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\u5360\u7528\u7f51\u7edc\u7684\u5e95\u5c42\u67b6\u6784<\/strong><\/p>\n\n\n\n

\u8981\u652f\u6491\u8d77\u5982\u6b64\u5e9e\u5927\u7684\u5b9e\u65f6\u4e09\u7ef4\u611f\u77e5\u4efb\u52a1\uff0c\u5360\u7528\u7f51\u7edc\u80cc\u540e\u7684\u795e\u7ecf\u7f51\u7edc\u67b6\u6784\u6781\u5176\u590d\u6742\u3002\u4ee5\u7279\u65af\u62c9\u5728AI Day 2022\u4e0a\u516c\u5f00\u7684\u6280\u672f\u65b9\u6848\u4e3a\u4f8b\uff0c\u5176\u6d41\u7a0b\u59cb\u4e8e\u9ad8\u6548\u7684\u9aa8\u5e72\u7f51\u7edc\uff08\u5982RegNet\uff09\u548c\u7279\u5f81\u878d\u5408\u6a21\u5757\uff08\u5982BiFPN\uff09\uff0c\u5176\u4ece\u591a\u4e2a\u73af\u89c6\u6444\u50cf\u5934\u4e2d\u63d0\u53d6\u9ad8\u7ef4\u7684\u4e8c\u7ef4\u56fe\u50cf\u7279\u5f81\u3002\u968f\u540e\uff0c\u6a21\u578b\u901a\u8fc7\u5f15\u5165\u7a7a\u95f4\u6ce8\u610f\u529b\u673a\u5236\uff08Spatial Attention\uff09\uff0c\u5229\u7528\u5e26\u67093D\u7a7a\u95f4\u4f4d\u7f6e\u4fe1\u606f\u7684\u7a7a\u95f4\u67e5\u8be2\uff08Spatial Query\uff09\u5728\u591a\u76f8\u673a\u751f\u6210\u7684\u56fe\u50cf\u7279\u5f81\u4e2d\u8fdb\u884c\u8de8\u76f8\u673a\u878d\u5408\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u79cd\u6570\u5b66\u4e0a\u7684\u5347\u7ef4\u64cd\u4f5c\uff0c\u80fd\u5c06\u79bb\u6563\u7684\u3001\u5b58\u5728\u7578\u53d8\u7684\u4e8c\u7ef4\u56fe\u50cf\u6570\u636e\u91cd\u6784\u5230\u7edf\u4e00\u7684\u4e09\u7ef4\u5411\u91cf\u7a7a\u95f4\u4e2d\u3002<\/p>\n\n\n\n

\u5728\u8fd9\u4e2a3D\u5411\u91cf\u7a7a\u95f4\u5185\uff0c\u7cfb\u7edf\u5f15\u5165\u4e86\u65f6\u5e8f\u878d\u5408\uff08Temporal Fusion\uff09\u6765\u5904\u7406\u52a8\u6001\u73af\u5883\u3002\u7279\u65af\u62c9\u7684\u65b9\u6848\u8bbe\u8ba1\u4e86\u4e24\u5957\u7279\u5f81\u961f\u5217\uff0c\u65f6\u5e8f\u7279\u5f81\u961f\u5217\u6bcf27\u6beb\u79d2\u66f4\u65b0\u4e00\u6b21\u7279\u5f81\uff0c\u7528\u4e8e\u6355\u6349\u5feb\u901f\u8fd0\u52a8\u76ee\u6807\u7684\u8fde\u8d2f\u6027\uff1b\u800c\u7a7a\u95f4\u7279\u5f81\u961f\u5217\u5219\u6839\u636e\u8f66\u8f86\u884c\u9a76\u7684\u56fa\u5b9a\u8ddd\u79bb\u6765\u66f4\u65b0\uff0c\u8fd9\u5728\u8f66\u8f86\u505c\u6b62\uff08\u5982\u7b49\u7ea2\u7eff\u706f\uff09\u65f6\u5c24\u4e3a\u91cd\u8981\uff0c\u80fd\u9632\u6b62\u6a21\u578b\u56e0\u4e3a\u9759\u6b62\u800c\u201c\u5fd8\u8bb0\u201d\u4e4b\u524d\u7684\u7a7a\u95f4\u4fe1\u606f\u3002\u4e3a\u4e86\u6574\u5408\u8fd9\u4e9b\u65f6\u5e8f\u4fe1\u606f\uff0c\u901a\u8fc7\u4f7f\u7528\u7a7a\u95f4RNN\uff08Spatial RNN\uff09\u6a21\u5757\uff0c\u5c06\u9690\u72b6\u6001\uff08Hidden State\uff09\u7ec4\u7ec7\u6210\u4e00\u4e2a\u4e8c\u7ef4\u6216\u4e09\u7ef4\u7f51\u683c\uff0c\u968f\u7740\u8f66\u8f86\u7684\u79fb\u52a8\u4e0d\u65ad\u66f4\u65b0\u5468\u56f4\u73af\u5883\u7684\u201c\u8bb0\u5fc6\u201d\u3002<\/p>\n\n\n\n

