{"id":5016,"date":"2023-03-22T11:19:51","date_gmt":"2023-03-22T03:19:51","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/03\/22\/5016\/"},"modified":"2023-03-22T13:25:34","modified_gmt":"2023-03-22T05:25:34","slug":"%e7%bc%96%e8%be%91%e4%ba%8e-2023-03-20-1455%e3%83%bbip-%e5%b1%9e%e5%9c%b0%e4%b8%8a%e6%b5%b7%e5%a4%a7%e7%9b%98%e7%82%b9%ef%bc%81%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%b8%ad%e5%9f%ba%e4%ba%8etransform","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/03\/22\/5016\/","title":{"rendered":"2023-03-20\u5927\u76d8\u70b9\uff01\u81ea\u52a8\u9a7e\u9a76\u4e2d\u57fa\u4e8eTransformer\u7684\u5355\u76eeBEV\u611f\u77e5"},"content":{"rendered":"

\u57fa\u4e8e\u591a\u89c6\u89d2\u6444\u50cf\u5934\u76843D\u76ee\u6807\u68c0\u6d4b\u5728\u9e1f\u77b0\u56fe\u4e0b\u7684\u611f\u77e5\uff08Bird’s-eye-view Perception, BEV Perception) \u5438\u5f15\u4e86\u8d8a\u6765\u8d8a\u591a\u7684\u6ce8\u610f\u529b\u3002\u4e00\u65b9\u9762\uff0c\u5c06\u4e0d\u540c\u89c6\u89d2\u5728BEV\u4e0b\u7edf\u4e00\u4e0e\u8868\u5f81\u662f\u5f88\u81ea\u7136\u7684\u63cf\u8ff0\uff0c\u65b9\u4fbf\u540e\u7eed\u89c4\u5212\u63a7\u5236\u6a21\u5757\u4efb\u52a1\uff1b\u53e6\u4e00\u65b9\u9762\uff0cBEV\u4e0b\u7684\u7269\u4f53\u6ca1\u6709\u56fe\u50cf\u89c6\u89d2\u4e0b\u7684\u5c3a\u5ea6(scale)\u548c\u906e\u6321(occlusion)\u95ee\u9898\u3002\u5982\u4f55\u4f18\u96c5\u7684\u5f97\u5230\u4e00\u7ec4BEV\u4e0b\u7684\u7279\u5f81\u63cf\u8ff0\uff0c\u662f\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\u7684\u5173\u952e\u3002\u91cf\u4ea7\u7ea7\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u53ef\u6269\u5c55\u7684\u4e09\u7ef4\u4e16\u754c\u63a8\u7406\u3002 \u5f53\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u548c\u5176\u4ed6\u4ea4\u901a\u4ee3\u7406\u5728\u9053\u8def\u4e0a\u79fb\u52a8\u65f6\uff0c\u5927\u591a\u6570\u65f6\u5019\u63a8\u7406\u4e0d\u9700\u8981\u8003\u8651\u9ad8\u5ea6\uff0c\u4f7f\u9e1f\u77b0\u56fe (Birds-Eye-View) \u8db3\u4ee5\u8868\u793a\u3002<\/p>\n

<\/p>\n

\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u5806\u6808\u7684\u67b6\u6784\u5982\u4e0a\u56fe\u6240\u793a<\/p>\n

\u4e0a\u56fe\u5c55\u793a\u4e86\u4e00\u4e2a\u4f20\u7edf\u7684\u81ea\u52a8\u9a7e\u9a76\u5806\u6808\uff08\u4e3a\u7b80\u5355\u8d77\u89c1\uff0c\u6b64\u5904\u7701\u7565\u4e86\u672c\u5730\u5316\u7b49\u8bb8\u591a\u65b9\u9762\uff09\u3002 \u5728\u6b64\u56fe\u4e2d\uff0c\u5706\u5708\u4ee3\u8868\u529f\u80fd\u6a21\u5757\uff0c\u5e76\u6839\u636e\u5b83\u4eec\u6240\u5728\u7684\u7a7a\u95f4\u8fdb\u884c\u989c\u8272\u7f16\u7801\u3002\u7eff\u8272\u6a21\u5757\u51fa\u73b0\u5728 2D \u4e2d\uff0c\u84dd\u8272\u6a21\u5757\u51fa\u73b0\u5728 BEV \u4e2d\u3002 \u53ea\u6709\u76f8\u673a\u611f\u77e5\u53d1\u751f\u5728 2D \u7a7a\u95f4\u4e2d\uff0c\u6216\u8005\u66f4\u51c6\u786e\u5730\u8bf4\uff0c\u662f\u83b7\u53d6\u673a\u8f7d\u76f8\u673a\u56fe\u50cf\u7684**\u900f\u89c6\u7a7a\u95f4\u3002 \u5b83\u4f9d\u9760\u5177\u6709\u5927\u91cf\u624b\u5de5\u5236\u4f5c\u89c4\u5219\u7684\u4f20\u611f\u5668\u878d\u5408\u5c06 2D \u68c0\u6d4b\u63d0\u5347\u5230 3D\uff0c\u53ef\u9009\u62e9\u501f\u52a9\u96f7\u8fbe\u6216\u6fc0\u5149\u96f7\u8fbe\u7684 3D \u6d4b\u91cf\u3002<\/p>\n

\u5728\u8fd9\u91cc\uff0c\u4e4b\u6240\u4ee5\u628a\u8fd9\u4e9b\u4e1c\u897f\u5b9a\u4e49\u4e3a\u4f20\u7edf\uff0c\u81f3\u5c11\u6709\u4e24\u4e2a\u539f\u56e0\u3002 \u9996\u5148\uff0c\u76f8\u673a\u611f\u77e5\u4ecd\u7136\u53d1\u751f\u5728\u900f\u89c6\u7a7a\u95f4\u4e2d\uff08\u4e0e\u6700\u8fd1\u7684\u5355\u76ee 3D \u7269\u4f53\u68c0\u6d4b\u8d8b\u52bf\u76f8\u53cd\uff0c\u6765\u81ea\u591a\u6a21\u5f0f\u4f20\u611f\u5668\u7684\u7ed3\u679c\u4ee5\u540e\u671f\u878d\u5408\u65b9\u5f0f\u878d\u5408\uff08\u4e0e\u65e9\u671f\u878d\u5408\u76f8\u53cd\uff0c\u65e9\u671f\u878d\u5408\u5c06\u4f20\u611f\u5668\u6570\u636e\u8f93\u5165\u795e\u7ecf\u7f51\u7edc\u4ee5\u8fdb\u884c\u6570\u636e\u9a71\u52a8\u5173\u8054\u548c\u51e0\u4f55\u63a8\u7406\uff09\u3002<\/p>\n

BEV Perception\u7684\u610f\u4e49<\/p>\n

\u5bf9\u4e8e\u76f8\u673a\u611f\u77e5\uff0c\u8f6c\u5411 BEV \u5c06\u662f\u975e\u5e38\u6709\u76ca\u7684\u3002 \u9996\u5148\uff0c\u76f4\u63a5\u5728 BEV \u4e2d\u6267\u884c\u76f8\u673a\u611f\u77e5\u53ef\u4ee5\u76f4\u63a5\u4e0e\u6765\u81ea\u5176\u4ed6\u6a21\u5f0f\uff08\u4f8b\u5982\u96f7\u8fbe\u6216\u6fc0\u5149\u96f7\u8fbe\uff09\u7684\u611f\u77e5\u7ed3\u679c\u76f8\u7ed3\u5408\uff0c\u56e0\u4e3a\u5b83\u4eec\u5df2\u7ecf\u5728 BEV \u4e2d\u8868\u793a\u548c\u4f7f\u7528\u3002 BEV \u7a7a\u95f4\u4e2d\u7684\u611f\u77e5\u7ed3\u679c\u4e5f\u5f88\u5bb9\u6613\u88ab\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u4e0b\u6e38\u7ec4\u4ef6\u4f7f\u7528\u3002 \u5176\u6b21\uff0c\u7eaf\u7cb9\u4f9d\u9760\u624b\u5de5\u5236\u5b9a\u7684\u89c4\u5219\u5c06 2D \u89c2\u5bdf\u63d0\u5347\u5230 3D \u662f\u4e0d\u53ef\u6269\u5c55\u7684\u3002 BEV \u8868\u793a\u6709\u52a9\u4e8e\u8fc7\u6e21\u5230\u65e9\u671f\u878d\u5408\u7ba1\u9053\uff0c\u4f7f\u878d\u5408\u8fc7\u7a0b\u5b8c\u5168\u7531\u6570\u636e\u9a71\u52a8\u3002 \u6700\u540e\uff0c\u5728\u7eaf\u89c6\u89c9\u7cfb\u7edf\uff08\u6ca1\u6709\u96f7\u8fbe\u6216\u6fc0\u5149\u96f7\u8fbe\uff09\u4e2d\uff0c\u5728 BEV \u4e2d\u6267\u884c\u611f\u77e5\u4efb\u52a1\u51e0\u4e4e\u6210\u4e3a\u5f3a\u5236\uff0c\u56e0\u4e3a\u5728\u4f20\u611f\u5668\u878d\u5408\u4e2d\u6ca1\u6709\u5176\u4ed6 3D \u63d0\u793a\u53ef\u7528\u4e8e\u6267\u884c\u6b64\u89c6\u56fe\u8f6c\u6362\u3002<\/p>\n

