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\u4e3a\u6b64\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65f6\u95f4\u5bc6\u96c6\u7684\u65b9\u6cd5\uff0c\u79f0\u4e3aLAformer\u3002LAformer\u7684\u672c\u8d28\u5982\u56fe1\u6240\u793a\u3002\u5b83\u5229\u7528\u8f66\u9053\u611f\u77e5\u4f30\u8ba1\u6a21\u5757\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u4ec5\u9009\u62e9\u524dk\u4e2a\u9ad8\u6f5c\u529b\u8f66\u9053\u6bb5\uff0c\u4ece\u800c\u6709\u6548\u4e14\u8fde\u7eed\u5730\u5c06\u8fd0\u52a8\u52a8\u6001\u4e0e\u573a\u666f\u4fe1\u606f\u5bf9\u9f50\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u8bba\u6587\u91c7\u7528\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u7f16\u7801\u5668\uff0c\u79f0\u4e3a\u5168\u5c40\u4ea4\u4e92\u56fe (GIG)\uff0c\u4ece\u7edf\u4e00\u7684\u77e2\u91cf\u5316\u8f68\u8ff9\u548c\u9ad8\u6e05\u5730\u56fe\u4e2d\u63d0\u53d6\u65f6\u7a7a\u7279\u5f81\u3002\u4e0d\u540c\u4e8e [43\u300111\u300112\u30019] \u7b49\u7a7a\u95f4\u7a20\u5bc6\u65b9\u6cd5\uff0c\u8bba\u6587\u4f7f\u7528\u4ece GIG \u6a21\u5757\u63d0\u53d6\u7684\u8f66\u9053\u4fe1\u606f\u548c\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8fd0\u52a8\uff08\u5305\u62ec\u901f\u5ea6\u548c\u65b9\u5411\u4fe1\u606f\uff09\u8bad\u7ec3\u4e8c\u5143\u5206\u7c7b\u5668\uff0c\u4ee5\u5728\u6574\u4e2a\u9884\u6d4b\u65f6\u95f4\u8303\u56f4\u5185\u8fdb\u884c\u9010\u6b65\u8f66\u9053\u9009\u62e9\u3002\u7136\u540e\uff0c\u8bba\u6587\u5f15\u5165\u62c9\u666e\u62c9\u65af\u6df7\u5408\u5bc6\u5ea6\u7f51\u7edc (MDN) \u6765\u751f\u6210\u4ec5\u4e0e\u9009\u5b9a\u7684\u8f66\u9053\u6bb5\u5bf9\u9f50\u7684\u7b26\u5408\u573a\u666f\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u9884\u6d4b\u3002 \u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u8fc7\u6ee4\u6389\u4e0d\u76f8\u5173\u7684\u8f66\u9053\u6bb5\u4ee5\u51cf\u5c11\u89e3\u7801\u8fc7\u7a0b\u7684\u8868\u793a\u8981\u6c42\u3002<\/p>\n

<\/p>\n

\u6b64\u5916\uff0c\u4e3a\u4e86\u8fdb\u4e00\u6b65\u5229\u7528\u6574\u4e2a\u65f6\u95f4\u8303\u56f4\u5185\u7684\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u8bba\u6587\u5f15\u5165\u4e86\u4e00\u4e2a\u8fd0\u52a8\u7ec6\u5316\u6a21\u5757\u3002LAformer \u5229\u7528\u7b2c\u4e00\u9636\u6bb5\u7684\u9884\u6d4b\u4f5c\u4e3a\u951a\u70b9\u8f68\u8ff9\uff0c\u8fd9\u4e0e\u4f7f\u7528\u9884\u5b9a\u4e49\u951a\u70b9\u7684\u57fa\u4e8e\u951a\u70b9\u7684\u8f68\u8ff9\u9884\u6d4b\u65b9\u6cd5\u4e0d\u540c [3, 41]\u3002\u7136\u540e\u7b2c\u4e8c\u9636\u6bb5\u8fd0\u52a8\u7ec6\u5316\u6a21\u5757\u5c06\u89c2\u5bdf\u5230\u7684\u548c\u9884\u6d4b\u7684\u8f68\u8ff9\u4f5c\u4e3a\u8f93\u5165\u4ee5\u8fdb\u4e00\u6b65\u51cf\u5c11\u9884\u6d4b\u504f\u79fb\uff0c\u8fd9\u4e0e\u7b2c\u4e00\u9636\u6bb5\u4e0d\u540c\u3002\u5c3d\u7ba1\u8fd9\u79cd\u6539\u8fdb\u6a21\u5757\u7684\u7b56\u7565\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\u4e2d\u5e76\u4e0d\u662f\u7279\u522b\u65b0\u9c9c\uff0c\u4f46\u636e\u8bba\u6587\u6240\u77e5\uff0c\u672c\u6587\u662f\u7b2c\u4e00\u4e2a\u6709\u6548\u5730\u5c06\u5176\u5e94\u7528\u4e8e\u6539\u8fdb\u8f68\u8ff9\u9884\u6d4b\u7684\u3002<\/p>\n

