef\u80fd\u6027\u3002<\/p>\n\n\n\n<p>\u5728\u672a\u6765\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u8ba1\u5212\u8fdb\u4e00\u6b65\u63a2\u7d22\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u6269\u5c55\u652f\u6301\u66f4\u591a\u4f20\u611f\u5668\u6a21\u6001<\/strong>\uff1a\u5c06 UniLION \u6269\u5c55\u5230\u652f\u6301\u66f4\u591a\u4f20\u611f\u5668\u7c7b\u578b\uff0c\u5982\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3001\u8d85\u58f0\u6ce2\u7b49\uff0c\u8fdb\u4e00\u6b65\u589e\u5f3a\u5176\u611f\u77e5\u80fd\u529b\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9645\u7cfb\u7edf\u5e94\u7528\u9a8c\u8bc1<\/strong>\uff1a\u5c06 UniLION \u5e94\u7528\u4e8e\u5b9e\u9645\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u9a8c\u8bc1\u5176\u5728\u771f\u5b9e\u4e16\u754c\u4e2d\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li><strong>\u5927\u89c4\u6a21\u9884\u8bad\u7ec3<\/strong>\uff1a\u63a2\u7d22\u5728\u66f4\u5927\u89c4\u6a21\u6570\u636e\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347 UniLION \u7684\u6cdb\u5316\u80fd\u529b\u548c\u8868\u73b0\u3002<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-35859","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35859"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=35859"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35859\/revisions"}],"predecessor-version":[{"id":35878,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/35859\/revisions\/35878"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=35859"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=35859"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=35859"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}