\u5355\u773cBEV\uff08Bird’s Eye View\uff09\u611f\u77e5\u662f\u6307\u5229\u7528\u4e00\u53f0\u5355\u72ec\u7684\u6444\u50cf\u673a\u6765\u83b7\u53d6BEV\u56fe\u50cf\uff0c\u5bf9\u8f66\u8f86\u5468\u56f4\u73af\u5883\u8fdb\u884c\u611f\u77e5\u548c\u7406\u89e3\u3002\u5b83\u662f\u81ea\u52a8\u9a7e\u9a76\u3001\u667a\u80fd\u8f85\u52a9\u9a7e\u9a76\u7b49\u9886\u57df\u4e2d\u5e38\u7528\u7684\u611f\u77e5\u65b9\u6cd5\u4e4b\u4e00\uff0c\u5177\u6709\u4ee5\u4e0b\u4e00\u4e9b\u4f18\u70b9\uff1a<\/p>\n

\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u89c6\u89d2\uff1a\u76f8\u8f83\u4e8e\u524d\u7f6e\u6444\u50cf\u5934\u7b49\u5355\u5411\u6444\u50cf\u5934\u7684\u62cd\u6444\u89d2\u5ea6\uff0c\u5355\u773cBEV\u611f\u77e5\u53ef\u4ee5\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u89c6\u89d2\u3002\u56e0\u4e3a\u5b83\u5728\u9876\u90e8\u9ad8\u5904\u62cd\u6444\uff0c\u80fd\u591f\u6355\u6349\u5230\u8f66\u8f86\u5468\u56f4\u66f4\u5e7f\u9614\u7684\u533a\u57df\uff0c\u5e76\u80fd\u591f\u63d0\u4f9b\u66f4\u591a\u7684\u7279\u5f81\u4fe1\u606f\uff0c\u5305\u62ec\u8f66\u8f86\u3001\u4eba\u884c\u9053\u3001\u8857\u9053\u540d\u79f0\u3001\u8349\u576a\u3001\u6e38\u6cf3\u6c60\u7b49\u7279\u5f81\uff0c\u800c\u8fd9\u4e9b\u7279\u5f81\u5bf9\u4e8e\u81ea\u4e3b\u9a7e\u9a76\u548c\u573a\u666f\u7406\u89e3\u975e\u5e38\u91cd\u8981\u3002<\/p>\n

\u63d0\u9ad8\u8fa8\u8bc6\u5ea6\uff1aBEV\u56fe\u50cf\u80fd\u591f\u5bf9\u573a\u666f\u8fdb\u884c\u900f\u89c6\u53d8\u6362\uff0c\u5c06\u5e73\u9762\u4e0a\u7684\u8f66\u8f86\u6216\u7269\u4f53\u6620\u5c04\u5230\u56fe\u50cf\u4e0a\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u8fa8\u8bc6\u5ea6\u3002\u5e76\u4e14\u76f8\u5bf9\u4e8e\u8f66\u8f86\u6444\u50cf\u5934\u7b49\u5176\u4ed6\u611f\u77e5\u65b9\u6cd5\uff0cBEV\u611f\u77e5\u6240\u83b7\u53d6\u7684\u56fe\u50cf\u573a\u666f\u66f4\u4e3a\u72ec\u7279\uff0c\u56e0\u6b64\u5177\u6709\u8f83\u9ad8\u7684\u5224\u522b\u6027\u3002<\/p>\n

\u964d\u4f4e\u6210\u672c\uff1a\u76f8\u5bf9\u4e8e\u4f7f\u7528\u591a\u4e2a\u6444\u50cf\u5934\u7684\u65b9\u6cd5\uff0c\u5355\u773cBEV\u611f\u77e5\u80fd\u591f\u964d\u4f4e\u6574\u4e2a\u7cfb\u7edf\u7684\u6210\u672c\u3002\u56e0\u4e3a\u591a\u4e2a\u6444\u50cf\u5934\u9700\u8981\u66f4\u591a\u7684\u786c\u4ef6\u5f00\u9500\uff0c\u5e76\u4e14\u9700\u8981\u8fdb\u884c\u591a\u4e2a\u6444\u50cf\u5934\u95f4\u7684\u56fe\u50cf\u6821\u51c6\u548c\u878d\u5408\uff0c\u589e\u52a0\u4e86\u7cfb\u7edf\u7684\u590d\u6742\u5ea6\u548c\u6210\u672c\u3002<\/p>\n

\u9002\u7528\u5e7f\u6cdb\uff1aBEV\u76f8\u673a\u62cd\u6444\u7684\u56fe\u50cf\u53ef\u4ee5\u63d0\u4f9b\u66f4\u5168\u9762\u7684\u89c2\u5bdf\u89d2\u5ea6\uff0c\u56e0\u6b64\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u9a7e\u9a76\u3001\u81ea\u52a8\u9a7e\u9a76\u3001\u667a\u80fd\u505c\u8f66\u3001\u4ea4\u901a\u7ba1\u7406\u7b49\u573a\u666f\u4e2d\u3002 \u7efc\u4e0a\u6240\u8ff0\uff0c\u5355\u773cBEV\u611f\u77e5\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e2d\u975e\u5e38\u91cd\u8981\uff0c\u5177\u6709\u63d0\u4f9b\u5168\u9762\u89c6\u89d2\u3001\u63d0\u9ad8\u8fa8\u8bc6\u5ea6\u3001\u964d\u4f4e\u7cfb\u7edf\u6210\u672c\u7b49\u4f18\u70b9\uff0c\u968f\u7740\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u7684\u4e0d\u65ad\u53d1\u5c55\u548c\u8fdb\u6b65\uff0c\u5176\u5e94\u7528\u8303\u56f4\u548c\u610f\u4e49\u4e5f\u5c06\u4e0d\u65ad\u6269\u5927\u548c\u6df1\u5165\u3002<\/p>\n

\u5728\u8fc7\u53bb\u7684\u4e00\u5e74\u91cc\uff0c\u5355\u773c BEV \u611f\u77e5\u4e3b\u8981\u51fa\u805a\u7126\u4e8e\u4ee5\u4e0b\u4e09\u79cd\u65b9\u6cd5\uff1a<\/p>\n

IPM\uff1a\u8fd9\u662f\u57fa\u4e8e\u5e73\u5766\u5730\u9762\u5047\u8bbe\u7684\u7b80\u5355\u57fa\u7ebf\u3002 Cam2BEV \u53ef\u80fd\u4e0d\u662f\u7b2c\u4e00\u9879\u8fd9\u6837\u505a\u7684\u5de5\u4f5c\uff0c\u800c\u662f\u4e00\u9879\u76f8\u5f53\u8fd1\u671f\u7684\u76f8\u5173\u5de5\u4f5c\u3002 \u5b83\u4f7f\u7528 IPM \u8fdb\u884c\u7279\u5f81\u53d8\u6362\uff0c\u5e76\u4f7f\u7528 CNN \u6821\u6b63\u4e0d\u5728 2D \u8def\u9762\u4e0a\u7684 3D \u7269\u4f53\u7684\u53d8\u5f62\u3002<\/p>\n