\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n

\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u65f6\u95f4\u5bc6\u96c6\u8f66\u9053\u611f\u77e5\u9009\u62e9\u65b9\u6cd5\uff0c\u4ee5\u5728\u6bcf\u4e2a\u9884\u6d4b\u65f6\u95f4\u6b65\u8bc6\u522b\u524dk\u4e2a\u9ad8\u53ef\u80fd\u6027\u8f66\u9053\u6bb5\uff0c\u8fd9\u4e0e\u4ee5\u524d\u7684\u7a7a\u95f4\u7a20\u5bc6\u65b9\u6cd5\u4e0d\u540c\u3002\u8fd9\u79cd\u9009\u62e9\u65b9\u6cd5\u6709\u52a9\u4e8e\u8f66\u9053\u6761\u4ef6\u4e0b\u89e3\u7801\u5668\u8fdb\u884c\u8f68\u8ff9\u9884\u6d4b\u3002<\/p>\n

\u8bba\u6587\u5229\u7528\u7b2c\u4e00\u9636\u6bb5\u7684\u9884\u6d4b\u8f68\u8ff9\u4f5c\u4e3a\u951a\u70b9\u8f68\u8ff9\uff0c\u5e76\u5f15\u5165\u7b2c\u4e8c\u9636\u6bb5\u7684\u8fd0\u52a8\u7ec6\u5316\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u540c\u65f6\u8003\u8651\u89c2\u5bdf\u5230\u7684\u548c\u9884\u6d4b\u7684\u8f68\u8ff9\u3002\u7ec6\u5316\u6a21\u5757\u8fdb\u4e00\u6b65\u63a2\u7d22\u8fc7\u53bb\u548c\u672a\u6765\u65f6\u95f4\u8303\u56f4\u5185\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002<\/p>\n

\u8bba\u6587\u8bc1\u660e\u4e86LAformer \u5728\u4e24\u4e2a\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u7684\u6709\u6548\u6027\uff0c\u5373Argoverse1 [4]\u548cnuScenes [2] \u5b83\u5728\u4e24\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u90fd\u53d6\u5f97\u4e86\u51fa\u8272\u7684\u6027\u80fd\uff0c\u5e76\u5728\u591a\u6a21\u6001\u8fd0\u52a8\u9884\u6d4b\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u5353\u8d8a\u7684\u6cdb\u5316\u6027\u80fd\u3002<\/p>\n

\u76f8\u5173\u5de5\u4f5c<\/p>\n

\u667a\u80fd\u4f53\u4e4b\u95f4\u4ea4\u4e92\u5efa\u6a21<\/p>\n

\u667a\u80fd\u4f53\u76f8\u4e92\u8fde\u63a5\u4ee5\u5b9e\u73b0\u793e\u4ea4\u8054\u7cfb\u548c\u907f\u514d\u78b0\u649e [33, 17]\u3002\u5927\u591a\u6570\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\uff0c\u4f8b\u5982 [1, 24, 16, 38, 39, 47]\uff0c\u4f7f\u7528\u667a\u80fd\u4f53\u7684\u9690\u85cf\u72b6\u6001\u6765\u805a\u5408\u4ea4\u4e92\u64cd\u4f5c\u4fe1\u606f\u3002\u6700\u6d41\u884c\u7684\u805a\u5408\u7b56\u7565\u5305\u62ec\u6c60\u5316 [1\u30017\u300110]\u3001\u4f7f\u7528\u56fe\u5377\u79ef\u7f51\u7edc (GCN) [44] \u7684\u6d88\u606f\u4f20\u9012 [49\u300146\u300148]\uff0c\u4ee5\u53ca\u6ce8\u610f\u529b\u673a\u5236 [47\u300126\u30015]\u3002\u4e3a\u4e86\u6839\u636e\u5468\u56f4\u667a\u80fd\u4f53\u7684\u76f8\u5bf9\u4f4d\u7f6e\u548c\u5c5e\u6027\u533a\u5206\u5468\u56f4\u667a\u80fd\u4f53\u7684\u5f71\u54cd\uff0c\u8bba\u6587\u5efa\u8bae\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\u4f7f\u7528\u6ce8\u610f\u673a\u5236\u8fdb\u884c\u4ea4\u4e92\u5efa\u6a21\u3002<\/p>\n

