{"id":4701,"date":"2023-02-27T10:11:04","date_gmt":"2023-02-27T02:11:04","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/02\/27\/4701\/"},"modified":"2023-02-27T10:36:07","modified_gmt":"2023-02-27T02:36:07","slug":"%e5%8f%91%e5%b8%83%e4%ba%8e-2023-02-27-0811%e3%83%bbip-%e5%b1%9e%e5%9c%b0%e5%b9%bf%e4%b8%9c%e7%89%b9%e6%96%af%e6%8b%89%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%ae%97%e6%b3%95%e5%92%8c%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/02\/27\/4701\/","title":{"rendered":"2023-02-27\u7279\u65af\u62c9\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u548c\u6a21\u578b\u89e3\u8bfb"},"content":{"rendered":"

\u53d1\u5e03\u4e8e 2023-02-27 08:11\u30fbIP \u5c5e\u5730\u5e7f\u4e1c<\/p>\n

\u6765\u6e90 | \u91cd\u5e86\u6c7d\u8f66\u5de5\u7a0b\u5b66\u4f1a<\/p>\n

\u7279\u65af\u62c9\u662f\u4e00\u4e2a\u5178\u578b\u7684AI\u516c\u53f8\uff0c\u8fc7\u53bb\u4e00\u5e74\u8bad\u7ec3\u4e8675000\u4e2a\u795e\u7ecf\u7f51\u7edc\uff0c\u610f\u5473\u7740\u6bcf8\u5206\u949f\u5c31\u8981\u51fa\u4e00\u4e2a\u65b0\u7684\u6a21\u578b\uff0c\u5171\u6709281\u4e2a\u6a21\u578b\u7528\u5230\u4e86\u7279\u65af\u62c9\u7684\u8f66\u4e0a\u3002\u63a5\u4e0b\u6765\u6211\u4eec\u5206\u51e0\u4e2a\u65b9\u9762\u6765\u89e3\u8bfb\u7279\u65af\u62c9FSD\u7684\u7b97\u6cd5\u548c\u6a21\u578b\u8fdb\u5c55\u3002<\/p>\n

1\u3001\u611f\u77e5 Occupancy Network<\/p>\n

2\u3001\u89c4\u5212 Interactive Planning<\/p>\n

3\u3001\u77e2\u91cf\u5730\u56fe Lanes Network<\/p>\n

4\u3001\u81ea\u52a8\u6807\u6ce8 Autolabeling<\/p>\n

5\u3001\u4eff\u771f Simulation<\/p>\n

6\u3001\u57fa\u7840\u8bbe\u65bd Infrastructure<\/p>\n

1\u611f\u77e5 Occupancy Network<\/p>\n

\u7279\u65af\u62c9\u4eca\u5e74\u5728\u611f\u77e5\u65b9\u9762\u7684\u4e00\u4e2a\u91cd\u70b9\u6280\u672f\u662fOccupancy Network (\u5360\u636e\u7f51\u7edc)\u3002\u7814\u7a76\u673a\u5668\u4eba\u6280\u672f\u7684\u540c\u5b66\u80af\u5b9a\u5bf9occupancy grid\u4e0d\u4f1a\u964c\u751f\uff0coccupancy\u8868\u793a\u7a7a\u95f4\u4e2d\u6bcf\u4e2a3D\u4f53\u7d20\uff08voxel\uff09\u662f\u5426\u88ab\u5360\u636e\uff0c\u53ef\u4ee5\u662f0\/1\u4e8c\u5143\u8868\u793a\uff0c\u4e5f\u53ef\u4ee5\u662f[0, 1]\u4e4b\u95f4\u7684\u4e00\u4e2a\u6982\u7387\u503c\u3002<\/p>\n

\u4e3a\u4ec0\u4e48\u4f30\u8ba1occupancy\u5bf9\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u5f88\u91cd\u8981\u5462\uff1f\u56e0\u4e3a\u5728\u884c\u9a76\u4e2d\uff0c\u9664\u4e86\u5e38\u89c1\u969c\u788d\u7269\u5982\u8f66\u8f86\u3001\u884c\u4eba\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc73D\u7269\u4f53\u68c0\u6d4b\u7684\u65b9\u5f0f\u6765\u4f30\u8ba1\u4ed6\u4eec\u7684\u4f4d\u7f6e\u548c\u5927\u5c0f\uff0c\u8fd8\u6709\u66f4\u591a\u957f\u5c3e\u7684\u969c\u788d\u7269\u4e5f\u4f1a\u5bf9\u884c\u9a76\u4ea7\u751f\u91cd\u8981\u5f71\u54cd\u3002\u4f8b\u5982\uff1a1.\u53ef\u53d8\u5f62\u7684\u969c\u788d\u7269\uff0c\u5982\u4e24\u8282\u7684\u6302\u8f66\uff0c\u4e0d\u9002\u5408\u75283D bounding box\u6765\u8868\u793a\uff1b2.\u5f02\u5f62\u969c\u788d\u7269\uff0c\u5982\u7ffb\u5012\u7684\u8f66\u8f86\uff0c3D\u59ff\u6001\u4f30\u8ba1\u4f1a\u5931\u6548\uff1b3.\u4e0d\u5728\u5df2\u77e5\u7c7b\u522b\u4e2d\u7684\u969c\u788d\u7269\uff0c\u5982\u8def\u4e0a\u7684\u77f3\u5b50\u3001\u5783\u573e\u7b49\uff0c\u65e0\u6cd5\u8fdb\u884c\u5206\u7c7b\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5e0c\u671b\u80fd\u627e\u5230\u4e00\u79cd\u66f4\u597d\u7684\u8868\u8fbe\u6765\u63cf\u8ff0\u8fd9\u4e9b\u957f\u5c3e\u969c\u788d\u7269\uff0c\u5b8c\u6574\u4f30\u8ba13D\u7a7a\u95f4\u4e2d\u6bcf\u4e00\u4e2a\u4f4d\u7f6e\u7684\u5360\u636e\u60c5\u51b5\uff08occupancy\uff09\uff0c\u751a\u81f3\u662f\u8bed\u4e49\uff08semantics\uff09\u548c\u8fd0\u52a8\u60c5\u51b5\uff08flow\uff09\u3002<\/p>\n