Lift-splat\uff1a\u5728 BEV \u4e0a\u4f7f\u7528\u5355\u6df1\u5ea6\u4f30\u8ba1\u548c splat \u63d0\u5347\u5230 3D\u3002 \u8fd9\u4e00\u8d8b\u52bf\u7531 Lift-Splat-Shoot \u53d1\u8d77\uff0c\u8bb8\u591a\u540e\u7eed\u5de5\u4f5c\u5982 [BEV-Seg](https:\/\/arxiv.org\/abs\/ 2006.11436)\u3001CaDDN \u548c FIERY\u3002<\/p>\n

MLP\uff1a\u4f7f\u7528 MLP \u5bf9\u89c6\u56fe\u8f6c\u6362\u8fdb\u884c\u5efa\u6a21\u3002 \u4e3b\u8981\u7684\u4ee3\u8868\u65b9\u6cd5\u6709VPN\u3001Fishing Net\u3001HDMapNet\u3002<\/p>\n

Transformers\uff1a\u4f7f\u7528\u57fa\u4e8e\u81ea\u6ce8\u610f\u529b\u7684Transformer\u5bf9\u89c6\u56fe\u8f6c\u6362\u8fdb\u884c\u5efa\u6a21\u3002 \u6216\u8005\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u57fa\u4e8e cross-attention \u7684 transformer \u6a21\u5757\u3002 \u81ea 2020 \u5e74\u5e74\u4e2d\u4ee5\u6765\uff0c\u5e76\u4e14\u81f3\u5c11\u5230 2021 \u5e74\u5e95\uff0cTransformers \u5e2d\u5377\u4e86Computer Vision\u9886\u57df\uff0c\u8fd9\u4e00\u8d8b\u52bf\u5f00\u59cb\u663e\u793a\u51fa\u6700\u521dattention\u3002<\/p>\n

\u5728\u8fd9\u7bc7\u8bc4\u8bba\u535a\u6587\u4e2d\uff0c\u6211\u5c06\u91cd\u70b9\u5173\u6ce8\u6700\u65b0\u7684\u8d8b\u52bf\u2014\u2014\u4f7f\u7528 Transformers \u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\u3002<\/p>\n

View transformation with Transformers<\/p>\n

Transformers \u7684\u4e00\u822c\u67b6\u6784\u5927\u5bb6\u4e86\u89e3\u7684\u4e00\u822c\u4e5f\u6bd4\u8f83\u591a\u4e86\uff0c\u56e0\u6b64\u6211\u4eec\u5728\u6b64\u4e0d\u518d\u91cd\u70b9\u4ecb\u7ecd\u3002\u7531\u4e8eglobal\u7684attention\u673a\u5236\uff0cTransformers \u66f4\u9002\u5408\u6267\u884cview\u8f6c\u6362\u7684\u5de5\u4f5c\u3002 \u76ee\u6807\u7684domain\u4e2d\u7684\u6bcf\u4e2a\u4f4d\u7f6e\u90fd\u5177\u6709\u76f8\u540c\u7684\u8ddd\u79bb\u6765\u8bbf\u95ee\u6e90\u57df\u4e2d\u7684\u4efb\u4f55\u4f4d\u7f6e\uff0c\u514b\u670d\u4e86 CNN \u4e2d\u5377\u79ef\u5c42\u5c40\u90e8\u53d7\u9650\u7684receptive fields\u3002<\/p>\n

Cross-attention vs self-attention<\/p>\n

<\/p>\n

\u89c6\u89c9Transformer\u662f\u4e00\u79cd\u57fa\u4e8e\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7684\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff0c\u88ab\u5e7f\u6cdb\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u4e2d\u7684\u56fe\u50cf\u5904\u7406\u4efb\u52a1\u3002\u4e0e\u4f20\u7edf\u7684\u5377\u79ef\u795e\u7ecf\u7f51\u7edc(CNNs)\u4e0d\u540c\uff0c\u89c6\u89c9Transformer\u5728\u4e0d\u4f7f\u7528\u5377\u79ef\u64cd\u4f5c\u7684\u60c5\u51b5\u4e0b\u5bf9\u56fe\u50cf\u8fdb\u884c\u5904\u7406\u3002<\/p>\n

\u89c6\u89c9Transformer\u6a21\u578b\u7531\u591a\u4e2a\u5c42\u6b21\u7ec4\u6210\uff0c\u6bcf\u4e2a\u5c42\u6b21\u90fd\u5305\u62ec\u591a\u5934\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u548c\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6a21\u5757\u3002\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u662f\u6a21\u578b\u7684\u6838\u5fc3\u7ec4\u4ef6\uff0c\u5b83\u80fd\u591f\u81ea\u9002\u5e94\u5730\u5173\u6ce8\u8f93\u5165\u7684\u4e0d\u540c\u533a\u57df\uff0c\u5e76\u5b66\u4e60\u5230\u533a\u57df\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u6a21\u5757\u5219\u7528\u4e8e\u5bf9\u6bcf\u4e2a\u4f4d\u7f6e\u7684\u7279\u5f81\u8fdb\u884c\u975e\u7ebf\u6027\u53d8\u6362\u548c\u6269\u5c55\u3002<\/p>\n

\u4e0e\u4f20\u7edf\u7684CNNs\u76f8\u6bd4\uff0c\u89c6\u89c9Transformer\u5177\u6709\u4ee5\u4e0b\u51e0\u4e2a\u4f18\u70b9\uff1a<\/p>\n

\u66f4\u597d\u7684\u5168\u5c40\u89c6\u91ce\uff1a\u81ea\u6ce8\u610f\u529b\u673a\u5236\u80fd\u591f\u5173\u6ce8\u6574\u4e2a\u56fe\u50cf\uff0c\u800c\u4e0d\u662f\u50cf\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u4e00\u6837\u53ea\u80fd\u5173\u6ce8\u56fa\u5b9a\u5927\u5c0f\u7684\u5c40\u90e8\u533a\u57df\u3002\u56e0\u6b64\uff0c\u89c6\u89c9Transformer\u5728\u5904\u7406\u56fe\u50cf\u4e2d\u7684\u957f\u7a0b\u4f9d\u8d56\u6027\u95ee\u9898\u65f6\u8868\u73b0\u66f4\u597d\u3002<\/p>\n

\u66f4\u597d\u7684\u53ef\u89e3\u91ca\u6027\uff1a\u7531\u4e8e\u81ea\u6ce8\u610f\u529b\u673a\u5236\u80fd\u591f\u5bf9\u4e0d\u540c\u4f4d\u7f6e\u4e4b\u95f4\u7684\u5173\u7cfb\u8fdb\u884c\u5efa\u6a21\uff0c\u56e0\u6b64\u89c6\u89c9Transformer\u6a21\u578b\u7684\u7279\u5f81\u6620\u5c04\u53ef\u4ee5\u88ab\u89e3\u91ca\u4e3a\u8f93\u5165\u56fe\u50cf\u4e2d\u7684\u4e0d\u540c\u90e8\u5206\u4e4b\u95f4\u7684\u5173\u7cfb\u3002\u8fd9\u4f7f\u5f97\u6a21\u578b\u7684\u9884\u6d4b\u7ed3\u679c\u66f4\u5bb9\u6613\u88ab\u7406\u89e3\u548c\u89e3\u91ca\u3002<\/p>\n

\u66f4\u597d\u7684\u7075\u6d3b\u6027\uff1a\u89c6\u89c9Transformer\u6a21\u578b\u53ef\u4ee5\u9002\u7528\u4e8e\u4e0d\u540c\u5927\u5c0f\u7684\u8f93\u5165\u56fe\u50cf\uff0c\u800c\u4e0d\u50cf\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u90a3\u6837\u9700\u8981\u9884\u5b9a\u4e49\u7684\u56fa\u5b9a\u5927\u5c0f\u7684\u5377\u79ef\u6838\u3002\u8fd9\u4f7f\u5f97\u89c6\u89c9Transformer\u66f4\u9002\u5408\u5904\u7406\u5c3a\u5bf8\u4e0d\u4e00\u7684\u56fe\u50cf\u6570\u636e\uff0c\u5982\u9065\u611f\u56fe\u50cf\u548c\u533b\u5b66\u56fe\u50cf\u7b49\u3002<\/p>\n