\u9884\u6d4b\u591a\u6a21\u6001\u8f68\u8ff9<\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u8f68\u8ff9\u9884\u6d4b\u7684\u80cc\u666f\u4e0b\uff0c\u9884\u6d4b\u4e0d\u540c\u7684\u591a\u6a21\u6001\u8f68\u8ff9\u6bd4\u5355\u4e00\u6a21\u6001\u8f68\u8ff9\u66f4\u6709\u5229\u4e8e\u5e94\u5bf9\u667a\u80fd\u4f53\u7684\u4e0d\u786e\u5b9a\u884c\u4e3a\u548c\u573a\u666f\u7ea6\u675f\u3002\u751f\u6210\u6a21\u578b\uff0c\u4f8b\u5982\u751f\u6210\u5bf9\u6297\u7f51\u7edc (GAN) [14]\u3001\u53d8\u5206\u81ea\u52a8\u7f16\u7801\u5668 (VAE) [23] \u548c\u6761\u4ef6 VAE [22] \u4ee5\u53ca\u6d41 [35]\uff0c\u4f7f\u7528\u57fa\u4e8e\u91c7\u6837\u7684\u65b9\u6cd5\u751f\u6210\u591a\u4e2a\u9884\u6d4b [16, 24, 36, 6]\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5e76\u6ca1\u6709\u63d0\u4f9b\u5bf9\u6bcf\u79cd\u6a21\u6001\u53ef\u80fd\u6027\u7684\u76f4\u63a5\u4f30\u8ba1\u3002\u867d\u7136\u9ad8\u65af\u6df7\u5408\u5bc6\u5ea6\u7f51\u7edc (MDN) \u53ef\u4ee5\u63d0\u4f9b\u6982\u7387\u5bc6\u5ea6\u51fd\u6570\u6765\u5b66\u4e60\u6a21\u6001\u5206\u5e03\uff0c\u4f46\u4e0e\u751f\u6210\u6a21\u578b\u7c7b\u4f3c\uff0c\u5f53\u53ea\u6709\u4e00\u4e2a\u771f\u503c\u8f68\u8ff9\u7528\u4e8e\u76d1\u7763\u5b66\u4e60\u65f6\uff0c\u5b83\u4eec\u7ecf\u5e38\u9047\u5230\u6240\u8c13\u7684\u6a21\u6001\u5d29\u6e83\u95ee\u9898 [37]\u3002 \u4e3a\u4e86\u7f13\u89e3\u6a21\u6001\u5d29\u6e83\u95ee\u9898\uff0c\u672c\u6587\u63a2\u7d22\u4e86\u62c9\u666e\u62c9\u65af MDN \u4e0e\u8d62\u8005\u901a\u5403\u7b56\u7565\u7684\u4f7f\u7528 [28\u300152\u30019]\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u589e\u52a0\u6a21\u6001\u591a\u6837\u6027\uff0c\u4e00\u4e9b\u65b9\u6cd5\u4f1a\u751f\u6210\u8fc7\u591a\u7684\u9884\u6d4b\u5e76\u91c7\u7528\u96c6\u6210\u6280\u672f\uff08\u4f8b\u5982\u805a\u7c7b\u6216\u975e\u6700\u5927\u6291\u5236\uff09\u5c06\u9884\u6d4b\u51cf\u5c11\u4e3a\u6709\u9650\u6570\u91cf\u7684\u6a21\u6001 [41\u300143]\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u96c6\u6210\u8fc7\u7a0b\u5bf9\u4e8e\u5b9e\u65f6\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6765\u8bf4\u662f\u8017\u65f6\u4e14\u4e0d\u5207\u5b9e\u9645\u7684 [52]\u3002\u56e0\u6b64\uff0c\u672c\u6587\u4e0d\u91c7\u7528\u8fd9\u79cd\u6280\u672f\u3002<\/p>\n