\u7279\u65af\u62c9\u7528\u4e0b\u56fe\u7684\u5177\u4f53\u4f8b\u5b50\u6765\u5c55\u73b0Occupancy Network\u7684\u5f3a\u5927\u3002\u4e0d\u540c\u4e8e3D\u7684\u6846\uff0coccupancy\u8fd9\u79cd\u8868\u5f81\u5bf9\u7269\u4f53\u6ca1\u6709\u8fc7\u591a\u7684\u51e0\u4f55\u5047\u8bbe\uff0c\u56e0\u6b64\u53ef\u4ee5\u5efa\u6a21\u4efb\u610f\u5f62\u72b6\u7684\u7269\u4f53\u548c\u4efb\u610f\u5f62\u5f0f\u7684\u7269\u4f53\u8fd0\u52a8\u3002\u56fe\u4e2d\u5c55\u793a\u4e86\u4e00\u4e2a\u4e24\u8282\u7684\u516c\u4ea4\u8f66\u6b63\u5728\u542f\u52a8\u7684\u573a\u666f\uff0c\u84dd\u8272\u8868\u793a\u8fd0\u52a8\u7684\u4f53\u7d20\uff0c\u7ea2\u8272\u8868\u793a\u9759\u6b62\u7684\u4f53\u7d20\uff0cOccupancy Network\u7cbe\u786e\u5730\u4f30\u8ba1\u51fa\u4e86\u516c\u4ea4\u8f66\u7684\u7b2c\u4e00\u8282\u5df2\u7ecf\u5f00\u59cb\u8fd0\u52a8\uff0c\u800c\u7b2c\u4e8c\u8282\u8fd8\u5904\u4e8e\u9759\u6b62\u72b6\u6001\u3002<\/p>\n

<\/p>\n

\u25b2\u5bf9\u6b63\u5728\u542f\u52a8\u7684\u4e24\u8282\u516c\u4ea4\u8f66\u7684occupancy\u4f30\u8ba1\uff0c\u84dd\u8272\u8868\u793a\u8fd0\u52a8\u7684\u4f53\u7d20\uff0c\u7ea2\u8272\u8868\u793a\u9759\u6b62\u7684\u4f53\u7d20<\/p>\n

Occupancy Network\u7684\u6a21\u578b\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\u3002\u9996\u5148\u6a21\u578b\u5229\u7528RegNet\u548cBiFPN\u4ece\u591a\u76f8\u673a\u83b7\u53d6\u7279\u5f81\uff0c\u8fd9\u4e2a\u7ed3\u6784\u8ddf\u53bb\u5e74\u7684AI day\u5206\u4eab\u7684\u7f51\u7edc\u7ed3\u6784\u4e00\u81f4\uff0c\u8bf4\u660ebackbone\u53d8\u5316\u4e0d\u5927\u3002\u7136\u540e\u6a21\u578b\u901a\u8fc7\u5e263D\u7a7a\u95f4\u4f4d\u7f6e\u7684spatial query\u5bf92D\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u57fa\u4e8eattention\u7684\u591a\u76f8\u673a\u878d\u5408\u3002\u5982\u4f55\u5b9e\u73b03D spatial query\u548c2D\u7279\u5f81\u56fe\u4e4b\u95f4\u7684\u8054\u7cfb\u5462\uff1f\u5177\u4f53\u878d\u5408\u7684\u65b9\u5f0f\u56fe\u4e2d\u6ca1\u6709\u7ec6\u8bb2\uff0c\u4f46\u6709\u5f88\u591a\u516c\u5f00\u7684\u8bba\u6587\u53ef\u4ee5\u53c2\u8003\u3002\u6211\u8ba4\u4e3a\u6700\u6709\u53ef\u80fd\u91c7\u53d6\u7684\u662f\u4e24\u79cd\u65b9\u6848\u4e4b\u4e00\uff0c\u7b2c\u4e00\u79cd\u53eb\u505a3D-to-2D query\uff0c\u5373\u6839\u636e\u6bcf\u4e2a\u76f8\u673a\u7684\u5185\u5916\u53c2\u5c063D spatial query\u6295\u5f71\u52302D\u7279\u5f81\u56fe\u4e0a\uff0c\u63d0\u53d6\u5bf9\u5e94\u4f4d\u7f6e\u7684\u7279\u5f81\u3002\u8be5\u65b9\u6cd5\u5728DETR3D[1]\u4e2d\u63d0\u51fa\uff0cBEVFormer[2]\u548cPolarFormer[3]\u4e5f\u91c7\u53d6\u4e86\u8be5\u601d\u60f3\u3002\u7b2c\u4e8c\u79cd\u662f\u5229\u7528positional embedding\u6765\u8fdb\u884c\u9690\u5f0f\u7684\u6620\u5c04\uff0c\u5373\u5c062D\u7279\u5f81\u56fe\u7684\u6bcf\u4e2a\u4f4d\u7f6e\u52a0\u4e0a\u5408\u7406\u7684positional embedding\uff0c\u5982\u76f8\u673a\u5185\u5916\u53c2\u3001\u50cf\u7d20\u5750\u6807\u7b49\uff0c\u7136\u540e\u8ba9\u6a21\u578b\u81ea\u5df1\u5b66\u4e602D\u52303D\u7279\u5f81\u7684\u5bf9\u5e94\u5173\u7cfb\uff0c\u8be5\u65b9\u6cd5\u5728\u8bba\u6587PETR\u4e2d\u63d0\u51fa[4]\u3002\u518d\u63a5\u4e0b\u6765\u6a21\u578b\u8fdb\u884c\u65f6\u5e8f\u878d\u5408\uff0c\u5b9e\u73b0\u7684\u65b9\u6cd5\u662f\u6839\u636e\u5df2\u77e5\u7684\u81ea\u8f66\u4f4d\u7f6e\u548c\u59ff\u6001\u53d8\u5316\uff0c\u5c063D\u7279\u5f81\u7a7a\u95f4\u8fdb\u884c\u62fc\u63a5\u3002<\/p>\n