\u76ee\u524d\uff0c\u89c6\u89c9Transformer\u5df2\u88ab\u5e94\u7528\u4e8e\u591a\u4e2a\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\uff0c\u5982\u56fe\u50cf\u5206\u7c7b\u3001\u76ee\u6807\u68c0\u6d4b\u548c\u56fe\u50cf\u5206\u5272\u7b49\u3002\u5728\u8bb8\u591a\u4efb\u52a1\u4e2d\uff0c\u89c6\u89c9Transformer\u5df2\u7ecf\u53d6\u5f97\u4e86\u4e0e\u6216\u8d85\u8fc7\u4f20\u7edfCNNs\u7684\u6027\u80fd\uff0c\u5e76\u6210\u4e3a\u4e86\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u4e2d\u7684\u7814\u7a76\u70ed\u70b9\u4e4b\u4e00\u3002<\/p>\n

Cross-attention is all you need<\/p>\n

CV \u4e2d Transformers \u7684\u8bb8\u591a\u6700\u65b0\u8fdb\u5c55\u5b9e\u9645\u4e0a\u53ea\u5229\u7528\u4e86 self-attention \u673a\u5236\uff0c\u4f8b\u5982\u88ab\u5927\u91cf\u5f15\u7528\u7684 ViT\uff08[An Image is Worth 16×16 Words: Transformers for Image Recognition at Scale]\uff08https :\/\/http:\/\/arxiv.org\/abs\/2010.11929), ICLR 2021) \u6216 Swin Transformer (Hierarchical Vision Transformer using Shifted Windows, Arxiv 2021\/03\uff09\u3002 \u5b83\u4eec\u5145\u5f53\u5bf9\u9aa8\u5e72\u7279\u5f81\u63d0\u53d6\u5668\u7684\u589e\u5f3a\u3002 \u7136\u800c\uff0c\u8003\u8651\u5230\u5728\u5927\u89c4\u6a21\u751f\u4ea7\u8f66\u8f86\u4e0a\u5178\u578b\u7684\u8d44\u6e90\u53d7\u9650\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u90e8\u7f72\u901a\u7528 Transformer \u67b6\u6784\u7684\u56f0\u96be\uff0cself-attention \u76f8\u5bf9\u4e8e\u5f97\u5230\u826f\u597d\u652f\u6301\u7684 CNN \u7684\u589e\u91cf\u6536\u76ca\u53ef\u80fd\u5f88\u96be\u8bc1\u660e\u662f\u5408\u7406\u7684\u3002 \u5728\u6211\u4eec\u770b\u5230 self-attention \u5728 CNN \u4e0a\u7684\u4e00\u4e9b\u7a81\u7834\u6027\u4f18\u52bf\u4e4b\u524d\uff0c\u5c06 CNN \u7528\u4e8e\u5de5\u4e1a\u5e94\u7528\uff08\u4f8b\u5982\u91cf\u4ea7\u81ea\u52a8\u9a7e\u9a76\uff09\u5c06\u662f\u4e00\u4e2a\u660e\u667a\u7684\u9009\u62e9\u3002<\/p>\n

\u53e6\u4e00\u65b9\u9762\uff0c\u4ea4\u53c9\u6ce8\u610f\u529b\u6709\u66f4\u53ef\u9760\u7684\u6848\u4f8b\u3002 \u5c06\u4ea4\u53c9\u6ce8\u610f\u529b\u5e94\u7528\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u4e00\u9879\u5f00\u521b\u6027\u7814\u7a76\u662f DETR\uff08End-to-End Object Detection with Transformers\uff0cECCV 2020\uff09\u3002 DETR \u6700\u5177\u521b\u65b0\u6027\u7684\u90e8\u5206\u4e4b\u4e00\u662f\u57fa\u4e8e\u79f0\u4e3a\u5bf9\u8c61\u67e5\u8be2\u7684\u56fa\u5b9a\u6570\u91cf\u69fd\u7684\u4ea4\u53c9\u6ce8\u610f\u89e3\u7801\u5668\u3002 \u4e0d\u540c\u4e8e\u539f\u59cb\u7684 Transformer \u8bba\u6587\uff0c\u5176\u4e2d\u6bcf\u4e2a\u67e5\u8be2\u88ab\u4e00\u4e2a\u63a5\u4e00\u4e2a\u5730\u8f93\u5165\u89e3\u7801\u5668\uff08\u81ea\u52a8\u56de\u5f52\uff09\uff0c\u8fd9\u4e9b\u67e5\u8be2\u88ab\u5e76\u884c\uff08\u540c\u65f6\uff09\u8f93\u5165\u5230 DETR \u89e3\u7801\u5668\u4e2d\u3002 \u67e5\u8be2\u7684\u5185\u5bb9\u4e5f\u662f\u5b66\u4e60\u7684\uff0c\u5728\u8bad\u7ec3\u524d\u4e0d\u5fc5\u6307\u5b9a\uff0c\u9664\u4e86\u67e5\u8be2\u7684\u6570\u91cf\u3002 \u8fd9\u4e9b\u67e5\u8be2\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u4e2a\u7a7a\u767d\u7684\u3001\u9884\u5148\u5206\u914d\u7684\u6a21\u677f\u6765\u4fdd\u5b58\u5bf9\u8c61\u68c0\u6d4b\u7ed3\u679c\uff0c\u4ea4\u53c9\u6ce8\u610f\u529b\u89e3\u7801\u5668\u8d1f\u8d23\u586b\u5145\u7a7a\u767d\u3002<\/p>\n

\u5982<\/p>\n

\u4e0a\u56fe\u6240\u793a\uff0cDETR \u7684 Cross-Attention Decoder \u90e8\u5206\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u4e2a\u8de8\u57df\u751f\u6210\u5668 (source)<\/p>\n

\u8fd9\u6fc0\u53d1\u4e86\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u89e3\u7801\u5668\u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\u7684\u60f3\u6cd5\u3002 \u8f93\u5165\u89c6\u56fe\u88ab\u9001\u5165\u7279\u5f81\u7f16\u7801\u5668\uff08\u57fa\u4e8e\u81ea\u6ce8\u610f\u529b\u6216\u57fa\u4e8e CNN\uff09\uff0c\u7f16\u7801\u540e\u7684\u7279\u5f81\u4f5c\u4e3a K \u548c V\u3002\u76ee\u6807\u89c6\u56fe\u683c\u5f0f\u7684Q\u53ef\u4ee5\u5b66\u4e60\uff0c\u53ea\u9700\u8981\u5149\u6805\u5316\u4e3aQ \u7684\u503c\u53ef\u4ee5\u4e0e\u7f51\u7edc\u7684\u5176\u4f59\u90e8\u5206\u4e00\u8d77\u5b66\u4e60\u3002<\/p>\n

\u5728<\/p>\n

\u63a5\u4e0b\u6765\u7684\u4ecb\u7ecd\u4e2d\uff0c\u6211\u4eec\u5c06\u56de\u987e\u8fd9\u65b9\u9762\u7684\u4e00\u4e9b\u6700\u76f8\u5173\u7684\u5de5\u4f5c\u3002<\/p>\n

PYVA (CVPR 2021)<\/p>\n

PYVA (Projecting Your View Attentively: Monocular Road Scene Layout Estimation via Cross-view Transformation, CVPR 2021) \u662f\u7b2c\u4e00\u4e2a\u660e\u786e\u63d0\u5230\u4ea4\u53c9\u6ce8\u610f\u89e3\u7801\u5668\u53ef\u7528\u4e8e\u89c6\u56fe\u8f6c\u6362\u4ee5\u5c06\u56fe\u50cf\u7279\u5f81\u63d0\u5347\u5230 BEV \u7a7a\u95f4\u7684\u4eba\u4e4b\u4e00\u3002 \u4e0e\u65e9\u671f\u7684\u5355\u76ee BEV \u611f\u77e5\u5de5\u4f5c\u7c7b\u4f3c\uff0cPYVA \u5bf9\u8f6c\u6362\u540e\u7684 BEV \u7279\u5f81\u6267\u884c\u9053\u8def\u5e03\u5c40\u548c\u8f66\u8f86\u5206\u5272\u3002<\/p>\n