\u5728\u89e3\u7801\u9636\u6bb5\uff0c\u5360\u7528\u7f51\u7edc\u5e76\u4e0d\u53ea\u662f\u8f93\u51fa\u4e00\u5f20\u4f53\u683c\u5316\u7684\u5730\u56fe\u3002\u4e3a\u4e86\u6253\u7834\u56fa\u5b9a\u5206\u8fa8\u7387\u7684\u9650\u5236\uff0c\u6a21\u578b\u5f15\u5165\u4e86\u9690\u5f0f\u5750\u6807\u67e5\u8be2\uff08Implicit Queryable MLP Decoder\uff09\u3002\u8fd9\u610f\u5473\u7740\uff0c\u5bf9\u4e8e\u7a7a\u95f4\u4e2d\u7684\u4efb\u610f\u5750\u6807(x, y, z)\uff0c\u6a21\u578b\u90fd\u80fd\u89e3\u7801\u51fa\u8be5\u70b9\u7684\u591a\u79cd\u4fe1\u606f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u8d4b\u4e88\u4e86\u611f\u77e5\u7cfb\u7edf\u6781\u9ad8\u7684\u7075\u6d3b\u6027\uff0c\u5b83\u65e2\u80fd\u63d0\u4f9b\u7c97\u7565\u7684\u5168\u666f\u611f\u77e5\uff0c\u4e5f\u80fd\u5728\u5173\u952e\u533a\u57df\u8fdb\u884c\u9ad8\u5bc6\u5ea6\u7684\u7ec6\u7c92\u5ea6\u91c7\u6837\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

\u9664\u4e86\u7279\u65af\u62c9\u7684\u8def\u5f84\uff0c\u8fd8\u884d\u751f\u51fa\u4e86\u5982OccNet\u548cTPVFormer\u7b49\u4e0d\u540c\u7684\u53d8\u4f53\u3002OccNet\u91c7\u7528\u4e86\u7ea7\u8054\u4f53\u7d20\u89e3\u7801\u5668\uff08Cascade Voxel Decoder\uff09\uff0c\u8fd9\u79cd\u67b6\u6784\u4e0d\u518d\u662f\u4e00\u6b21\u6027\u751f\u6210\u9ad8\u5206\u8fa8\u7387\u76843D\u4f53\u79ef\uff0c\u800c\u662f\u901a\u8fc7\u591a\u7ea7\u7ec6\u5316\u7684\u65b9\u5f0f\u9010\u6b65\u4e30\u5bcc\u9ad8\u5ea6\u4fe1\u606f\u548c\u4f53\u7d20\u7ec6\u8282\uff0c\u4ece\u800c\u5728\u8ba1\u7b97\u6548\u7387\u548c\u611f\u77e5\u7cbe\u5ea6\u4e4b\u95f4\u627e\u5230\u4e86\u5e73\u8861\u3002\u5b83\u8fd8\u4f7f\u7528\u4e86\u4e13\u95e8\u4e3a3D\u7a7a\u95f4\u4f18\u5316\u7684\u4e09\u7ef4\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\uff083D Deformable Attention\uff09\uff0c\u8fd9\u4f7f\u5f97\u7cfb\u7edf\u5728\u5904\u7406\u884c\u4eba\u3001\u4ea4\u901a\u9525\u7b49\u7ec6\u5c0f\u969c\u788d\u7269\u65f6\u7684mIoU\uff08\u5e73\u5747\u4ea4\u5e76\u6bd4\uff09\u8868\u73b0\u663e\u8457\u4f18\u4e8e\u4f20\u7edf\u7684BEV\u65b9\u6cd5\u3002<\/p>\n\n\n\n