<\/p>\n

\u25b2Occupancy Network\u7ed3\u6784<\/p>\n

\u7279\u5f81\u878d\u5408\u540e\uff0c\u4e00\u4e2a\u57fa\u4e8edeconvolution\u7684\u89e3\u7801\u5668\u4f1a\u89e3\u7801\u51fa\u6bcf\u4e2a3D\u7a7a\u95f4\u4f4d\u7f6e\u7684occupancy\uff0csemantics\u4ee5\u53caflow\u3002\u53d1\u5e03\u4f1a\u4e2d\u5f3a\u8c03\uff0c\u7531\u4e8e\u8fd9\u4e2a\u7f51\u7edc\u7684\u8f93\u51fa\u662f\u7a20\u5bc6\uff08dense\uff09\u7684\uff0c\u8f93\u51fa\u7684\u5206\u8fa8\u7387\u4f1a\u53d7\u5230\u5185\u5b58\u7684\u9650\u5236\u3002\u6211\u76f8\u4fe1\u8fd9\u4e5f\u662f\u6240\u6709\u505a\u56fe\u50cf\u5206\u5272\u7684\u540c\u5b66\u4eec\u9047\u5230\u7684\u4e00\u5927\u5934\u75bc\u7684\u95ee\u9898\uff0c\u66f4\u4f55\u51b5\u8fd9\u91cc\u505a\u7684\u662f3D\u5206\u5272\uff0c\u4f46\u81ea\u52a8\u9a7e\u9a76\u5bf9\u4e8e\u5206\u8fa8\u7387\u5ea6\u7684\u8981\u6c42\u5374\u5f88\u9ad8\uff08~10cm\uff09\u3002\u56e0\u6b64\uff0c\u53d7\u5230\u795e\u7ecf\u9690\u5f0f\u8868\u793a\uff08neural implicit representation\uff09\u7684\u542f\u53d1\uff0c\u6a21\u578b\u7684\u6700\u540e\u989d\u5916\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u9690\u5f0fqueryable MLP decoder\uff0c\u8f93\u5165\u4efb\u610f\u5750\u6807\u503c(x,y,z)\uff0c\u53ef\u89e3\u7801\u51fa\u8be5\u7a7a\u95f4\u4f4d\u7f6e\u7684\u4fe1\u606f\uff0c\u5373occupancy\uff0csemantics\uff0cflow\u3002\u8be5\u65b9\u6cd5\u6253\u7834\u4e86\u6a21\u578b\u5206\u8fa8\u7387\u7684\u9650\u5236\uff0c\u6211\u8ba4\u4e3a\u662f\u8bbe\u8ba1\u4e0a\u7684\u4e00\u4e2a\u4eae\u70b9\u3002<\/p>\n

\u5b66\u672f\u754c\u5728\u89c6\u89c9occupancy\u65b9\u9762\u7684\u5de5\u4f5c\u4e0d\u591a\uff0c\u6211\u5173\u6ce8\u5230\u7684\u6700\u76f8\u5173\u7684\u4e00\u7bc7\u8bba\u6587\u662fCVPR2022\u4e0a\u7684MonoScene[5]\uff0c\u4ece\u5355\u76ee\u91cd\u5efa\u4e09\u7ef4\u4f53\u7d20\u5e76\u4e14\u4f30\u8ba1\u51fa\u88ab\u906e\u6321\u7684\u90e8\u5206\uff0c\u611f\u5174\u8da3\u7684\u53ef\u4ee5\u53bb\u7cbe\u8bfb\u3002<\/p>\n

2\u89c4\u5212 Interactive Planning<\/p>\n

\u89c4\u5212\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u53e6\u4e00\u4e2a\u91cd\u8981\u6a21\u5757\uff0c\u7279\u65af\u62c9\u8fd9\u6b21\u4e3b\u8981\u5f3a\u8c03\u4e86\u5728\u590d\u6742\u8def\u53e3\u5bf9\u4ea4\u4e92\uff08interaction\uff09\u8fdb\u884c\u5efa\u6a21\u3002\u4e3a\u4ec0\u4e48\u4ea4\u4e92\u5efa\u6a21\u5982\u6b64\u91cd\u8981\u5462\uff1f\u56e0\u4e3a\u5176\u4ed6\u8f66\u8f86\u3001\u884c\u4eba\u7684\u672a\u6765\u884c\u4e3a\u90fd\u6709\u4e00\u5b9a\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u4e00\u4e2a\u806a\u660e\u7684\u89c4\u5212\u6a21\u5757\u8981\u5728\u7ebf\u8fdb\u884c\u591a\u79cd\u81ea\u8f66\u548c\u4ed6\u8f66\u4ea4\u4e92\u7684\u9884\u6d4b\uff0c\u5e76\u4e14\u5bf9\u6bcf\u4e00\u79cd\u4ea4\u4e92\u5e26\u6765\u7684\u98ce\u9669\u8fdb\u884c\u8bc4\u4f30\uff0c\u5e76\u6700\u7ec8\u51b3\u5b9a\u91c7\u53d6\u4f55\u79cd\u7b56\u7565\u3002<\/p>\n

\u7279\u65af\u62c9\u628a\u4ed6\u4eec\u91c7\u7528\u7684\u89c4\u5212\u6a21\u578b\u53eb\u505a\u4ea4\u4e92\u641c\u7d22\uff08Interaction Search\uff09\uff0c\u5b83\u4e3b\u8981\u7531\u4e09\u4e2a\u4e3b\u8981\u6b65\u9aa4\u7ec4\u6210\uff1a\u6811\u641c\u7d22\uff0c\u795e\u7ecf\u7f51\u7edc\u8f68\u8ff9\u89c4\u5212\u548c\u8f68\u8ff9\u6253\u5206\u3002<\/p>\n

