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data-caption=\"\" data-size=\"normal\" data-rawwidth=\"554\" data-rawheight=\"388\" data-original=\"https:\/\/pic1.zhimg.com\/v2-77c3f297aac078085ad0bbc3416d38e4_r.jpg\" \/><\/p>\n<p>2. \u9ad8\u4e00\u81f4\u6027\u6fc0\u5149\u96f7\u8fbe\u4eff\u771f\u5e93<\/p>\n<p>\u4e3a\u4e86\u83b7\u5f97\u51c6\u786e\u548c\u9ad8\u4e00\u81f4\u6027\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff0c\u5e76\u4fc3\u8fdbV2X\u5728\u73b0\u5b9e\u73af\u5883\u4e2d\u7684\u5e94\u7528\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u9ad8\u4e00\u81f4\u6027\u6fc0\u5149\u96f7\u8fbe\u4eff\u771f\u5e93\uff08Realistic LiDAR Simulation Library\uff09\uff0c\u8be5\u5e93\u80fd\u7cbe\u786e\u6a21\u62df\u4e0d\u540c\u6fc0\u5149\u96f7\u8fbe\u7684\u7269\u7406\u7279\u6027\uff0c\u5e76\u53ef\u4ee5\u4f5c\u4e3a\u63d2\u4ef6\u5b89\u88c5\u5728CARLA\u4e2d\u3002\u6211\u4eec\u7684RLS 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src=\"https:\/\/pic2.zhimg.com\/v2-44e5b4dbd6b91ae821c24b085be743b1_b.jpg\" width=\"554\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"554\" data-rawheight=\"185\" data-original=\"https:\/\/pic2.zhimg.com\/v2-44e5b4dbd6b91ae821c24b085be743b1_r.jpg\" \/><\/p>\n<p>\u9664\u4e86\u6a21\u62df\u4e0d\u540c\u6fc0\u5149\u96f7\u8fbe\u7684\u7ebf\u675f\u7279\u6027\u5916\uff0c\u6211\u4eec\u7684RLS Library\u8fd8\u53ef\u4ee5\u6a21\u62df\u4e0d\u540c\u7684\u6fc0\u5149\u96f7\u8fbe\u7684\u8fd0\u52a8\u5931\u771f\u3001\u9b3c\u5f71\u6548\u5e94\u548c\u566a\u58f0\u4e0e\u4e22\u5f03\uff0c\u8fd9\u4e9b\u90fd\u6216\u591a\u6216\u5c11\u5b58\u5728\u4e8e\u771f\u5b9e\u7684\u70b9\u4e91\u6570\u636e\u4e2d\u3002<\/p>\n<p>2.1.\u8fd0\u52a8\u7578\u53d8<\/p>\n<p>\u5728\u771f\u5b9e\u7684\u4ea4\u901a\u573a\u666f\u4e2d\uff0c\u4ea4\u901a\u53c2\u4e0e\u8005\u548c\u6fc0\u5149\u96f7\u8fbe\u5728\u6fc0\u5149\u96f7\u8fbe\u6536\u96c6\u7684\u6bcf\u4e2a\u6570\u636e\u5e27\u7684\u5468\u671f\u5185\u90fd\u5728\u4e0d\u65ad\u79fb\u52a8\u3002\u5f53\u6fc0\u5149\u96f7\u8fbe\u4e0e\u5468\u56f4\u73af\u5883\u7684\u76f8\u5bf9\u4f4d\u7f6e\u53d1\u751f\u53d8\u5316\u65f6\uff0c\u65e0\u8bba\u662f\u6296\u52a8\u8fd8\u662f\u79fb\u52a8\uff0c\u91c7\u96c6\u5230\u7684\u70b9\u4e91\u6570\u636e\u90fd\u4f1a\u51fa\u73b0\u8fd0\u52a8\u7578\u53d8\u3002\u5982\u679c\u8fd0\u52a8\u901f\u5ea6\u8db3\u591f\u5feb\uff0c\u8fd0\u52a8\u7578\u53d8\u5c31\u4e0d\u5bb9\u5ffd\u89c6\u3002\u4f8b\u5982A\u56fe\u4e2d\u7684\u771f\u5b9e\u91c7\u96c6\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff0c\u5899\u58c1\u7684\u70b9\u4e91\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u8fd0\u52a8\u7578\u53d8\u800c\u53d8\u539a\u3002<\/p>\n<p>\u7136\u800c\u5728\u5927\u591a\u6570\u4eff\u771f\u6846\u67b6\u4e2d\uff0c\u8003\u8651\u5230\u4eff\u771f\u6027\u80fd\uff0c\u9ed8\u8ba4\u7684\u505a\u6cd5\u662f\u6fc0\u5149\u96f7\u8fbe\u6bcf\u4e00\u5e27\u7684\u70b9\u4e91\u91c7\u96c6\u53ea\u5728\u4e00\u4e2a\u4eff\u771f\u5e27\u4e2d\u89e6\u53d1\u3002\u6b64\u65f6\u5468\u56f4\u73af\u5883\u5b8c\u5168\u9759\u6b62\uff0c\u83b7\u53d6\u7684\u662f\u201c\u5feb\u7167\u201d\u70b9\u4e91\u6570\u636e\uff0c\u800c\u4e0d\u662f\u4e0d\u65ad\u91c7\u96c6\u70b9\u4e91\u6570\u636e\u3002\u800c\u5728\u6211\u4eec\u5f00\u53d1\u7684RLS Library\u4e2d\uff0c\u6211\u4eec\u4e3a\u6fc0\u5149\u96f7\u8fbe\u8fd0\u52a8\u7578\u53d8\u4eff\u771f\u529f\u80fd\u8bbe\u7f6e\u4e86\u4e00\u4e2a\u5f00\u5173\u3002\u5f00\u542f\u8fd0\u52a8\u7578\u53d8\u72b6\u6001\uff0c\u5c06\u8f93\u51fa\u5982\u53f3\u56fe\u6240\u793a\u7684\u70b9\u4e91\uff0c\u8f66\u8f86\u7684\u70b9\u4e91\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u8fd0\u52a8\u7578\u53d8\u800c\u53d8\u539a\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-85cce953a0c3920579b2bd631d0ff6f9_b.jpg\" width=\"554\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"554\" data-rawheight=\"396\" data-original=\"https:\/\/pic2.zhimg.com\/v2-85cce953a0c3920579b2bd631d0ff6f9_r.jpg\" \/><\/p>\n<p>2.2.\u6fc0\u5149\u96f7\u8fbe\u9b3c\u5f71\u6548\u5e94<\/p>\n<p>\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u9b3c\u5f71\u6548\u5e94\u662f\u6307\u6fc0\u5149\u96f7\u8fbe\u5149\u7ebf\u6295\u5c04\u5230\u9ad8\u53cd\u6216\u8005\u9ad8\u5149\u6ed1\u5ea6\u8868\u9762\u540e\u53d1\u751f\u591a\u6b21\u53cd\u5c04\u56de\u6ce2\u6240\u9020\u6210\u7684\u5728\u4e00\u4e9b\u5176\u4ed6\u65b9\u4f4d\u4e5f\u4f1a\u5f62\u6210\u5f62\u72b6\u5927\u5c0f\u7c7b\u4f3c\u7684\u6210\u50cf\u70b9\u4e91\u3002\u6211\u4eec\u6839\u636e\u6df1\u5165\u7814\u7a76\u9b3c\u5f71\u7684\u6210\u56e0\uff0c\u5bf9\u70b9\u4e91\u9b3c\u5f71\u7279\u6027\u8fdb\u884c\u4eff\u771f\u3002<\/p>\n<p>\u6211\u4eec\u53d1\u73b0\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u9b3c\u5f71\u6548\u5e94\u6709\u76f8\u5f53\u4e00\u90e8\u5206\u57fa\u4e8e\u56feB\u6240\u793a\u7684\u539f\u7406\u9020\u6210\u7684\u3002\u5f53\u6fc0\u5149\u96f7\u8fbe\u5149\u675f\u7167\u5c04\u5230\u5177\u6709\u9ad8\u5149\u6ed1\u5ea6\u548c\u9ad8\u53cd\u5c04\u7387\u7684\u8868\u9762\u65f6\uff0c\u5c06\u89e6\u53d1\u955c\u9762\u53cd\u