\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u5347\u611f\u77e5\u7684\u51c6\u786e\u6027\uff0c\u50cf\u662f\u7406\u60f3\u3001\u534e\u4e3a\u7b49\u56fd\u5185\u5382\u5546\u5219\u9009\u62e9\u4e86\u89c6\u89c9\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684\u6df1\u5ea6\u878d\u5408\u3002\u7406\u60f3\u7684BEV\u878d\u5408\u7b97\u6cd5\u5728\u6444\u50cf\u5934\u91c7\u96c6\u7684\u4e30\u5bcc\u8bed\u4e49\u57fa\u7840\u4e0a\uff0c\u52a0\u5165\u4e86\u6fc0\u5149\u96f7\u8fbe\u7684\u9ad8\u7cbe\u5ea6\u6d4b\u8ddd\u6570\u636e\u3002\u6fc0\u5149\u96f7\u8fbe\u80fd\u591f\u5728200\u7c73\u5916\u63d0\u524d\u63a2\u6d4b\u5230\u5371\u9669\u76ee\u6807\uff0c\u5e76\u5229\u7528\u667a\u80fd\u6ee4\u566a\u7b97\u6cd5\u8bc6\u522b\u96e8\u96fe\u3001\u524d\u8f66\u5c3e\u6c14\u7b49\u73af\u5883\u566a\u70b9\uff0c\u5176\u53cd\u5e94\u901f\u5ea6\u901a\u5e38\u4ec5\u4e3a0.1\u79d2\uff0c\u8fdc\u8d85\u4eba\u7c7b\u9a7e\u9a76\u5458\u76840.6 \u79d2\u3002\u5728\u8fd9\u79cd\u878d\u5408\u67b6\u6784\u4e0b\uff0c\u5360\u7528\u7f51\u7edc\u88ab\u8d4b\u4e88\u4e86\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\uff0c\u5373\u4fbf\u5728\u9ed1\u591c\u3001\u96a7\u9053\u70df\u96fe\u6216\u6781\u7aef\u5929\u6c14\u4e0b\u6444\u50cf\u5934\u5931\u6548\u65f6\uff0c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u751f\u6210\u7684\u7a7a\u95f4\u5360\u7528\u4fe1\u606f\u4f9d\u7136\u80fd\u786e\u4fddAEB\u7b49\u5b89\u5168\u529f\u80fd\u7684\u6b63\u5e38\u89e6\u53d1\u3002<\/p>\n\n\n\n

\u4e0b\u8868\u5bf9\u6bd4\u4e86\u4e3b\u6d41\u5360\u7528\u7f51\u7edc\u6280\u672f\u5b9e\u73b0\u8def\u5f84\u7684\u5dee\u5f02\uff1a<\/p>\n\n\n\n

\u6280\u672f\u540d\u79f0<\/strong><\/p>\n\n\n\n

\u6838\u5fc3\u673a\u5236<\/strong><\/p>\n\n\n\n

\u4f18\u52bf<\/strong><\/p>\n\n\n\n

\u5c40\u9650\u6027<\/strong><\/p>\n\n\n\n

\u7279\u65af\u62c9\u5360\u7528\u7f51\u7edc<\/p>\n\n\n\n

\u7eaf\u89c6\u89c9+\u9690\u5f0fMLP\u89e3\u7801<\/p>\n\n\n\n

\u8fd0\u884c\u6548\u7387\u6781\u9ad8\uff08100+FPS\uff09\uff0c\u786c\u4ef6\u6210\u672c\u4f4e<\/p>\n\n\n\n