1\u3001\u6811\u641c\u7d22\u662f\u8f68\u8ff9\u89c4\u5212\u5e38\u7528\u7684\u7b97\u6cd5\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u53d1\u73b0\u5404\u79cd\u4ea4\u4e92\u60c5\u5f62\u627e\u5230\u6700\u4f18\u89e3\uff0c\u4f46\u7528\u641c\u7d22\u7684\u65b9\u6cd5\u6765\u89e3\u51b3\u8f68\u8ff9\u89c4\u5212\u95ee\u9898\u9047\u5230\u7684\u6700\u5927\u56f0\u96be\u662f\u641c\u7d22\u7a7a\u95f4\u8fc7\u5927\u3002\u4f8b\u5982\uff0c\u5728\u4e00\u4e2a\u590d\u6742\u8def\u53e3\u53ef\u80fd\u670920\u8f86\u4e0e\u81ea\u8f66\u76f8\u5173\uff0c\u53ef\u4ee5\u7ec4\u5408\u6210\u8d85\u8fc7100\u79cd\u4ea4\u4e92\u65b9\u5f0f\uff0c\u800c\u6bcf\u79cd\u4ea4\u4e92\u65b9\u5f0f\u90fd\u53ef\u80fd\u6709\u51e0\u5341\u79cd\u65f6\u7a7a\u8f68\u8ff9\u4f5c\u4e3a\u5019\u9009\u3002\u56e0\u6b64\u7279\u65af\u62c9\u5e76\u6ca1\u6709\u91c7\u7528\u8f68\u8ff9\u641c\u7d22\u7684\u65b9\u6cd5\uff0c\u800c\u662f\u7528\u795e\u7ecf\u7f51\u7edc\u6765\u7ed9\u4e00\u6bb5\u65f6\u95f4\u540e\u53ef\u80fd\u5230\u8fbe\u7684\u76ee\u6807\u4f4d\u7f6e\uff08goal\uff09\u8fdb\u884c\u6253\u5206\uff0c\u5f97\u5230\u5c11\u91cf\u8f83\u4f18\u7684\u76ee\u6807\u3002<\/p>\n

2\u3001\u5728\u786e\u5b9a\u76ee\u6807\u4ee5\u540e\uff0c\u6211\u4eec\u9700\u8981\u786e\u5b9a\u4e00\u6761\u5230\u8fbe\u76ee\u6807\u7684\u8f68\u8ff9\u3002\u4f20\u7edf\u7684\u89c4\u5212\u65b9\u6cd5\u5f80\u5f80\u4f7f\u7528\u4f18\u5316\u6765\u89e3\u51b3\u8be5\u95ee\u9898\uff0c\u89e3\u4f18\u5316\u5e76\u4e0d\u96be\uff0c\u6bcf\u6b21\u4f18\u5316\u5927\u7ea6\u82b1\u8d391\u52305\u6beb\u79d2\uff0c\u4f46\u662f\u5f53\u524d\u9762\u6b65\u9aa4\u6811\u641c\u7d22\u7684\u7ed9\u51fa\u7684\u5019\u9009\u76ee\u6807\u6bd4\u8f83\u591a\u7684\u65f6\u5019\uff0c\u65f6\u95f4\u6210\u672c\u6211\u4eec\u4e5f\u65e0\u6cd5\u8d1f\u62c5\u3002\u56e0\u6b64\u7279\u65af\u62c9\u63d0\u51fa\u4f7f\u7528\u53e6\u4e00\u4e2a\u795e\u7ecf\u7f51\u7edc\u6765\u8fdb\u884c\u8f68\u8ff9\u89c4\u5212\uff0c\u4ece\u800c\u5bf9\u591a\u4e2a\u5019\u9009\u76ee\u6807\u5b9e\u73b0\u9ad8\u5ea6\u5e76\u884c\u89c4\u5212\u3002\u8bad\u7ec3\u8fd9\u4e2a\u795e\u7ecf\u7f51\u7edc\u7684\u8f68\u8ff9\u6807\u7b7e\u6709\u4e24\u79cd\u6765\u6e90\uff1a\u7b2c\u4e00\u79cd\u662f\u4eba\u7c7b\u771f\u5b9e\u5f00\u8f66\u7684\u8f68\u8ff9\uff0c\u4f46\u662f\u6211\u4eec\u77e5\u9053\u4eba\u5f00\u7684\u8f68\u8ff9\u53ef\u80fd\u53ea\u662f\u591a\u79cd\u8f83\u4f18\u65b9\u6848\u4e2d\u7684\u4e00\u79cd\uff0c\u56e0\u6b64\u7b2c\u4e8c\u79cd\u6765\u6e90\u662f\u901a\u8fc7\u79bb\u7ebf\u4f18\u5316\u7b97\u6cd5\u4ea7\u751f\u7684\u5176\u4ed6\u7684\u8f68\u8ff9\u89e3\u3002<\/p>\n

3\u3001\u5728\u5f97\u5230\u4e00\u7cfb\u5217\u53ef\u884c\u8f68\u8ff9\u540e\uff0c\u6211\u4eec\u8981\u9009\u62e9\u4e00\u4e2a\u6700\u4f18\u65b9\u6848\u3002\u8fd9\u91cc\u91c7\u53d6\u7684\u65b9\u6848\u662f\u5bf9\u5f97\u5230\u7684\u8f68\u8ff9\u8fdb\u884c\u6253\u5206\uff0c\u6253\u5206\u7684\u65b9\u6848\u96c6\u5408\u4e86\u4eba\u4e3a\u5236\u5b9a\u7684\u98ce\u9669\u6307\u6807\uff0c\u8212\u9002\u6307\u6807\uff0c\u8fd8\u5305\u62ec\u4e86\u4e00\u4e2a\u795e\u7ecf\u7f51\u7edc\u7684\u6253\u5206\u5668\u3002<\/p>\n