<\/p>\n

PYVA \u9996\u5148\u4f7f\u7528 MLP \u5c06\u900f\u89c6\u7a7a\u95f4\u4e2d\u7684\u56fe\u50cf\u7279\u5f81 X \u63d0\u5347\u5230\uff08\u58f0\u79f0\u7684\uff09BEV \u7a7a\u95f4\u4e2d\u7684 X’\u3002 \u7b2c\u4e8c\u4e2a MLP \u5c06 X’ \u6620\u5c04\u56de\u56fe\u50cf\u7a7a\u95f4 X”\uff0c\u5e76\u4f7f\u7528 X \u548c X” \u4e4b\u95f4\u7684\u5faa\u73af\u4e00\u81f4\u6027\u635f\u5931\u6765\u786e\u4fdd\u6b64\u6620\u5c04\u8fc7\u7a0b\u4fdd\u7559\u5c3d\u53ef\u80fd\u591a\u7684\u76f8\u5173\u4fe1\u606f\u3002PYVA\u4f7f\u7528\u7684Transformer\u662f\u4e00\u4e2across-attention\u6a21\u5757\uff0cquery Q\u6620\u5c04\u5230BEV\u7a7a\u95f4\u4e2d\u7684BEV\u7279\u5f81X’\uff0cV\u548cK\u90fd\u662f\u900f\u89c6\u7a7a\u95f4\u4e2d\u7684\u8f93\u5165X\uff08\u5982\u679c\u6211\u4eec\u5ffd\u7565\u4e24\u8005\u7684\u533a\u522b X \u548c X\u201d\u5728\u900f\u89c6\u7a7a\u95f4\u4e2d\uff09\u3002\u8bf7\u6ce8\u610f\uff0c\u5728 BEV \u7a7a\u95f4\u4e2d\u6ca1\u6709\u5bf9 X’ \u7684\u663e\u5f0f\u76d1\u7763\uff0c\u5e76\u4e14\u5728 BEV \u7a7a\u95f4\u4e2d\u53d7\u5230\u4e0b\u6e38\u4efb\u52a1\u635f\u5931\u7684\u9690\u5f0f\u76d1\u7763\u3002\u5728 PYVA \u4e2d\uff0c\u4f3c\u4e4e\u662f MLP \u5b8c\u6210\u4e86 View Transform \u7684\u7e41\u91cd\u63d0\u5347\uff0c\u800c\u5728 BEV \u4e2d\u4ea4\u53c9\u6ce8\u610f\u529b\u88ab\u7528\u6765\u589e\u5f3a\u63d0\u5347\u7684\u7279\u5f81\u3002 \u7136\u800c\uff0c\u7531\u4e8e\u5728 BEV \u7a7a\u95f4\u4e2d\u6ca1\u6709\u5bf9\u751f\u6210\u7684\u67e5\u8be2\u7684\u660e\u786e\u76d1\u7763\uff0c\u4ece\u6280\u672f\u4e0a\u8bb2\uff0c\u5f88\u96be\u5c06\u8fd9\u4e24\u4e2a\u7ec4\u4ef6\u7684\u8d21\u732e\u5206\u5f00\u3002 \u5bf9\u6b64\u8fdb\u884c\u6d88\u878d\u7814\u7a76\u6709\u52a9\u4e8e\u6f84\u6e05\u8fd9\u4e00\u70b9\u3002<\/p>\n

NEAT (ICCV 2021)<\/p>\n

NEAT (Neural Attention Fields for End-to-End Autonomous Driving, ICCV 2021) \u5728\u4f7f\u7528\u57fa\u4e8e MLP \u7684\u8fed\u4ee3\u6ce8\u610f\u529b\u5c06\u56fe\u50cf\u7279\u5f81\u63d0\u5347\u5230 BEV \u7a7a\u95f4\u4e4b\u524d\uff0c\u4f7f\u7528 Transformers \u589e\u5f3a\u56fe\u50cf\u7279\u5f81\u7a7a\u95f4\u4e2d\u7684\u7279\u5f81\u3002 \u672c\u6587\u7684\u76ee\u6807\u662f\u53ef\u89e3\u91ca\u7684\u3001\u9ad8\u6027\u80fd\u7684\u3001\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u4f46\u6211\u4eec\u5728\u8fd9\u91cc\u53ea\u5173\u6ce8\u53ef\u89e3\u91ca\u7684\u4e2d\u95f4 BEV \u8868\u793a\u7684\u751f\u6210\u3002<\/p>\n

<\/p>\n

\u5982\u4e0a\u56fe\u6240\u793aNEAT\u7684\u7ed3\u6784\u3002Encoder \u5757\u4e2d\u4f7f\u7528\u7684 Transformer \u662f\u57fa\u4e8e\u81ea\u6ce8\u610f\u529b\u7684\u3002 \u4f5c\u8005\u8fd8\u627f\u8ba4\uff0c\u201c\u53ef\u4ee5\u5728\u4e0d\u6539\u53d8\u8f93\u51fa\u7ef4\u5ea6\u7684\u60c5\u51b5\u4e0b\u4ece\u6211\u4eec\u7684\u7f16\u7801\u5668\u4e2d\u79fb\u9664\u8f6c\u6362\u5668\uff0c\u4f46\u6211\u4eec\u5c06\u5176\u5305\u62ec\u5728\u5185\uff0c\u56e0\u4e3a\u5b83\u6839\u636e\u6211\u4eec\u7684\u6d88\u878d\u7814\u7a76\u63d0\u4f9b\u4e86\u6539\u8fdb\u201d\u3002 \u6b63\u5982\u6211\u4eec\u4e0a\u9762\u6240\u8ba8\u8bba\u7684\uff0c\u914d\u5907\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u7684\u7f16\u7801\u5668\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u4e2a\u7f8e\u5316\u7684\u4e3b\u5e72\uff0c\u5b83\u4e0d\u662f\u672c\u7814\u7a76\u7684\u91cd\u70b9\u3002<\/p>\n

\u6700\u6709\u8da3\u7684\u90e8\u5206\u53d1\u751f\u5728\u795e\u7ecf\u6ce8\u610f\u57df (NEAT) \u6a21\u5757\u4e2d\u3002 \u5bf9\u4e8e\u7ed9\u5b9a\u7684\u8f93\u51fa\u4f4d\u7f6e\uff08x\uff0cy\uff09\uff0cMLP\u7528\u4e8e\u5c06\u8f93\u51fa\u4f4d\u7f6e\u548c\u56fe\u50cf\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\uff0c\u751f\u6210\u4e0e\u8f93\u5165\u7279\u5f81\u56fe\u50cf\u5177\u6709\u76f8\u540c\u7a7a\u95f4\u7ef4\u5ea6\u7684\u6ce8\u610f\u529b\u56fe\u3002 \u7136\u540e\u4f7f\u7528\u6ce8\u610f\u529b\u56fe\u5bf9\u539f\u59cb\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u70b9\u79ef\uff0c\u4ee5\u751f\u6210\u7ed9\u5b9a\u8f93\u51fa\u4f4d\u7f6e\u7684\u76ee\u6807 BEV \u7279\u5f81\u3002 \u5982\u679c\u6211\u4eec\u904d\u5386\u6240\u6709\u53ef\u80fd\u7684 BEV \u7f51\u683c\u4f4d\u7f6e\uff0c\u90a3\u4e48\u6211\u4eec\u53ef\u4ee5\u5c06 NEAT \u6a21\u5757\u7684\u8f93\u51fa\u5e73\u94fa\u5230 BEV \u7279\u5f81\u56fe\u3002<\/p>\n

<\/p>\n

\u8fd9\u4e2a NEAT \u6a21\u5757\u4e0e\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u975e\u5e38\u76f8\u4f3c\u3002 \u4e3b\u8981\u533a\u522b\u5728\u4e8e Q \u548c K \u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\u6d4b\u91cf\u6b65\u9aa4\u88ab MLP \u53d6\u4ee3\u3002 \u6211\u4eec\u5728\u8fd9\u91cc\u5ffd\u7565\u4e86\u5176\u4ed6\u4e00\u4e9b\u6b21\u8981\u7ec6\u8282\uff0c\u4f8b\u5982 Softmax \u64cd\u4f5c\u548c\u503c V \u7684\u7ebf\u6027\u6295\u5f71\u3002\u5728\u6570\u5b66\u4e0a\uff0c\u6211\u4eec\u6709\u4ee5\u4e0b\u7528\u4e8e MLP\u3001\u4ea4\u53c9\u6ce8\u610f\u529b\u548c NEAT \u7684\u516c\u5f0f\u3002<\/p>\n

Decoder\u90e8\u5206\u8fd8\u4f7f\u7528 MLP \u751f\u6210\u67e5\u8be2\u4f4d\u7f6e (x, y) \u7684\u6240\u9700\u8bed\u4e49\u3002 \u5982\u679c\u6211\u4eec\u5c06 NEAT \u8f93\u51fa\u5e73\u94fa\u5230 BEV \u7279\u5f81\u56fe\u4e2d\uff0cMLP \u5c06\u7279\u5b9a\u4f4d\u7f6e\u7684\u7279\u5f81\u548c\u4f4d\u7f6e\u5750\u6807\u4f5c\u4e3a\u8f93\u5165\uff0c\u76f8\u5f53\u4e8e\u5728 BEV \u7279\u5f81\u56fe\u4e0a\u8fdb\u884c 1×1 \u5377\u79ef\uff0c\u5c06 (x, y) \u8fde\u63a5\u5230\u7279\u5f81\u56fe . \u6b64\u64cd\u4f5c\u4e0e CoordConv(NeurIPS 2018) \u975e\u5e38\u76f8\u4f3c\u3002 \u8fd9\u662f\u5c06 BEV \u7279\u5f81\u56fe\u7528\u4e8e\u4e0b\u6e38 BEV \u611f\u77e5\u4efb\u52a1\u7684\u76f8\u5f53\u6807\u51c6\u7684\u505a\u6cd5\u3002 \u6211\u4eec\u751a\u81f3\u53ef\u4ee5\u8d85\u8d8a 1×1 \u5377\u79ef\uff0c\u901a\u8fc7\u5806\u53e0 3×3 \u5377\u79ef\u8fdb\u4e00\u6b65\u63d0\u9ad8\u6027\u80fd\uff0c\u4ee5\u589e\u52a0 BEV \u7a7a\u95f4\u4e2d\u7684\u611f\u53d7\u91ce\u3002<\/p>\n

\u603b\u4e4b\uff0cNEAT \u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u7684\u53d8\u4f53\uff08MLP \u6765\u4ee3\u66ff\u76f8\u4f3c\u6027\u6d4b\u91cf\uff09\u5c06\u76f8\u673a\u56fe\u50cf\u63d0\u5347\u5230 BEV \u7a7a\u95f4\u3002<\/p>\n

STSU (ICCV 2021)<\/p>\n

STSU (Structured Bird\u2019s-Eye-View Traffic Scene Understanding from Onboard Images, ICCV 2021) \u9075\u5faa DETR \u7684\u505a\u6cd5\uff0c\u4f7f\u7528\u7a00\u758f\u67e5\u8be2\u8fdb\u884c\u5bf9\u8c61\u68c0\u6d4b\u3002 STSU \u4e0d\u4ec5\u53ef\u4ee5\u68c0\u6d4b\u52a8\u6001\u7269\u4f53\uff0c\u8fd8\u53ef\u4ee5\u68c0\u6d4b\u9759\u6001\u9053\u8def\u5e03\u5c40\u3002\u7531\u4e8e\u4f5c\u8005\u76f8\u540c\uff0c\u672c\u6587follow\u4e86 BEV Feature Stitching \u3002<\/p>\n

STSU \u4f7f\u7528\u4e24\u7ec4\u67e5\u8be2\u5411\u91cf\uff0c\u4e00\u7ec4\u7528\u4e8e\u4e2d\u5fc3\u7ebf\uff0c\u4e00\u7ec4\u7528\u4e8e\u5bf9\u8c61\u3002 \u6700\u6709\u8da3\u7684\u662f\u5b83\u5bf9\u7ed3\u6784\u5316\u9053\u8def\u5e03\u5c40\u7684\u9884\u6d4b\u3002 \u8f66\u9053\u5206\u652f\u5305\u62ec\u51e0\u4e2a\u9884\u6d4b\u5934\u3002<\/p>\n

\u68c0\u6d4b\u7684head\u6765\u9884\u6d4b\u662f\u5426\u5b58\u5728\u7531\u67d0\u4e2a\u67e5\u8be2\u5411\u91cf\u7f16\u7801\u7684\u8f66\u9053\u3002<\/p>\n

\u63a7\u5236\u7684head\u6765\u9884\u6d4b R \u8d1d\u585e\u5c14\u66f2\u7ebf \u63a7\u5236\u70b9\u7684\u4f4d\u7f6e\u3002<\/p>\n

\u5173\u8054\u7684head\u6765\u9884\u6d4b\u7528\u4e8e\u805a\u7c7b\u7684\u5d4c\u5165\u5411\u91cf\u3002<\/p>\n

\u5173\u8054\u5206\u7c7b\u5668\u63a5\u53d72\u4e2a\u5d4c\u5165\u5411\u91cf\u5e76\u5224\u65ad\u4e2d\u5fc3\u7ebf\u5bf9\u662f\u5426\u5173\u8054\u3002<\/p>\n

\u8d1d\u585e\u5c14\u66f2\u7ebf\u975e\u5e38\u9002\u5408\u4e2d\u5fc3\u7ebf\uff0c\u56e0\u4e3a\u5b83\u5141\u8bb8\u6211\u4eec\u4f7f\u7528\u56fa\u5b9a\u6570\u91cf\u7684 2D \u70b9\u5bf9\u4efb\u610f\u957f\u5ea6\u7684\u66f2\u7ebf\u8fdb\u884c\u5efa\u6a21\u3002\u8fd9\u4e5f\u662f\u8fd9\u4efd\u5de5\u4f5c\u53d6\u5f97\u5982\u6b64\u5927\u6210\u5c31\u7684\u539f\u56e0\u4e4b\u4e00\u3002<\/p>\n

DETR3D (CoRL 2021)<\/p>\n

DETR3D (3D Object Detection from Multi-view Images via 3D-to-2D Queries, CoRL 2021) \u9075\u5faa DETR \u7684\u505a\u6cd5\uff0c\u4e5f\u4f7f\u7528\u7a00\u758f\u67e5\u8be2\u8fdb\u884c\u5bf9\u8c61\u68c0\u6d4b\u3002 \u4e0e STSU \u7c7b\u4f3c\uff0c\u4f46 DETR3D \u4fa7\u91cd\u4e8e\u52a8\u6001\u5bf9\u8c61\u3002 \u67e5\u8be2\u5728 BEV \u7a7a\u95f4\u4e2d\uff0c\u5b83\u4eec\u4f7f DETR3D \u80fd\u591f\u76f4\u63a5\u5728 BEV \u7a7a\u95f4\u4e2d\u64cd\u4f5c\u9884\u6d4b\uff0c\u800c\u4e0d\u662f\u5bf9\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u5bc6\u96c6\u8f6c\u6362\u3002<\/p>\n

BEV \u611f\u77e5\u4f18\u4e8e mono3D \u7684\u4e00\u4e2a\u4f18\u52bf\u662f\u5728\u76f8\u673a\u91cd\u53e0\u533a\u57df\uff0c\u5728\u8be5\u533a\u57df\u4e2d\uff0c\u5bf9\u8c61\u66f4\u6709\u53ef\u80fd\u88ab\u76f8\u673a\u89c6\u91ce\u88c1\u526a\u3002 Mono3D \u65b9\u6cd5\u5fc5\u987b\u6839\u636e\u6765\u81ea\u6bcf\u4e2a\u6444\u50cf\u673a\u89c6\u70b9\u7684\u6709\u9650\u4fe1\u606f\u6765\u9884\u6d4b\u6bcf\u4e2a\u6444\u50cf\u673a\u4e2d\u7684\u88c1\u526a\u5bf9\u8c61\uff0c\u5e76\u4f9d\u9760\u5168\u5c40 NMS \u6765\u6291\u5236\u5197\u4f59\u6846\u3002 DETR3D \u4e13\u95e8\u8bc4\u4f30\u4e86\u56fe\u50cf\u8fb9\u754c\u5904\u7684\u6b64\u7c7b\u88c1\u526a\u5bf9\u8c61\uff08\u7ea6\u5360\u6574\u4e2a\u6570\u636e\u96c6\u7684 9%\uff09\uff0c\u53d1\u73b0 DETR3D \u6bd4 mono3D \u65b9\u6cd5\u6709\u663e\u7740\u6539\u8fdb\u3002 Tesla AI Day \u4e5f\u62a5\u9053\u4e86\u8fd9\u4e00\u70b9\u3002<\/p>\n