\u63d0\u53d6\u573a\u666f\u4e0a\u4e0b\u6587\u4fe1\u606f<\/p>\n

\u4e3a\u4e86\u9884\u6d4b\u7b26\u5408\u573a\u666f\u7684\u8f68\u8ff9\uff0c\u5fc5\u987b\u8003\u8651\u573a\u666f\u4e0a\u4e0b\u6587\u3002\u5377\u79ef\u795e\u7ecf\u7f51\u7edc (CNN) \u901a\u5e38\u7528\u4e8e\u4ece\u9e1f\u77b0\u56fe\u50cf\u4e2d\u63d0\u53d6\u573a\u666f\u4e0a\u4e0b\u6587\uff0c\u4f8b\u5982\u5177\u6709\u4e00\u822c\u4e0a\u4e0b\u6587\u7684RGB\u56fe\u50cf [24\u300138] \u548c\u5177\u6709\u4e0d\u540c\u573a\u666f\u7c7b\u522b\u7684\u8bed\u4e49\u56fe [34\u300139\u300147]\u3002 \u7136\u800c\uff0cCNN \u96be\u4ee5\u6355\u83b7\u7ec6\u7c92\u5ea6\u7684\u573a\u666f\u4fe1\u606f\uff0c\u4f8b\u5982\u8f66\u9053\u51e0\u4f55\u5f62\u72b6\u548c\u4ea4\u901a\u89c4\u5219\u3002\u6b64\u5916\uff0c\u6805\u683c\u5316\u6570\u636e\u7684\u7a00\u758f\u4fe1\u606f\u5bfc\u81f4\u8ba1\u7b97\u6548\u7387\u8f83\u4f4e\uff0c\u9700\u8981\u5f3a\u5927\u7684\u878d\u5408\u6a21\u5757\u6765\u4e3a\u9884\u6d4b\u6a21\u5757\u5bf9\u9f50\u5f02\u6784\u8fd0\u52a8\u548c\u573a\u666f\u4fe1\u606f\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u53ef\u4ee5\u4f7f\u7528\u7edf\u4e00\u7684\u77e2\u91cf\u5316\u65b9\u6848 [10] \u6765\u5bf9\u9f50\u9ad8\u6e05\u5730\u56fe\u4e2d\u7684\u8f68\u8ff9\u548c\u8f66\u9053\u3002\u7531\u70b9\u3001\u6298\u7ebf\u548c\u591a\u8fb9\u5f62\u8868\u793a\u7684\u8f68\u8ff9\u548c\u573a\u666f\u4e0a\u4e0b\u6587\u90fd\u88ab\u7f16\u7801\u5728\u4e00\u4e2a\u5177\u6709\u5750\u6807\u4fe1\u606f\u548c\u5404\u79cd\u667a\u80fd\u4f53\u6216\u8f66\u9053\u5c5e\u6027\u7684\u7edf\u4e00\u5411\u91cf\u4e2d [25\u300115\u300152\u30015\u300131\u30019\u300143]\u3002 \u8bba\u6587\u7684\u573a\u666f\u611f\u77e5\u8f68\u8ff9\u9884\u6d4b\u65b9\u6cd5\u91c7\u7528\u4e86\u8fd9\u79cd\u6570\u636e\u8868\u793a\u3002<\/p>\n

\u5df2\u7ecf\u63d0\u51fa\u4e86\u51e0\u79cd\u65b9\u6cd5\u5229\u7528\u57fa\u4e8e\u8f66\u9053\u7684\u573a\u666f\u4fe1\u606f\u6765\u6307\u5bfc\u9884\u6d4b\u8fc7\u7a0b\u3002\u57fa\u4e8e\u5efa\u8bae\u7684\u6a21\u578b[7, 40]\u5bf9\u667a\u80fd\u4f53\u7684\u64cd\u4f5c\u8fdb\u884c\u5206\u7c7b\uff0c\u7136\u540e\u76f8\u5e94\u5730\u9884\u6d4b\u540e\u7eed\u8f68\u8ff9\u3002\u57fa\u4e8e\u76ee\u6807\u7684\u6a21\u578b\u9884\u6d4b\u4f4d\u4e8e\u5408\u7406\u8f66\u9053\u4e2d\u7684\u53ef\u884c\u76ee\u6807[36\u300150\u300115\u300111\u300112]\uff0c\u7136\u540e\u751f\u6210\u5b8c\u6574\u7684\u8f68\u8ff9\u3002\u5176\u4ed6\u65b9\u6cd5\u4f7f\u7528\u4e00\u7ec4\u5bf9\u5e94\u4e8e\u8f68\u8ff9\u5206\u5e03\u6a21\u6001\u7684\u56fa\u5b9a\u7684\u951a\u6765\u56de\u5f52\u9884\u6d4b\u7684\u591a\u6a21\u6001\u8f68\u8ff9 [3, 41]\u3002\u6216\u8005\uff0c[51] \u63d0\u51fa\u4e86\u4e00\u79cd\u65b9\u6cd5\uff0c\u5c06\u667a\u80fd\u4f53\u5f53\u524d\u4f4d\u7f6e\u7684\u5386\u53f2\u8f68\u8ff9\u96c6\u5408\u89c6\u4e3a\u5148\u9a8c\u4fe1\u606f\uff0c\u4ee5\u7f29\u5c0f\u6f5c\u5728\u672a\u6765\u8f68\u8ff9\u7684\u641c\u7d22\u7a7a\u95f4\u3002\u8bba\u6587\u5c06\u8fd9\u4e9b\u65b9\u6cd5\u5f52\u7c7b\u4e3a\u57fa\u4e8e\u7a7a\u95f4\u7a20\u5bc6\u8f66\u9053\u7684\u65b9\u6cd5\uff0c\u56e0\u4e3a\u5b83\u4eec\u4e13\u6ce8\u4e8e\u751f\u6210\u5019\u9009\u76ee\u6807\u6216\u7a7a\u95f4\u4e0a\u5b8c\u6574\u8f68\u8ff9\u7684\u6982\u7387\u5206\u5e03\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u6ca1\u6709\u5145\u5206\u63a2\u7d22\u65f6\u95f4\u4fe1\u606f\u6765\u89e3\u91ca\u8fd0\u52a8\u7684\u4e0d\u786e\u5b9a\u6027\u548c\u573a\u666f\u968f\u65f6\u95f4\u7684\u53d8\u5316\u3002\u6b64\u5916\uff0c\u9884\u6d4b\u6a21\u5757\u5fc5\u987b\u9690\u5f0f\u5730\u8fc7\u6ee4\u6389\u4e0d\u76f8\u5173\u7684\u573a\u666f\u4fe1\u606f\uff0c\u8fd9\u5728\u590d\u6742\u7684\u573a\u666f\u7ea6\u675f\uff08\u4f8b\u5982\u5341\u5b57\u8def\u53e3\u5904\u7684\u573a\u666f\uff09\u4e2d\u53ef\u80fd\u5177\u6709\u6311\u6218\u6027\u3002<\/p>\n