\u901a\u8fc7\u4ee5\u4e0a\u4e09\u4e2a\u6b65\u9aa4\u7684\u89e3\u8026\uff0c\u7279\u65af\u62c9\u5b9e\u73b0\u4e86\u4e00\u4e2a\u9ad8\u6548\u7684\u4e14\u8003\u8651\u4e86\u4ea4\u4e92\u7684\u8f68\u8ff9\u89c4\u5212\u6a21\u5757\u3002\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u8f68\u8ff9\u89c4\u5212\u53ef\u4ee5\u53c2\u8003\u7684\u8bba\u6587\u5e76\u4e0d\u591a\uff0c\u6211\u6709\u53d1\u8868\u8fc7\u4e00\u7bc7\u4e0e\u8be5\u65b9\u6cd5\u6bd4\u8f83\u76f8\u5173\u7684\u8bba\u6587TNT[5]\uff0c\u540c\u6837\u5730\u5c06\u8f68\u8ff9\u9884\u6d4b\u95ee\u9898\u5206\u89e3\u4e3a\u4ee5\u4e0a\u4e09\u4e2a\u6b65\u9aa4\u8fdb\u884c\u89e3\u51b3\uff1a\u76ee\u6807\u6253\u5206\uff0c\u8f68\u8ff9\u89c4\u5212\uff0c\u8f68\u8ff9\u6253\u5206\u3002\u611f\u5174\u8da3\u7684\u8bfb\u8005\u53ef\u4ee5\u524d\u5f80\u67e5\u9605\u7ec6\u8282\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8bfe\u9898\u7ec4\u4e5f\u5728\u4e00\u76f4\u63a2\u7a76\u884c\u4e3a\u4ea4\u4e92\u548c\u89c4\u5212\u76f8\u5173\u7684\u95ee\u9898\uff0c\u4e5f\u6b22\u8fce\u5927\u5bb6\u5173\u6ce8\u6211\u4eec\u6700\u65b0\u7684\u5de5\u4f5cInterSim[6]\u3002<\/p>\n

<\/p>\n

\u25b2Interaction Search\u89c4\u5212\u6a21\u578b\u7ed3\u6784<\/p>\n

3\u77e2\u91cf\u5730\u56fe Lanes Network<\/p>\n

\u4e2a\u4eba\u89c9\u5f97\u672c\u6b21AI Day\u4e0a\u53e6\u4e00\u5927\u6280\u672f\u4eae\u70b9\u662f\u5728\u7ebf\u77e2\u91cf\u5730\u56fe\u6784\u5efa\u6a21\u578bLanes Network\u3002\u6709\u5173\u6ce8\u53bb\u5e74AI Day\u7684\u540c\u5b66\u4eec\u53ef\u80fd\u8bb0\u5f97\uff0c\u7279\u65af\u62c9\u5728BEV\u7a7a\u95f4\u4e2d\u5bf9\u5730\u56fe\u8fdb\u884c\u4e86\u5b8c\u6574\u7684\u5728\u7ebf\u5206\u5272\u548c\u8bc6\u522b\u3002\u90a3\u4e48\u4e3a\u4ec0\u4e48\u8fd8\u8981\u505aLanes Network\u5462\uff1f\u56e0\u4e3a\u5206\u5272\u5f97\u5230\u7684\u50cf\u7d20\u7ea7\u522b\u7684\u8f66\u9053\u4e0d\u8db3\u591f\u7528\u4e8e\u8f68\u8ff9\u89c4\u5212\uff0c\u6211\u4eec\u8fd8\u9700\u8981\u5f97\u5230\u8f66\u9053\u7ebf\u7684\u62d3\u6251\u7ed3\u6784\uff0c\u624d\u80fd\u77e5\u9053\u6211\u4eec\u7684\u8f66\u53ef\u4ee5\u4ece\u4e00\u6761\u8f66\u9053\u53d8\u6362\u5230\u53e6\u4e00\u6761\u8f66\u9053\u3002<\/p>\n

\u6211\u4eec\u5148\u6765\u770b\u770b\u4ec0\u4e48\u662f\u77e2\u91cf\u5730\u56fe\uff0c\u5982\u56fe\u6240\u793a\uff0c\u7279\u65af\u62c9\u7684\u77e2\u91cf\u5730\u56fe\u7531\u4e00\u7cfb\u5217\u84dd\u8272\u7684\u8f66\u9053\u4e2d\u5fc3\u7ebfcenterline\u548c\u4e00\u4e9b\u5173\u952e\u70b9\uff08\u8fde\u63a5\u70b9connection\uff0c\u5206\u53c9\u70b9fork\uff0c \u5e76\u9053\u70b9merge\uff09\u7ec4\u6210\uff0c\u5e76\u4e14\u901a\u8fc7graph\u7684\u5f62\u5f0f\u8868\u73b0\u4e86\u4ed6\u4eec\u7684\u8fde\u63a5\u5173\u7cfb\u3002<\/p>\n

<\/p>\n

\u25b2\u77e2\u91cf\u5730\u56fe\uff0c\u5706\u70b9\u4e3a\u8f66\u9053\u7ebf\u5173\u952e\u70b9\uff0c\u84dd\u8272\u4e3a\u8f66\u9053\u4e2d\u5fc3\u7ebf<\/p>\n

Lanes Network\u5728\u6a21\u578b\u7ed3\u6784\u4e0a\uff0c\u662f\u611f\u77e5\u7f51\u7edcbackbone\u57fa\u7840\u4e0a\u7684\u4e00\u4e2adecoder\u3002\u76f8\u6bd4\u89e3\u7801\u51fa\u6bcf\u4e2a\u4f53\u7d20\u7684occupancy\u548c\u8bed\u4e49\uff0c\u89e3\u7801\u51fa\u4e00\u7cfb\u5217\u7a00\u758f\u7684\u3001\u5e26\u8fde\u63a5\u5173\u7cfb\u7684\u8f66\u9053\u7ebf\u66f4\u4e3a\u56f0\u96be\uff0c\u56e0\u4e3a\u8f93\u51fa\u7684\u6570\u91cf\u4e0d\u56fa\u5b9a\uff0c\u6b64\u5916\u8f93\u51fa\u91cf\u4e4b\u95f4\u8fd8\u6709\u903b\u8f91\u5173\u7cfb\u3002<\/p>\n