5c04\u3002\u53cd\u5c04\u7684\u5149\u5c06\u91cd\u65b0\u51fb\u4e2d\u9760\u8fd1\u5149\u6cfd\u955c\u7684\u5176\u4ed6\u5bf9\u8c61\u3002\u56de\u6ce2\u5149\u5c06\u6cbf\u7740\u53d1\u5c04\u5149\u8def\u8fd4\u56de\u5230\u6fc0\u5149\u96f7\u8fbe\u63a5\u6536\u7aef\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u6fc0\u5149\u96f7\u8fbe\u65e0\u6cd5\u5224\u65ad\u51fa\u5c04\u5149\u662f\u5426\u53d1\u751f\u4e86\u955c\u9762\u53cd\u5c04\uff0c\u53ea\u4f1a\u8ba4\u4e3a\u8be5\u5149\u675f\u5728\u5f53\u524d\u5149\u8def\u7684\u76f4\u7ebf\u65b9\u5411a+b\u8ddd\u79bb\u5904\u6709\u76ee\u6807\u7269\u4f53\uff0c\u5e76\u5b58\u50a8\u8be5\u90e8\u5206\u7684\u70b9\u4e91\u6570\u636e\u3002\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u73bb\u7483\u3001\u6c34\u7b49\u90fd\u5f88\u5bb9\u6613\u5f15\u53d1\u9b3c\u5f71\u6548\u5e94\u3002\u4e3a\u4e86\u63d0\u9ad8\u4eff\u771f\u4e0e\u771f\u5b9e\u4e16\u754c\u7684\u4e00\u81f4\u6027\uff0c\u6709\u5fc5\u8981\u5bf9\u6fc0\u5149\u96f7\u8fbe\u7684\u9b3c\u5f71\u6548\u5e94\u8fdb\u884c\u4eff\u771f\u3002<\/p>\n<p>\u56feC\u6240\u793a\u7684\u662f\uff0c\u4f7f\u7528RLS Library\u91c7\u96c6\u5230\u7684\u9ad8\u53cd\u5899\u58c1\u65c1\u81ea\u8f66\u4e0e\u4ed6\u8f66\u573a\u666f\u7684\u70b9\u4e91\u6570\u636e\u6837\u4f8b\u56fe\u3002\u5176\u4e2d\uff0c\u6211\u4eec\u5c06\u6fc0\u5149\u96f7\u8fbe\u6240\u6709\u5149\u675f\u4e2d\u89e6\u53d1\u9b3c\u5f71\u7684\u6bd4\u4f8b\u8bbe\u7f6e\u4e3a50%\uff0c\u537350%\u51fb\u4e2d\u5149\u9762\u5899\u7684\u70b9\u751f\u6210\u5899\u7684\u70b9\u4e91\uff0c\u5176\u4ed6\u70b9\u751f\u6210\u9b3c\u5f71\u70b9\u4e91\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-0cde1541399f81034c701c71be24eedd_b.jpg\" width=\"554\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"554\" data-rawheight=\"396\" data-original=\"https:\/\/pic2.zhimg.com\/v2-0cde1541399f81034c701c71be24eedd_r.jpg\" \/><\/p>\n<p>2.3.\u6fc0\u5149\u96f7\u8fbe\u566a\u58f0\u548c\u4e22\u5f03\u6a21\u578b\u4eff\u771f<\/p>\n<p>\u6211\u4eec\u77e5\u9053\uff0c\u53d7\u5230\u5927\u6c14\u635f\u5931\u7b49\u56e0\u7d20\u5e72\u6270\uff0c\u6fc0\u5149\u96f7\u8fbe\u5728\u4e0d\u540c\u5929\u6c14\u4e0b\u7684\u566a\u58f0\u4e5f\u4e0d\u540c\u3002\u53e6\u5916\uff0c\u56e0\u6fc0\u5149\u96f7\u8fbe\u7684\u63a2\u6d4b\u6a21\u5757\u5b58\u5728\u9608\u503c\u9650\u5236\uff0c\u5f53\u63a5\u6536\u56de\u6ce2\u5f3a\u5ea6\uff08Echo 