\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u76f8\u6bd4\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u65f6\u95f4\u7a20\u5bc6\u7684\u8f66\u9053\u611f\u77e5\u6a21\u5757\u6765\u5b66\u4e60\u667a\u80fd\u4f53\u7684\u8fd0\u52a8\u6a21\u578b\u548c\u6f5c\u5728\u8f66\u9053\u6bb5\u4e4b\u95f4\u7684\u5bf9\u9f50\u3002\u8bba\u6587\u4e0d\u662f\u7b80\u5355\u5730\u7ed3\u5408\u8fd0\u52a8\u7f16\u7801\u548c\u8f66\u9053\u7f16\u7801\u5e76\u5141\u8bb8\u89e3\u7801\u5668\u9690\u5f0f\u5b66\u4e60\u5b83\u4eec\u7684\u5173\u7cfb[32]\uff0c\u800c\u662f\u663e\u5f0f\u4f30\u8ba1\u667a\u80fd\u4f53\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u5c06\u91c7\u7528\u7684\u8f66\u9053\u7684\u53ef\u80fd\u6027\u3002\u7136\u540e\uff0c\u8bba\u6587\u53ea\u9009\u62e9\u6700\u6709\u53ef\u80fd\u7684\u8f66\u9053\u4fe1\u606f\u6765\u5e73\u8861\u8f66\u9053\u6bb5\u7684\u53ef\u53d8\u6027\u548c\u8fd0\u52a8\u6a21\u578b\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/p>\n

3 \u65b9\u6cd5<\/p>\n

3.1 \u95ee\u9898\u63cf\u8ff0<\/p>\n

\u9075\u5faa\u4e3b\u6d41\u5de5\u4f5c\uff0c\u4f8b\u5982 [10, 15, 43, 52, 9]\uff0c\u8bba\u6587\u5047\u8bbe\u8def\u4e0a\u667a\u80fd\u4f53\u68c0\u6d4b\u548c\u8ddf\u8e2a\uff0c\u4ee5\u53ca\u611f\u77e5\u73af\u5883\uff0c\u5728 2D \u5750\u6807\u7cfb\u4e2d\u63d0\u4f9b\u9ad8\u8d28\u91cf\u7684\u8f68\u8ff9\u548c\u9ad8\u6e05\u5730\u56fe\u6570\u636e\u3002\u5373\u5bf9\u4e8e\u667a\u80fd\u4f53i\uff0c\u83b7\u5f97\u7ed9\u5b9a\u65f6\u95f4{-t_h+1,…,0,1,…,t_f}\u8303\u56f4\u5185\u7684 x \u548c y \u4f4d\u7f6e\uff0c\u4ee5\u53ca\u73af\u5883\u9ad8\u7cbe\u5730\u56fe C\u3002\u4e0b\u6e38\u4efb\u52a1\u662f\u901a\u8fc7\u4f7f\u7528 HD \u5730\u56fe\u548c\u7ed9\u5b9a\u573a\u666f\u4e2d\u6240\u6709\u667a\u80fd\u4f53\u7684\u89c2\u6d4b\u8f68\u8ff9\uff08\u5305\u62ec\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8f68\u8ff9\uff09X_{{-t_h+1:0}}^i\u9884\u6d4b\u540e\u7eed\u8f68\u8ff9Y_{{1:t_f}}^i\u3002<\/p>\n