\u7279\u65af\u62c9\u53c2\u8003\u4e86\u81ea\u7136\u8bed\u8a00\u6a21\u578b\u4e2d\u7684Transformer decoder\uff0c\u4ee5\u5e8f\u5217\u7684\u65b9\u5f0f\u81ea\u56de\u5f52\u5730\u8f93\u51fa\u7ed3\u679c\u3002\u5177\u4f53\u5b9e\u73b0\u4e0a\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u8981\u9009\u53d6\u4e00\u4e2a\u751f\u6210\u987a\u5e8f\uff08\u5982\u4ece\u5de6\u5230\u53f3\uff0c\u4ece\u4e0a\u5230\u4e0b\uff09\uff0c\u5bf9\u7a7a\u95f4\u8fdb\u884c\u79bb\u6563\u5316\uff08tokenization\uff09\u3002\u7136\u540e\u6211\u4eec\u5c31\u53ef\u4ee5\u7528Lanes Network\u8fdb\u884c\u4e00\u7cfb\u5217\u79bb\u6563token\u7684\u9884\u6d4b\u3002\u5982\u56fe\u6240\u793a\uff0c\u7f51\u7edc\u4f1a\u5148\u9884\u6d4b\u4e00\u4e2a\u8282\u70b9\u7684\u7c97\u7565\u4f4d\u7f6e\u7684\uff08index:18\uff09\uff0c\u7cbe\u786e\u4f4d\u7f6e\uff08index:31\uff09\uff0c\u7136\u540e\u9884\u6d4b\u8be5\u8282\u70b9\u7684\u8bed\u4e49\uff08”Start”\uff0c\u5373\u8f66\u9053\u7ebf\u7684\u8d77\u70b9\uff09\uff0c\u6700\u540e\u9884\u6d4b\u8fde\u63a5\u7279\u6027\uff0c\u5982\u5206\u53c9\/\u5e76\u9053\/\u66f2\u7387\u53c2\u6570\u7b49\u3002\u7f51\u7edc\u4f1a\u4ee5\u8fd9\u6837\u81ea\u56de\u5f52\u7684\u65b9\u5f0f\u5c06\u6240\u6709\u7684\u8f66\u9053\u7ebf\u8282\u70b9\u8fdb\u884c\u751f\u6210\u3002<\/p>\n

<\/p>\n

\u25b2Lanes Network\u7f51\u7edc\u7ed3\u6784<\/p>\n

\u6211\u4eec\u8981\u6ce8\u610f\u5230\uff0c\u81ea\u56de\u5f52\u7684\u5e8f\u5217\u751f\u6210\u5e76\u4e0d\u662f\u8bed\u8a00Transformer\u6a21\u578b\u7684\u4e13\u5229\u3002\u6211\u4eec\u8bfe\u9898\u7ec4\u5728\u8fc7\u53bb\u51e0\u5e74\u4e2d\u4e5f\u6709\u4e24\u7bc7\u751f\u6210\u77e2\u91cf\u5730\u56fe\u7684\u76f8\u5173\u8bba\u6587\uff0cHDMapGen[7]\u548cVectorMapNet[8]\u3002HDMapGen\u91c7\u7528\u5e26\u6ce8\u610f\u529b\u7684\u56fe\u795e\u7ecf\u7f51\u7edc\uff08GAT\uff09\u81ea\u56de\u5f52\u5730\u751f\u6210\u77e2\u91cf\u5730\u56fe\u7684\u5173\u952e\u70b9\uff0c\u548c\u7279\u65af\u62c9\u7684\u65b9\u6848\u6709\u5f02\u66f2\u540c\u5de5\u4e4b\u5999\u3002\u800cVectorMapNet\u91c7\u7528\u4e86Detection Transformer\uff08DETR\uff09\u6765\u89e3\u51b3\u8be5\u95ee\u9898\uff0c\u5373\u7528\u96c6\u5408\u9884\u6d4b\uff08set prediction\uff09\u7684\u65b9\u6848\u6765\u66f4\u5feb\u901f\u5730\u751f\u6210\u77e2\u91cf\u5730\u56fe\u3002<\/p>\n

<\/p>\n

\u25b2HDMapGen[7] \u77e2\u91cf\u5730\u56fe\u751f\u6210\u7ed3\u679c<\/p>\n

<\/p>\n

\u25b2VectorMapNet[8] \u77e2\u91cf\u5730\u56fe\u751f\u6210\u7ed3\u679c<\/p>\n

4\u81ea\u52a8\u6807\u6ce8 Autolabeling<\/p>\n

\u81ea\u52a8\u6807\u6ce8\u4e5f\u662f\u7279\u65af\u62c9\u5728\u53bb\u5e74AI Day\u5c31\u8bb2\u89e3\u8fc7\u7684\u4e00\u79cd\u6280\u672f\uff0c\u4eca\u5e74\u7684\u81ea\u52a8\u6807\u6ce8\u7740\u91cd\u8bb2\u89e3\u4e86Lanes Network\u7684\u81ea\u52a8\u6807\u6ce8\u3002\u7279\u65af\u62c9\u7684\u8f66\u6bcf\u5929\u5c31\u80fd\u4ea7\u751f500000\u6761\u9a7e\u9a76\u65c5\u7a0b\uff08trip\uff09\uff0c\u5229\u7528\u597d\u8fd9\u4e9b\u9a7e\u9a76\u6570\u636e\u80fd\u591f\u66f4\u597d\u5730\u5e2e\u52a9\u8fdb\u884c\u8f66\u9053\u7ebf\u7684\u9884\u6d4b\u3002\u7279\u65af\u62c9\u7684\u81ea\u52a8\u8f66\u9053\u7ebf\u6807\u6ce8\u6709\u4e09\u4e2a\u6b65\u9aa4\uff1a<\/p>\n

1\u3001\u901a\u8fc7\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\uff08visual inertial odometry\uff09\u6280\u672f\uff0c\u5bf9\u6240\u6709\u7684\u65c5\u7a0b\u8fdb\u884c\u9ad8\u7cbe\u5ea6\u8f68\u8ff9\u4f30\u8ba1\u3002<\/p>\n