\u5bf9\u6781\u7aef\u5149\u7167\u654f\u611f\uff0c\u6781\u5ea6\u4f9d\u8d56\u6570\u636e\u95ed\u73af<\/p>\n\n\n\n

OccNet(\u7ea7\u8054\u89e3\u7801\u5668)<\/p>\n\n\n\n

\u7ea7\u8054\u4f53\u7d20\u7ec6\u5316+\u65f6\u5e8f\u81ea\u6ce8\u610f\u529b<\/p>\n\n\n\n

\u5c0f\u7269\u4f53\u611f\u77e5\u6781\u5176\u7cbe\u51c6\uff0c\u5904\u7406\u7ec6\u5fae\u51e0\u4f55\u51fa\u8272<\/p>\n\n\n\n

\u8bad\u7ec3\u8fc7\u7a0b\u590d\u6742\uff0c\u5bf9\u7b97\u529b\u8d44\u6e90\u6709\u4e00\u5b9a\u8981\u6c42<\/p>\n\n\n\n

\u534e\u4e3aGOD\u7f51\u7edc<\/p>\n\n\n\n

\u6fc0\u5149\u96f7\u8fbe+\u89c6\u89c9\u591a\u6a21\u6001\u878d\u5408<\/p>\n\n\n\n

3D\u4e16\u754c\u6a21\u578b\u6784\u5efa\u66f4\u771f\u5b9e\uff0c\u5f02\u5f62\u7269\u4f53\u8bc6\u522b\u5f3a<\/p>\n\n\n\n

\u786c\u4ef6\u6210\u672c\u8f83\u9ad8\uff0c\u5f02\u6784\u6570\u636e\u878d\u5408\u6311\u6218\u5927<\/p>\n\n\n\n

TPVFormer<\/p>\n\n\n\n

\u4e09\u89c6\u89d2\u5e73\u9762\u8868\u5f81(Tri-Perspective)<\/p>\n\n\n\n

\u5185\u5b58\u5f00\u9500\u5c0f\uff0c\u5728\u5927\u7269\u4f53\u8bc6\u522b\u4e0a\u8868\u73b0\u7a33\u5065<\/p>\n\n\n\n

\u7ec6\u7c92\u5ea6\u51e0\u4f55\u6062\u590d\u80fd\u529b\u5f31\u4e8e\u5bc6\u96c6\u5360\u7528\u7f51\u7edc<\/p>\n\n\n\n

\u8fd9\u4e9b\u7b97\u6cd5\u6f14\u8fdb\u7684\u80cc\u540e\uff0c\u5176\u5b9e\u662f\u5728\u201c\u8ba1\u7b97\u6210\u672c\u201d\u4e0e\u201c\u4fe1\u606f\u5bc6\u5ea6\u201d\u4e4b\u95f4\u8fdb\u884c\u53d6\u820d\u3002\u867d\u7136\u4e09\u7ef4\u4f53\u7d20\u80fd\u63d0\u4f9b\u6700\u4e30\u5bcc\u7684\u4fe1\u606f\uff0c\u4f46\u5982\u679c\u5c06\u7a7a\u95f4\u5212\u5206\u5f97\u592a\u7ec6\uff0c\u8ba1\u7b97\u91cf\u4f1a\u5448\u6307\u6570\u7ea7\u7206\u70b8\u3002\u9690\u5f0f\u67e5\u8be2\u548c\u7ea7\u8054\u89e3\u7801\u7b49\u6280\u672f\u7684\u51fa\u73b0\uff0c\u6b63\u662f\u4e3a\u4e86\u5728\u6709\u9650\u7684\u8f66\u8f7d\u7b97\u529b\u4e0b\uff0c\u5b9e\u73b0\u5bf9\u4e09\u7ef4\u4e16\u754c\u7684\u9ad8\u8d28\u91cf\u91cd\u6784\u3002<\/p>\n\n\n\n

\u5360\u7528\u7f51\u7edc\u5982\u4f55\u6539\u53d8\u8f66\u8f86\u7684\u201c\u5927\u8111\u51b3\u7b56\u201d<\/strong><\/p>\n\n\n\n