\u4e24\u4e2a\u667a\u80fd\u4f53\u7684\u8fc7\u53bb\u8f68\u8ff9\u548c\u8f66\u9053\u4e2d\u5fc3\u7ebf\u90fd\u8868\u793a\u4e3a\u5411\u91cf\u3002\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u5bf9\u4e8e\u667a\u80fd\u4f53i\uff0c\u5b83\u7684\u5386\u53f2\u8f68\u8ff9X_i\u8868\u793a\u4e3a\u8fc7\u53bbt_g\u65f6\u95f4\u6b65\u957f\u7684\u7a00\u758f\u8f68\u8ff9\u5411\u91cf\u7684\u6709\u5e8f\u5e8f\u5217\u3002\u6bcf\u4e2a\u8f68\u8ff9\u5411\u91cfv^i_t\u5b9a\u4e49\u4e3av_t^i=[d_{t,s}^i,d_{t,e}^i,a^i]\uff0c\u5176\u4e2dd_{t,s}^i,d_{t,e}^i\u5206\u522b\u8868\u793a\u8d77\u70b9\u548c\u7ec8\u70b9\uff0ca^i\u5bf9\u5e94\u667a\u80fd\u4f53i\u7684\u5c5e\u6027\u7279\u5f81\uff0c\u4f8b\u5982\u65f6\u95f4\u6233\u548c\u5bf9\u8c61\u7c7b\u578b\uff08\u5373\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u3001\u76ee\u6807\u667a\u80fd\u4f53\u7b49\uff09\u3002\u6b64\u5916\uff0c\u8f66\u9053\u4e2d\u5fc3\u7ebf\u88ab\u8fdb\u4e00\u6b65\u5206\u5272\u6210\u9884\u5b9a\u4e49\u7684\u6bb5\u4ee5\u6355\u83b7\u7ec6\u7c92\u5ea6\u7684\u8f66\u9053\u4fe1\u606f\uff0c\u4ee5\u4fbf\u7cbe\u786e\u5730\u5efa\u6a21\u667a\u80fd\u4f53\u7684\u610f\u56fe\u3002\u4e0e\u8f68\u8ff9\u5411\u91cf\u7c7b\u4f3c\uff0c\u4e00\u6761\u8f66\u9053\u4e2d\u5fc3\u7ebf\u6bb5\u8868\u793a\u4e3aC_{1:N}^i\uff0c\u5176\u4e2d N \u8868\u793a\u603b\u5411\u91cf\u957f\u5ea6\u3002 \u6bcf\u4e2a\u8f66\u9053\u5411\u91cfv_n^i\u6dfb\u52a0d_{n,pre}^i\u4ee5\u8868\u793a\u8d77\u70b9\u7684\u524d\u7f6e\u3002\u8f66\u9053\u77e2\u91cf\u7aef\u5230\u7aef\u8fde\u63a5\u4ee5\u83b7\u5f97\u9ad8\u6e05\u5730\u56fe\u7684\u7ed3\u6784\u7279\u5f81\u3002<\/p>\n

\u6b64\u5916\uff0c\u4e3a\u4e86\u786e\u4fdd\u8f93\u5165\u7279\u5f81\u76f8\u5bf9\u4e8e\u667a\u80fd\u4f53\u4f4d\u7f6e\u7684\u4e0d\u53d8\u6027\uff0c\u6240\u6709\u5411\u91cf\u7684\u5750\u6807\u90fd\u88ab\u5f52\u4e00\u5316\u4e3a\u4ee5\u76ee\u6807\u667a\u80fd\u4f53\u6700\u540e\u89c2\u5bdf\u5230\u7684\u4f4d\u7f6e\u4e3a\u4e2d\u5fc3\u3002<\/p>\n

<\/p>\n

\u56fe 2 \u5c55\u793a\u4e86LAformer\u7684\u603b\u4f53\u6846\u67b6\uff0c\u5b83\u5c06\u77e2\u91cf\u5316\u8f68\u8ff9\u548c\u9ad8\u7cbe\u5730\u56fe\u8f66\u9053\u6bb5\u4f5c\u4e3a\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8f93\u5165\u4ee5\u8f93\u51fa\u591a\u6a21\u6001\u8f68\u8ff9\u3002\u4e0b\u9762\u8be6\u7ec6\u89e3\u91caLAformer\u7684\u6bcf\u4e2a\u6a21\u5757\u3002<\/p>\n

3.2 \u667a\u80fd\u4f53\u8fd0\u52a8\u548c\u573a\u666f\u7f16\u7801<\/p>\n

\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u5168\u5c40\u4ea4\u4e92\u56fe (GIG) \u6765\u7f16\u7801\u667a\u80fd\u4f53\u8fd0\u52a8\u548c\u573a\u666f\u4fe1\u606f\u3002 \u5177\u4f53\u800c\u8a00\uff0c\u8bba\u6587\u4f7f\u7528\u591a\u5c42\u611f\u77e5\u5668 (MLP) \u548c\u95e8\u63a7\u5faa\u73af\u5355\u5143 (GRU) \u5c42\u4ee5\u987a\u5e8f\u65b9\u5f0f\u5904\u7406\u8f68\u8ff9\u5411\u91cfA_i\u548c\u8f66\u9053\u5411\u91cfC_{1:N}^i\u3002 \u5728\u7ed9\u5b9a\u7684\u573a\u666f\u4e2d\uff0c\u8fd9\u4e9b\u5c42\u7684\u8f93\u51fa\u7f16\u7801\u8868\u793a\u4e3ah_i\u548cc_j\u3002\u4e3a\u4e86\u878d\u5408\u8fd9\u4e9b\u7f16\u7801\uff0c\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5bf9h_i,c_j\u8fdb\u884c\u64cd\u4f5c\u7684\u5bf9\u79f0\u4ea4\u53c9\u529b\u6ce8\u610f\u673a\u5236\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n