DETR3D \u4f7f\u7528\u591a\u79cd\u6280\u5de7\u6765\u63d0\u9ad8\u6027\u80fd\u3002 \u9996\u5148\u662f\u5bf9\u8c61\u67e5\u8be2\u7684\u8fed\u4ee3\u7ec6\u5316\u3002 \u672c\u8d28\u4e0a\uff0cBEV \u4e2d\u7684 bbox \u4e2d\u5fc3\u9884\u6d4b\u88ab\u91cd\u65b0\u6295\u5f71\u56de\u5177\u6709\u76f8\u673a\u53d8\u6362\u77e9\u9635\uff08\u5185\u90e8\u548c\u5916\u90e8\uff09\u7684\u56fe\u50cf\uff0c\u5e76\u4e14\u5bf9\u591a\u76f8\u673a\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u91c7\u6837\u548c\u96c6\u6210\u4ee5\u4f18\u5316\u67e5\u8be2\u3002 \u8fd9\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u91cd\u590d\u591a\u6b21\u4ee5\u63d0\u9ad8\u6027\u80fd\u3002\u7b2c\u4e8c\u4e2a\u6280\u5de7\u662f\u4f7f\u7528\u9884\u8bad\u7ec3\u7684 mono3D \u7f51\u7edc\u4e3b\u5e72\u6765\u63d0\u9ad8\u6027\u80fd\u3002 \u5bf9\u4e8e\u57fa\u4e8e Transformers \u7684 BEV \u611f\u77e5\u7f51\u7edc\uff0c\u521d\u59cb\u5316\u4f3c\u4e4e\u975e\u5e38\u91cd\u8981\u3002<\/p>\n

Translating Images into Maps (CVPR 2022)<\/p>\n

Translating Images into Maps \u6ce8\u610f\u5230\uff0c\u65e0\u8bba\u56fe\u50cf\u50cf\u7d20\u7684\u6df1\u5ea6\u5982\u4f55\uff0c\u56fe\u50cf\u4e2d\u7684\u5782\u76f4\u626b\u63cf\u7ebf\uff08\u56fe\u50cf\u5217\uff09\u4e0e\u7a7f\u8fc7 BEV \u56fe\u4e2d\u76f8\u673a\u4f4d\u7f6e\u7684\u6781\u5149\u4e4b\u95f4\u5b58\u5728 1\u20131 \u7684\u5bf9\u5e94\u5173\u7cfb\u3002 \u8fd9\u7c7b\u4f3c\u4e8e OFT (BMVC 2019) \u548c PyrOccNet (CVPR 2020) \u7684\u60f3\u6cd5\uff0c\u5176\u4e2d \u6cbf\u6295\u5c04\u56de 3D \u7a7a\u95f4\u7684\u5c04\u7ebf\u5728\u50cf\u7d20\u4f4d\u7f6e\u6d82\u62b9\u7279\u5f81\u3002<\/p>\n

<\/p>\n

\u5728\u5217\u65b9\u5411\u4f7f\u7528axial cross-attention Transformer\uff0c\u5728\u884c\u65b9\u5411\u4f7f\u7528\u5377\u79ef\uff0c\u663e\u7740\u8282\u7701\u4e86\u8ba1\u7b97\u91cf\u3002<\/p>\n

Tesla\u7684\u65b9\u6cd5<\/p>\n

\u5728 2021 \u5e74\u7684 Tesla AI Day \u4e0a\uff0cTesla \u63ed\u793a\u4e86\u4e3a Tesla FSD \u63d0\u4f9b\u52a8\u529b\u7684\u795e\u7ecf\u7f51\u7edc\u7684\u8bb8\u591a\u590d\u6742\u5185\u90e8\u5de5\u4f5c\u539f\u7406\u3002 \u6700\u6709\u8da3\u7684\u6784\u5efa\u5757\u4e4b\u4e00\u662f\u4e00\u4e2a\u88ab\u79f0\u4e3a\u201c\u56fe\u50cf\u5230 BEV \u53d8\u6362 + \u591a\u76f8\u673a\u878d\u5408\u201d\u7684\u6784\u5efa\u5757\u3002 \u8fd9\u4e2a\u5757\u7684\u4e2d\u5fc3\u662f\u4e00\u4e2a Transformer \u6a21\u5757\uff0c\u6216\u8005\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u662f\u4e00\u4e2a cross-attention \u6a21\u5757\u3002<\/p>\n

<\/p>\n

\u867d\u7136\u7279\u65af\u62c9\u63d0\u5230\u4ed6\u4eec\u7528\u7684\u662fmulti-headed self-attention\uff0c\u4f46\u662f\u4ed6\u63cf\u8ff0\u7684\u5f88\u660e\u663e\u662f\u4e00\u4e2across-attention\u673a\u5236\uff0c\u800c\u4e14\u4ed6slides\u53f3\u8fb9\u7684\u56fe\u8868\u4e5f\u6307\u5411\u4e86\u539f\u6765\u7684cross-attention block\u3002<\/p>\n

\u8fd9\u4e2a\u89c6\u56fe\u8f6c\u6362\u4e2d\u6700\u6709\u8da3\u7684\u90e8\u5206\u662f BEV \u7a7a\u95f4\u4e2d\u7684\u67e5\u8be2\u3002 \u5b83\u662f\u4ece BEV \u7a7a\u95f4\u4e2d\u7684\u6805\u683c\uff08\u7a7a\u767d\u3001\u9884\u5206\u914d\u6a21\u677f\uff0c\u5982 DETR \u4e2d\uff09\u751f\u6210\u7684\uff0c\u5e76\u4e0e\u4f4d\u7f6e\u7f16\u7801 (PE) \u8fde\u63a5\u3002 \u8fd8\u6709\u4e00\u4e2a Context Summary \u4e0e\u4f4d\u7f6e\u7f16\u7801\u62fc\u8d34\u3002 \u8be5\u56fe\u6ca1\u6709\u663e\u793a\u4e0a\u4e0b\u6587\u6458\u8981\u662f\u5982\u4f55\u751f\u6210\u548c\u4e0e\u4f4d\u7f6e\u7f16\u7801\u4e00\u8d77\u4f7f\u7528\u7684\u7ec6\u8282\uff0c\u4f46\u6211\u8ba4\u4e3a\u6709\u4e00\u4e2a\u5168\u5c40\u6c60\u53ef\u4ee5\u6298\u53e0\u900f\u89c6\u7a7a\u95f4\u4e2d\u7684\u6240\u6709\u7a7a\u95f4\u4fe1\u606f\uff0c\u8fd8\u6709\u4e00\u4e2a\u5e73\u94fa\u64cd\u4f5c\u53ef\u4ee5\u5c06\u8fd9\u4e2a 1×1 \u5f20\u91cf\u5e73\u94fa\u5728\u9884\u5b9a\u4e49\u7684BEV \u7f51\u683c\u3002<\/p>\n

Transformers\u548cMLP\u7684\u5bf9\u6bd4<\/p>\n

\u5728BEV\u4efb\u52a1\u4e2d\uff0cTransformer\u548cMLP\u662f\u4e24\u79cd\u5e38\u7528\u7684\u7f51\u7edc\u7ed3\u6784\u3002\u5b83\u4eec\u90fd\u53ef\u4ee5\u7528\u4e8e\u5b9e\u73b0\u5bf9BEV\u56fe\u50cf\u7684\u5904\u7406\u548c\u7279\u5f81\u63d0\u53d6\uff0c\u4f46\u5177\u6709\u4e0d\u540c\u7684\u7279\u70b9\u548c\u9002\u7528\u573a\u666f\u3002<\/p>\n

Transformer\u662f\u4e00\u79cd\u57fa\u4e8e\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7684\u7f51\u7edc\u7ed3\u6784\uff0c\u65e8\u5728\u5904\u7406\u5e8f\u5217\u6570\u636e\uff0c\u5176\u4e3b\u8981\u4f18\u70b9\u662f\u80fd\u591f\u6839\u636e\u8f93\u5165\u6570\u636e\u7684\u5185\u90e8\u5173\u7cfb\u6765\u8ba1\u7b97\u5176\u7279\u5f81\u8868\u793a\u3002\u56e0\u6b64\u5b83\u975e\u5e38\u9002\u5408\u5904\u7406\u5177\u6709\u660e\u663e\u7a7a\u95f4\u7ed3\u6784\u7684BEV\u56fe\u50cf\u6570\u636e\u3002Transformer\u6a21\u578b\u901a\u5e38\u7531\u591a\u4e2aencoder\u548cdecoder\u6a21\u5757\u7ec4\u6210\uff0c\u6bcf\u4e2a\u6a21\u5757\u90fd\u5305\u542b\u4e86\u591a\u5934\u81ea\u6ce8\u610f\u529b\u548c\u524d\u5411\u795e\u7ecf\u7f51\u7edc\u7b49\u5b50\u6a21\u5757\uff0c\u53ef\u4ee5\u5bf9\u8f93\u5165\u6570\u636e\u8fdb\u884c\u6709\u6548\u5730\u7f16\u7801\u548c\u89e3\u7801\u3002\u6b64\u5916\uff0cTransformer\u8fd8\u5177\u6709\u8f83\u9ad8\u7684\u5e76\u884c\u6027\uff0c\u80fd\u591f\u5904\u7406\u5927\u89c4\u6a21\u7684\u6570\u636e\u96c6\u3002<\/p>\n