\u5982\u679c\u8bf4\u611f\u77e5\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u201c\u773c\u775b\u201d\uff0c\u90a3\u4e48\u89c4\u5212\u4e0e\u63a7\u5236\uff08PnC\uff09\u5c31\u662f\u8f66\u8f86\u7684\u201c\u5927\u8111\u201d\u3002\u5728\u8fc7\u53bb\uff0c\u611f\u77e5\u4e0e\u89c4\u63a7\u4e4b\u95f4\u5b58\u5728\u4e00\u6761\u5f88\u6df1\u7684\u9e3f\u6c9f\uff0c\u611f\u77e5\u8f93\u51fa\u7684\u662f\u4e00\u5806\u5e26\u6709\u566a\u58f0\u7684\u6807\u7b7e\uff0c\u800c\u89c4\u63a7\u5219\u57fa\u4e8e\u4e00\u5957\u786c\u7f16\u7801\u7684\u903b\u8f91\u89c4\u5219\u3002\u5360\u7528\u7f51\u7edc\u7684\u5f15\u5165\uff0c\u6b63\u5728\u901a\u8fc7\u4e00\u79cd\u201c\u7edf\u4e00\u8868\u5f81\u201d\u7684\u65b9\u5f0f\u586b\u8865\u8fd9\u4e00\u9e3f\u6c9f\u3002\u7531\u4e8e\u5360\u7528\u7f51\u7edc\u76f4\u63a5\u8f93\u51fa\u7269\u7406\u4e16\u754c\u7684\u51e0\u4f55\u5360\u7528\u72b6\u6001\uff0c\u89c4\u5212\u6a21\u578b\u53ef\u4ee5\u5229\u7528\u8fd9\u4e9b\u6570\u636e\u751f\u6210\u4ee3\u4ef7\u5730\u56fe\uff08Cost Map\uff09\uff0c\u800c\u4e0d\u518d\u9700\u8981\u590d\u6742\u7684\u4e2d\u95f4\u8f6c\u6362\u5c42\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

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    \n
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    \u8fd9\u79cd\u611f\u77e5\u4e0e\u89c4\u63a7\u7684\u878d\u5408\uff0c\u6b63\u662f\u7aef\u5230\u7aef\uff08End-to-End\uff09\u81ea\u52a8\u9a7e\u9a76\u7684\u5fc5\u7ecf\u4e4b\u8def\u3002\u5728\u7279\u65af\u62c9\u7684FSD V12\u67b6\u6784\u4e2d\uff0c\u5360\u7528\u7f51\u7edc\u63d0\u4f9b\u76843D\u7a7a\u95f4\u7406\u89e3\u4f5c\u4e3a\u5e95\u5c42\u57fa\u7840\uff0c\u652f\u6491\u8d77\u4e86\u4e00\u4e2a\u5355\u4e00\u7684\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\uff0c\u5b9e\u73b0\u4e86\u4ece\u539f\u59cb\u56fe\u50cf\u8f93\u5165\u5230\u9a7e\u9a76\u6307\u4ee4\u8f93\u51fa\u7684\u76f4\u63a5\u6620\u5c04\u3002\u8fd9\u79cd\u67b6\u6784\u4e0d\u518d\u4f9d\u8d56\u4e8e\u6570\u767e\u4e07\u884c\u7684\u4eba\u5199\u89c4\u5219\uff0c\u800c\u662f\u901a\u8fc7\u5b66\u4e60\u6d77\u91cf\u4f18\u79c0\u4eba\u7c7b\u9a7e\u9a76\u5458\u7684\u884c\u4e3a\u6570\u636e\uff0c\u81ea\u52a8\u4e60\u5f97\u5728\u590d\u6742\u7a7a\u95f4\u73af\u5883\u4e0b\u7684\u9a7e\u9a76\u7b56\u7565\u3002<\/p>\n\n\n\n

    \u4ea7\u4e1a\u843d\u5730\u4e0e\u672a\u6765\u56fe\u666f<\/strong><\/p>\n\n\n\n

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

    \u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

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