2\u3001\u591a\u8f66\u591a\u65c5\u7a0b\u7684\u5730\u56fe\u91cd\u5efa\uff0c\u662f\u8be5\u65b9\u6848\u4e2d\u7684\u6700\u5173\u952e\u6b65\u9aa4\u3002\u8be5\u6b65\u9aa4\u7684\u57fa\u672c\u52a8\u673a\u662f\uff0c\u4e0d\u540c\u7684\u8f66\u8f86\u5bf9\u540c\u4e00\u4e2a\u5730\u70b9\u53ef\u80fd\u6709\u4e0d\u540c\u7a7a\u95f4\u89d2\u5ea6\u548c\u65f6\u95f4\u7684\u89c2\u6d4b\uff0c\u56e0\u6b64\u5c06\u8fd9\u4e9b\u4fe1\u606f\u8fdb\u884c\u805a\u5408\u80fd\u66f4\u597d\u5730\u8fdb\u884c\u5730\u56fe\u91cd\u5efa\u3002\u8be5\u6b65\u9aa4\u7684\u6280\u672f\u70b9\u5305\u62ec\u5730\u56fe\u95f4\u7684\u51e0\u4f55\u5339\u914d\u548c\u7ed3\u679c\u8054\u5408\u4f18\u5316\u3002<\/p>\n

3\u3001\u5bf9\u65b0\u65c5\u7a0b\u8fdb\u884c\u8f66\u9053\u81ea\u52a8\u6807\u6ce8\u3002\u5f53\u6211\u4eec\u6709\u4e86\u9ad8\u7cbe\u5ea6\u7684\u79bb\u7ebf\u5730\u56fe\u91cd\u5efa\u7ed3\u679c\u540e\uff0c\u5f53\u6709\u65b0\u7684\u65c5\u7a0b\u53d1\u751f\u65f6\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u8fdb\u884c\u4e00\u4e2a\u7b80\u5355\u7684\u51e0\u4f55\u5339\u914d\uff0c\u5f97\u5230\u65b0\u65c5\u7a0b\u8f66\u9053\u7ebf\u7684\u4f2a\u771f\u503c\uff08pseudolabel\uff09\u3002\u8fd9\u79cd\u83b7\u53d6\u4f2a\u771f\u503c\u7684\u65b9\u5f0f\u6709\u65f6\u5019\uff08\u5728\u591c\u665a\u3001\u96e8\u96fe\u5929\u4e2d\uff09\u751a\u81f3\u4f1a\u4f18\u4e8e\u4eba\u5de5\u6807\u6ce8\u3002<\/p>\n

<\/p>\n

\u25b2Lanes Network\u81ea\u52a8\u6807\u6ce8<\/p>\n

5\u4eff\u771f Simulation<\/p>\n

\u89c6\u89c9\u56fe\u50cf\u7684\u4eff\u771f\u662f\u8fd1\u5e74\u6765\u8ba1\u7b97\u673a\u89c6\u89c9\u65b9\u9762\u7684\u70ed\u95e8\u65b9\u5411\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u89c6\u89c9\u4eff\u771f\u7684\u4e3b\u8981\u76ee\u7684\uff0c\u662f\u6709\u9488\u5bf9\u6027\u5730\u751f\u6210\u4e00\u4e9b\u5c11\u89c1\u573a\u666f\uff0c\u4ece\u800c\u514d\u6389\u5230\u771f\u5b9e\u8def\u6d4b\u4e2d\u53bb\u78b0\u8fd0\u6c14\u7684\u5fc5\u8981\u3002\u4f8b\u5982\uff0c\u7279\u65af\u62c9\u5e38\u5e74\u5934\u75bc\u7684\u8def\u4e2d\u592e\u6a2a\u7740\u5927\u5361\u8f66\u7684\u573a\u666f\u3002\u4f46\u662f\u89c6\u89c9\u4eff\u771f\u5e76\u4e0d\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u95ee\u9898\uff0c\u5bf9\u4e8e\u4e00\u4e2a\u590d\u6742\u7684\u8def\u53e3\uff08\u65e7\u91d1\u5c71\u7684Market Street\uff09\uff0c\u5229\u7528\u4f20\u7edf\u5efa\u6a21\u6e32\u67d3\u7684\u65b9\u6848\u9700\u8981\u8bbe\u8ba1\u5e082\u5468\u7684\u65f6\u95f4\u3002\u800c\u7279\u65af\u62c9\u901a\u8fc7AI\u5316\u7684\u65b9\u6848\uff0c\u73b0\u5728\u53ea\u9700\u89815\u5206\u949f\u3002<\/p>\n

<\/p>\n

\u25b2\u89c6\u89c9\u4eff\u771f\u91cd\u5efa\u7684\u8def\u53e3<\/p>\n

\u5177\u4f53\u6765\u8bf4\uff0c\u89c6\u89c9\u4eff\u771f\u7684\u5148\u51b3\u6761\u4ef6\u662f\u8981\u51c6\u5907\u81ea\u52a8\u6807\u6ce8\u7684\u771f\u5b9e\u4e16\u754c\u9053\u8def\u4fe1\u606f \uff0c\u548c\u4e30\u5bcc\u7684\u56fe\u5f62\u7d20\u6750\u5e93\u3002\u7136\u540e\u4f9d\u6b21\u8fdb\u884c\u4ee5\u4e0b\u6b65\u9aa4\uff1a<\/p>\n

1\u3001\u8def\u9762\u751f\u6210\uff1a\u6839\u636e\u8def\u6cbf\u8fdb\u884c\u8def\u9762\u7684\u586b\u5145\uff0c\u5305\u62ec\u8def\u9762\u5761\u5ea6\u3001\u6750\u6599\u7b49\u7ec6\u8282\u4fe1\u606f\u3002<\/p>\n

2\u3001\u8f66\u9053\u7ebf\u751f\u6210\uff1a\u5c06\u8f66\u9053\u7ebf\u4fe1\u606f\u5728\u8def\u9762\u4e0a\u8fdb\u884c\u7ed8\u5236\u3002<\/p>\n