<\/p>\n

\u4e4b\u540e\uff0cGIG \u8fdb\u4e00\u6b65\u8fdb\u884c\u81ea\u6ce8\u610f\u529b\u548c\u8df3\u8fc7\u8fde\u63a5\u6765\u5b66\u4e60\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u4ea4\u4e92\u3002<\/p>\n

3.3 \u65f6\u95f4\u7a20\u5bc6\u7684\u8f66\u9053\u611f\u77e5\u4f30\u8ba1<\/p>\n

\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u65f6\u95f4\u4e0a\u7a20\u5bc6\u7684\u8f66\u9053\u611f\u77e5\u6982\u7387\u4f30\u8ba1\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u4f7f\u7528\u6ce8\u610f\u529b\u5c06\u76ee\u6807\u667a\u80fd\u4f53\u5f15\u5bfc\u5230\u5bf9\u5176\u672a\u6765\u8f68\u8ff9\u6700\u6709\u5f71\u54cd\u529b\u7684\u8f66\u9053\u6bb5\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u8bba\u6587\u5728\u6bcf\u4e2a\u672a\u6765\u65f6\u95f4\u6b65t\u5bf9\u9f50\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8fd0\u52a8\u548c\u8f66\u9053\u4fe1\u606f\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u8bba\u6587\u4f7f\u7528\u8f66\u9053\u8bc4\u5206\u5934\u548c\u6ce8\u610f\u529b\u673a\u5236\u6765\u9884\u6d4b\u8f66\u9053\u6982\u7387\u3002K,V\u5411\u91cf\u662f\u667a\u80fd\u4f53\u8fd0\u52a8\u7f16\u7801h_i\u7684\u7ebf\u6027\u53d8\u6362\uff0cQ\u5411\u91cf\u662f\u8f66\u9053\u7f16\u7801c_j\u7684\u7ebf\u6027\u53d8\u6362\u3002\u7136\u540e\u5c06\u8fd9\u4e9b\u5411\u91cf\u8f93\u5165\u5230\u7f29\u653e\u7684\u70b9\u79ef\u6ce8\u610f\u529b\u5757\uff0c\u8f93\u51fa\u7b2cj\u4e2a\u8f66\u9053\u5728t\u7684\u9884\u6d4b\u5f97\u5206\u5982\u4e0b\uff1a<\/p>\n

<\/p>\n

\u4e3a\u4e86\u5e73\u8861\u8f66\u9053\u6bb5\u7684\u53ef\u53d8\u6027\u548c\u8fd0\u52a8\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u8bba\u6587\u9009\u62e9\u524dk\u4e2a\u6700\u9ad8\u5f97\u5206\u7684\u8f66\u9053\u6bb5\u4f5c\u4e3a\u5019\u9009\u8f66\u9053\u6bb5\u3002\u7136\u540e\u8bba\u6587\u5728\u672a\u6765\u7684\u65f6\u95f4\u6b65\u957f\u4e0a\u8fde\u63a5\u5019\u9009\u8f66\u9053\u6bb5\u548c\u76f8\u5173\u5206\u6570\u4ee5\u83b7\u5f97C\u3002\u63a5\u4e0b\u6765\uff0c\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u4ee5\u5c06\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8fc7\u53bb\u8f68\u8ff9\u7f16\u7801h_i\u6295\u5f71\u4e3a\u67e5\u8be2\u5411\u91cf\uff0c\u5c06\u5019\u9009\u8f66\u9053\u7f16\u7801 C \u6295\u5f71\u4e3a\u952e\u548c\u503c\u5411\u91cf\u3002 \u8f93\u51fa\u662f\u4e0e\u8f66\u9053\u4fe1\u606f\u5bf9\u9f50\u7684\u66f4\u65b0\u8fd0\u52a8\u4fe1\u606f\uff0c\u8868\u793a\u4e3ah_{i,att}\u3002 \u8fd9\u79cd\u4ea4\u53c9\u6ce8\u610f\u529b\u8fdb\u4e00\u6b65\u63a2\u7d22\u4e86\u7a7a\u95f4\u548c\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u7684\u573a\u666f\u4fe1\u606f\u3002 \u8f66\u9053\u8bc4\u5206\u6a21\u578b\u4f7f\u7528\u4e8c\u503c\u4ea4\u53c9\u71b5\u635f\u5931L_{lane}\u6765\u4f18\u5316\u6982\u7387\u4f30\u8ba1\u3002\u5bf9\u4e8e\u6700\u63a5\u8fd1\u8f68\u8ff9\u771f\u5b9e\u4f4d\u7f6e\u7684\u8f66\u9053\u6bb5\uff0c\u771f\u503cs_t\u8bbe\u7f6e\u4e3a1\uff0c\u5bf9\u4e8e\u6240\u6709\u5176\u4ed6\u8f66\u9053\uff0c\u8bbe\u7f6e\u4e3a 0\u3002 \u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u771f\u503c\u8f66\u9053\u6bb5\u4e0d\u9700\u8981\u989d\u5916\u6807\u8bb0\uff0c\u53ef\u4ee5\u4f7f\u7528\u8ddd\u79bb\u5ea6\u91cf\uff08\u4f8b\u5982\u6b27\u6c0f\u8ddd\u79bb\uff09\u8f7b\u677e\u8bc6\u522b\u3002<\/p>\n