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Library\uff0c\u6211\u4eec\u53ef\u4ee5\u83b7\u5f97\u6bcf\u4e2a\u6fc0\u5149\u96f7\u8fbe\u4f4d\u7f6e\u7684\u771f\u5b9e\u70b9\u4e91\u6570\u636e\uff0c\u5e76\u5728\u591a\u4f20\u611f\u5668\u90e8\u7f72\u7b56\u7565\u5bfb\u4f18\u30013D\u611f\u77e5\u6a21\u578b\u8bad\u7ec3\u6d4b\u8bd5\u6570\u636e\u96c6\u642d\u5efa\u3001\u591a\u4f20\u611f\u5668\u6807\u5b9a\u7b97\u6cd5\u9a8c\u8bc1\u7b49\u65b9\u9762\u5b8c\u6210\u5e94\u7528\u3002<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic4.zhimg.com\/v2-01091205a8f5a858a53e947eb5e1192f_b.jpg\" width=\"292\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"292\" data-rawheight=\"237\" \/><\/p>\n<p>3. \u8f66\u8def\u534f\u540c\u573a\u666f\u6fc0\u5149\u96f7\u8fbe\u5e03\u7f6e\u5206\u6790<\/p>\n<p>A.\u5229\u7528RLS Library\u8fdb\u884c\u4eff\u771f\u8bc4\u4f30<\/p>\n<p>\u5229\u7528\u6700\u65b0\u63d0\u51fa\u7684RLS 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Occupation 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decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic4.zhimg.com\/v2-6fa5e0ed030c9c6301ba845b63ae0187_b.png\" width=\"117\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"117\" data-rawheight=\"47\" \/><\/p>\n<p>\u5176\u4e2dN\u662f\u865a\u62dfLOB\u5185\u7684\u70b9\u6570\uff0cS\u662f\u865a\u62dfLOB\u7684\u9762\u79ef\u3002<\/p>\n<p>\u800cInfraNUC\u662f\u5f52\u4e00\u5316\u5747\u5300\u5ea6\u7cfb\u6570\uff08NUC\uff09[34]\u7684\u53d8\u4f53\u3002NUC\u662f\u5bf9\u6d4b\u8bd5\u6570\u636e\u96c6\u4e2d\u6240\u6709\u5bf9\u8c61\u4e0a\u7684\u70b9\u96c6\u7684\u603b\u4f53\u4e00\u81f4\u6027\u7684\u5ea6\u91cf\u3002\u5728\u6211\u4eec\u7684\u95ee\u9898\u4e2d\uff0c\u53ea\u6709\u4e00\u4e2a\u76ee\u6807\uff0c\u5373\u865a\u62dfLOB\u3002\u9996\u5148\uff0c\u6839\u636e\u611f\u5174\u8da3\u533a\u57df\u7684\u5927\u5c0f\uff0c\u8ba1\u7b97\u865a\u62dfLOB\u7684\u9762\u79ef\u3002\u7136\u540e\uff0c\u5728\u8be5\u533a\u57df\u5185\uff0c\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u8bed\u4e49\u4fe1\u606f\u83b7\u53d6\u76ee\u6807\u8def\u9762\u7684\u6807\u7b7e\uff0c\u8fc7\u6ee4\u51fa\u865a\u62dfLOB\u4e2d\u8def\u9762\u5bf9\u5e94\u7684\u70b9\u4e91\u6570\u636e\u3002\u7136\u540e\uff0c\u6211\u4eec\u5728\u865a\u62dfLOB\u533a\u57df\u4e2d\u968f\u673a\u9009\u62e9\u4e00\u5b9a\u6570\u91cf\u7684\u5927\u5c0f\u76f8\u540c\u7684\u5706\u76d8\u3002\u904d\u5386\u6240\u6709\u5706\u76d8\u5e76\u8ba1\u7b97\u6bcf\u4e2a\u5706\u76d8\u4e2d\u7684\u70b9\u4e91\u6570\u91cf\u53ca\u5176\u5e73\u5747\u503c\u3002\u7136\u540e\u8ba1\u7b97\u5706\u76d8\u4e0a\u70b9\u6570\u7684\u6807\u51c6\u5dee\uff0c\u4f5c\u4e3a\u5f52\u4e00\u5316\u5747\u5300\u5ea6\u7cfb\u6570\u3002InfraNUC\u53ef\u8ba1\u7b97\u4e3a:<\/p>\n<p><img