3\u3001\u690d\u7269\u548c\u697c\u623f\u751f\u6210\uff1a\u5728\u8def\u95f4\u548c\u8def\u65c1\u968f\u673a\u751f\u6210\u548c\u6e32\u67d3\u690d\u7269\u548c\u623f\u5c4b\u3002\u751f\u6210\u690d\u7269\u548c\u697c\u623f\u7684\u76ee\u7684\u4e0d\u4ec5\u4ec5\u662f\u4e3a\u4e86\u89c6\u89c9\u7684\u7f8e\u89c2\uff0c\u5b83\u4e5f\u540c\u65f6\u4eff\u771f\u4e86\u771f\u5b9e\u4e16\u754c\u4e2d\u8fd9\u4e9b\u7269\u4f53\u5f15\u8d77\u7684\u906e\u6321\u6548\u5e94\u3002<\/p>\n

4\u3001\u5176\u4ed6\u9053\u8def\u5143\u7d20\u751f\u6210\uff1a\u5982\u4fe1\u53f7\u706f\uff0c\u8def\u724c\uff0c\u5e76\u4e14\u5bfc\u5165\u8f66\u9053\u548c\u8fde\u63a5\u5173\u7cfb\u3002<\/p>\n

5\u3001\u52a0\u5165\u8f66\u8f86\u548c\u884c\u4eba\u7b49\u52a8\u6001\u5143\u7d20\u3002<\/p>\n

6\u57fa\u7840\u8bbe\u65bd Infrastructure<\/p>\n

\u6700\u540e\uff0c\u6211\u4eec\u7b80\u5355\u8bf4\u8bf4\u7279\u65af\u62c9\u8fd9\u4e00\u7cfb\u5217\u8f6f\u4ef6\u6280\u672f\u7684\u57fa\u7840\uff0c\u5c31\u662f\u5f3a\u5927\u7684\u57fa\u7840\u8bbe\u65bd\u3002\u7279\u65af\u62c9\u7684\u8d85\u7b97\u4e2d\u5fc3\u62e5\u670914000\u4e2aGPU\uff0c\u517130PB\u7684\u6570\u636e\u7f13\u5b58\uff0c\u6bcf\u5929\u90fd\u6709500000\u4e2a\u65b0\u7684\u89c6\u9891\u6d41\u5165\u8fd9\u4e9b\u8d85\u7ea7\u8ba1\u7b97\u673a\u3002\u4e3a\u4e86\u66f4\u9ad8\u6548\u5730\u5904\u7406\u8fd9\u4e9b\u6570\u636e\u989d\uff0c\u7279\u65af\u62c9\u4e13\u95e8\u5f00\u53d1\u4e86\u52a0\u901f\u7684\u89c6\u9891\u89e3\u7801\u5e93\uff0c\u4ee5\u53ca\u52a0\u901f\u8bfb\u5199\u4e2d\u95f4\u7279\u5f81\u7684\u6587\u4ef6\u683c\u5f0f.smol file format\u3002\u6b64\u5916\uff0c\u7279\u65af\u62c9\u8fd8\u81ea\u7814\u4e86\u8d85\u7b97\u4e2d\u5fc3\u7684\u82af\u7247Dojo\uff0c\u6211\u4eec\u5728\u8fd9\u91cc\u4e0d\u505a\u8bb2\u89e3\u3002<\/p>\n

<\/p>\n

\u25b2\u89c6\u9891\u6a21\u578b\u8bad\u7ec3\u7684\u8d85\u7b97\u4e2d\u5fc3<\/p>\n

7\u603b\u7ed3<\/p>\n

\u968f\u7740\u8fd1\u4e24\u5e74\u7279\u65af\u62c9AI Day\u7684\u5185\u5bb9\u53d1\u5e03\uff0c\u6211\u4eec\u6162\u6162\u770b\u6e05\u4e86\u7279\u65af\u62c9\u5728\u81ea\u52a8\uff08\u8f85\u52a9\uff09\u9a7e\u9a76\u65b9\u5411\u4e0a\u7684\u6280\u672f\u7248\u56fe\uff0c\u540c\u65f6\u6211\u4eec\u4e5f\u770b\u5230\u7279\u65af\u62c9\u81ea\u5df1\u4e5f\u5728\u4e0d\u505c\u5730\u81ea\u6211\u8fed\u4ee3\uff0c\u4f8b\u5982\u4ece2D\u611f\u77e5\uff0cBEV\u611f\u77e5\uff0c\u5230Occupancy Network\u3002\u81ea\u52a8\u9a7e\u9a76\u662f\u4e00\u4e2a\u4e07\u91cc\u957f\u5f81\uff0c\u662f\u4ec0\u4e48\u5728\u652f\u6491\u7279\u65af\u62c9\u6280\u672f\u7684\u6f14\u8fdb\u5462\uff1f\u6211\u60f3\u662f\u4e09\u70b9\uff1a\u89c6\u89c9\u7b97\u6cd5\u5e26\u6765\u7684\u5168\u573a\u666f\u7406\u89e3\u80fd\u529b\uff0c\u5f3a\u5927\u7b97\u529b\u652f\u6301\u7684\u6a21\u578b\u8fed\u4ee3\u901f\u5ea6\uff0c\u6d77\u91cf\u6570\u636e\u5e26\u6765\u7684\u6cdb\u5316\u6027\u3002\u8fd9\u4e0d\u5c31\u662f\u6df1\u5ea6\u5b66\u4e60\u65f6\u4ee3\u7684\u4e09\u5927\u652f\u67f1\u5417\uff1f<\/p>\n","protected":false},"excerpt":{"rendered":"

\u53d1\u5e03\u4e8e 2023-02-27 08:11\u30fbIP […]<\/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-4701","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":16,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4701"}],"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=4701"}],"version-history":[{"count":4,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4701\/revisions"}],"predecessor-version":[{"id":4770,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4701\/revisions\/4770"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=4701"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=4701"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=4701"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}