MLP\u662f\u591a\u5c42\u611f\u77e5\u673a\u7684\u7f29\u5199\uff0c\u901a\u5e38\u7528\u4e8e\u5904\u7406\u7ed3\u6784\u5316\u6570\u636e\u548c\u56fe\u50cf\u6570\u636e\u3002\u5b83\u901a\u8fc7\u4e00\u7cfb\u5217\u5168\u8fde\u63a5\u5c42\u5bf9\u8f93\u5165\u6570\u636e\u8fdb\u884c\u975e\u7ebf\u6027\u53d8\u6362\u548c\u5904\u7406\uff0c\u4ece\u800c\u5f97\u5230\u9ad8\u5c42\u6b21\u7684\u7279\u5f81\u8868\u793a\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cMLP\u7684\u7ed3\u6784\u6bd4\u8f83\u7b80\u5355\uff0c\u4f46\u901a\u5e38\u5177\u6709\u66f4\u9ad8\u7684\u8868\u8fbe\u80fd\u529b\u3002\u5728BEV\u56fe\u50cf\u5904\u7406\u4efb\u52a1\u4e2d\uff0cMLP\u53ef\u4ee5\u4f5c\u4e3a\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u4eceBEV\u56fe\u50cf\u4e2d\u63d0\u53d6\u51fa\u5173\u952e\u7684\u7279\u5f81\uff0c\u540c\u65f6\u8fd8\u53ef\u4ee5\u4e0e\u5176\u4ed6\u7ed3\u6784\uff08\u4f8b\u5982\u5377\u79ef\u5c42\uff09\u7ed3\u5408\u4f7f\u7528\uff0c\u4ee5\u66f4\u597d\u5730\u9002\u5e94\u4e0d\u540c\u7684\u4efb\u52a1\u9700\u6c42\u3002<\/p>\n

\u603b\u7684\u6765\u8bf4\uff0cTransformer\u9002\u7528\u4e8e\u5904\u7406\u5177\u6709\u660e\u663e\u7a7a\u95f4\u7ed3\u6784\u7684BEV\u56fe\u50cf\u6570\u636e\uff0c\u800cMLP\u9002\u7528\u4e8e\u63d0\u53d6\u9ad8\u5c42\u6b21\u7279\u5f81\u5e76\u4e0e\u5176\u4ed6\u7ed3\u6784\u7ec4\u5408\u4f7f\u7528\u4ee5\u9002\u5e94\u4e0d\u540c\u7684\u4efb\u52a1\u9700\u6c42\u3002<\/p>\n

\u5bf9\u4e8eBEV\u7684\u5c55\u671b<\/p>\n

\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\u548c\u666e\u53ca\uff0cBEV\uff08Bird’s Eye View\uff09\u5c06\u4f1a\u53d8\u5f97\u8d8a\u6765\u8d8a\u91cd\u8981\u3002BEV\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\u5c06\u4f1a\u8d8a\u6765\u8d8a\u5e7f\u6cdb\uff0c\u6210\u4e3a\u4e00\u4e2a\u6838\u5fc3\u6280\u672f\u4e4b\u4e00\u3002\u901a\u8fc7BEV\uff0c\u8f66\u8f86\u53ef\u4ee5\u5168\u65b9\u4f4d\u5730\u89c2\u5bdf\u5468\u56f4\u73af\u5883\uff0c\u66f4\u4e3a\u7cbe\u51c6\u5730\u89c4\u5212\u8def\u7ebf\u548c\u884c\u9a76\u8def\u5f84\uff0c\u5e76\u6700\u7ec8\u5b9e\u73b0\u9ad8\u5ea6\u81ea\u52a8\u9a7e\u9a76\u3002\u540c\u65f6\uff0c\u5176\u7cbe\u5ea6\u548c\u5206\u8fa8\u7387\u5c06\u4f1a\u5f97\u5230\u8fdb\u4e00\u6b65\u63d0\u9ad8\u3002\u901a\u8fc7\u4e0d\u65ad\u5730\u6539\u8fdb\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u3001\u56fe\u50cf\u5224\u65ad\u6280\u672f\u548c\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\uff0cBEV\u6280\u672f\u5c06\u4f1a\u66f4\u52a0\u7cbe\u7ec6\u548c\u9ad8\u5206\u8fa8\uff0c\u80fd\u591f\u63d0\u53d6\u66f4\u591a\u7684\u73af\u5883\u4fe1\u606f\u548c\u7ec6\u8282\u3002\u8fdb\u4e00\u6b65\u7684\uff0c BEV\u7684\u667a\u80fd\u7684\u89e3\u6790\u548c\u7406\u89e3\u5c06\u4f1a\u5f97\u5230\u66f4\u597d\u7684\u652f\u6301\u3002\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\uff0c\u7cfb\u7edf\u5bf9\u4e8e\u73af\u5883\u4fe1\u606f\u7684\u89e3\u6790\u548c\u7406\u89e3\u80fd\u529b\u9700\u8981\u4e0d\u65ad\u63d0\u9ad8\u3002\u672a\u6765\u7684BEV\u6280\u672f\u5c06\u4f1a\u7ed3\u5408\u66f4\u591a\u7684\u667a\u80fd\u79d1\u6280\uff0c\u6bd4\u5982\u673a\u5668\u5b66\u4e60\u3001\u4eba\u5de5\u667a\u80fd\u7b49\uff0c\u4ee5\u66f4\u597d\u5730\u7406\u89e3\u548c\u8bc6\u522b\u73af\u5883\u4e2d\u7684\u5404\u79cd\u7269\u4f53\u548c\u969c\u788d\u7269\u3002BEV\u6280\u672f\u7684\u5e94\u7528\u573a\u666f\u5c06\u4f1a\u8d8a\u6765\u8d8a\u591a\u6837\u5316\u3002BEV\u6280\u672f\u4e0d\u4ec5\u53ef\u4ee5\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\uff0c\u8fd8\u53ef\u4ee5\u5e7f\u6cdb\u5e94\u7528\u4e8e\u4ea4\u901a\u7ba1\u5236\u3001\u57ce\u5e02\u7ba1\u7406\u3001\u8def\u51b5\u76d1\u63a7\u7b49\u9886\u57df\u3002\u4f8b\u5982\uff0c\u5728\u57ce\u5e02\u7ba1\u7406\u4e2d\uff0cBEV\u6280\u672f\u53ef\u4ee5\u7528\u6765\u76d1\u63a7\u57ce\u5e02\u9053\u8def\u5efa\u8bbe\u548c\u4ea4\u901a\u62e5\u5835\u60c5\u51b5\uff0c\u4e3a\u57ce\u5e02\u89c4\u5212\u548c\u4ea4\u901a\u8c03\u63a7\u63d0\u4f9b\u6570\u636e\u652f\u6301\u3002<\/p>\n

BEV\u6280\u672f\u5728\u672a\u6765\u5c06\u4f1a\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\u548c\u53d1\u5c55\uff0c\u800c\u968f\u7740\u6838\u5fc3\u6280\u672f\u7684\u4e0d\u65ad\u52a0\u5f3a\uff0c\u5b83\u5c06\u4f1a\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7b49\u591a\u4e2a\u9886\u57df\u4e2d\u53d1\u6325\u8d8a\u6765\u8d8a\u91cd\u8981\u7684\u4f5c\u7528\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u57fa\u4e8e\u591a\u89c6\u89d2\u6444\u50cf\u5934\u76843D\u76ee\u6807\u68c0\u6d4b\u5728\u9e1f\u77b0\u56fe\u4e0b\u7684\u611f\u77e5 […]<\/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-5016","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":10,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5016"}],"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=5016"}],"version-history":[{"count":4,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5016\/revisions"}],"predecessor-version":[{"id":5116,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5016\/revisions\/5116"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=5016"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=5016"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=5016"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}