decoding=\"async\" class=\"content_image\" src=\"https:\/\/pic3.zhimg.com\/v2-22f0157e97a17cc63148a7af738a3f0e_b.jpg\" width=\"204\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"204\" data-rawheight=\"85\" \/><\/p>\n<p>\u5176\u4e2d\uff0cni\u4e3a\u78c1\u76d8\u533a\u57df\u5185\u7684\u70b9\u6570\uff0cN\u4e3aInfraLOB\u533a\u57df\u5185\u7684\u70b9\u6570\uff0cD\u4e3a\u78c1\u76d8\u6570\u91cf\uff0cp\u4e3a\u78c1\u76d8\u9762\u79ef\u4e0eInfraLOB\u533a\u57df\u7684\u6bd4\u4f8b\u3002Avg\u662f\u6240\u6709\u78c1\u76d8\u4e2d\u70b9\u4e91\u6570\u91cf\u7684\u5e73\u5747\u503c\u3002InfraNUC\u4e2d\u4e3a\u5f52\u4e00\u5316\u5747\u5300\u6027\u7cfb\u6570\uff0c\u7528\u4e8e\u91cf\u5316InfraLOB\u533a\u57df\u5185\u70b9\u4e91\u5206\u5e03\u5747\u5300\u6027\u3002<\/p>\n<p>4. \u5b9e\u9a8c<\/p>\n<p>\u5728\u8fd9\u91cc\uff0c\u6211\u4eec\u5728\u6d4b\u8bd5\u96c6\u4e2d\u5c55\u793a\u4e86\u4e09\u4e2a\u5e38\u89c1\u7684\u4ea4\u901a\u573a\u666f\uff0c\u4f5c\u4e3a\u8bc4\u4f30\u8f66\u8def\u534f\u540c\u573a\u666f\u4e0b\u6fc0\u5149\u96f7\u8fbe\u5e03\u5c40\u7684\u793a\u4f8b\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-d2fc632a96618fc2710e845f6ffd216c_b.jpg\" width=\"554\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"554\" data-rawheight=\"149\" data-original=\"https:\/\/pic1.zhimg.com\/v2-d2fc632a96618fc2710e845f6ffd216c_r.jpg\" 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H. Lang, S. Vora, H. Caesar, L. Zhou, J. Yang, and O. Beijbom, &#8220;Pointpillars: Fast encoders for object detection from point clouds,&#8221; in Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, 2019, pp. 12 697\u201312 705.<\/p>\n<p>[2] M. Simon, S. Milz, K. Amende, and H. M. Gross, &#8220;Complexyolo: Real-time 3d object detection on point clouds,&#8221; arXiv preprint arXiv.1803.06199, 2018.<\/p>\n<p>[3] M. Engelcke, D. Rao, D. Z. Wang, C. H. Tong, and I. Posner, &#8220;Vote3deep: Fast object detection in 3d point clouds using efficient convolutional neural networks,&#8221; in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.<\/p>\n<p>[4] W. Ali, S. Abdelkarim, M. Zahran, M. Zidan, and A. E. Sallab, &#8220;Yolo3d: End-to-end real-time 3d oriented object bounding box detection from lidar point cloud,&#8221; in ECCV 2018: &#8220;3D Reconstruction meets Semantics&#8221; workshop, 2018.<\/p>\n<p>[5] C. R. Qi, H. Su, K. Mo, and L. J. 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