<\/p>\n

3.4 \u591a\u6a21\u6001\u6761\u4ef6\u89e3\u7801\u5668<\/p>\n

\u672c\u8282\u4ecb\u7ecd\u4e00\u79cd\u62c9\u666e\u62c9\u65af\u6df7\u5408\u5bc6\u5ea6\u7f51\u7edc (MDN) \u89e3\u7801\u5668\uff0c\u8be5\u89e3\u7801\u5668\u4ee5\u76ee\u6807\u667a\u80fd\u4f53\u7684\u8fc7\u53bb\u8f68\u8ff9\u548c\u4e0e\u5019\u9009\u8f66\u9053\u4fe1\u606f \u5bf9\u9f50\u7684\u66f4\u65b0\u8fd0\u52a8\u4fe1\u606f\u7684\u7f16\u7801\u4e3a\u6761\u4ef6\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u4fdd\u6301\u591a\u6a21\u6001\u7684\u591a\u6837\u6027\uff0c\u8bba\u6587\u4ece\u591a\u5143\u6b63\u6001\u5206\u5e03\u4e2d\u91c7\u6837\u4e00\u4e2a\u6f5c\u5728\u5411\u91cfz\uff0c\u5b83\u4f5c\u4e3a\u6dfb\u52a0\u5230\u9884\u6d4b\u7f16\u7801\u4e2d\u7684\u9644\u52a0\u6761\u4ef6\u3002\u89e3\u7801\u5668\u9884\u6d4b\u4e00\u7ec4\u8f68\u8ff9\u3002\u8bba\u6587\u4f7f\u7528\u4e00\u4e2aMLP\u6765\u9884\u6d4b \uff0c\u4e00\u4e2a GRU \u6765\u6062\u590d\u9884\u6d4b\u7684\u65f6\u95f4\u7ef4\u5ea6\uff0c\u4ee5\u53ca\u4e24\u4e2a\u5e76\u6392\u7684MLP\u6765\u9884\u6d4b\u00b5\u548cb\u3002<\/p>\n

\u8bba\u6587\u901a\u8fc7\u6700\u5c0f\u5316\u56de\u5f52\u635f\u5931\u548c\u5206\u7c7b\u635f\u5931\u6765\u8bad\u7ec3\u62c9\u666e\u62c9\u65af MDN \u89e3\u7801\u5668\u3002\u56de\u5f52\u635f\u5931\u662f\u4f7f\u7528 Winner-Takes-All \u7b56\u7565 [28, 52, 9] \u8ba1\u7b97\u7684\uff0c\u5b9a\u4e49\u4e3a\uff1a<\/p>\n

<\/p>\n

\u4ea4\u53c9\u71b5\u635f\u5931\u7528\u4e8e\u4f18\u5316\u6a21\u6001\u5206\u7c7b\uff0c\u5b9a\u4e49\u4e3a\uff1a<\/p>\n

<\/p>\n

\u8bba\u6587\u91c7\u7528\u8f6f\u4f4d\u79fb\u8bef\u5dee[52]\uff0c\u4f5c\u4e3a\u8bba\u6587\u7684\u76ee\u6807\u6982\u7387pi_m\u3002 \u7b2c\u4e00\u9636\u6bb5\u8fd0\u52a8\u9884\u6d4b\u7684\u603b\u635f\u5931\u7531\u4e0b\u5f0f\u7ed9\u51fa\uff1a<\/p>\n

<\/p>\n

3.5 \u8fd0\u52a8\u4f18\u5316<\/p>\n

\u5f15\u5165\u7b2c\u4e8c\u9636\u6bb5\u8fd0\u52a8\u7ec6\u5316\u4ee5\u8fdb\u4e00\u6b65\u63a2\u7d22\u9884\u6d4b\u66f4\u51c6\u786e\u7684\u672a\u6765\u8f68\u8ff9\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u76ee\u6807\u662f\u51cf\u5c11\u771f\u503c\u8f68\u8ff9\u548c\u9884\u6d4b\u8f68\u8ff9\u4e4b\u95f4\u7684\u504f\u79fb\u3002\u5728\u8fd9\u4e2a\u9636\u6bb5\uff0c\u8bba\u6587\u4f7f\u7528\u5b8c\u6574\u7684\u8f68\u8ff9 \u4e3a\u8f93\u5165\uff0c\u4f7f\u7528\u4e0e\u7b2c\u4e00\u9636\u6bb5\u7c7b\u4f3c\u7684\u65f6\u95f4\u7f16\u7801\u5668\u6765\u63d0\u53d6\u8fd0\u52a8\u7f16\u7801 \u3002\u7136\u540e\u7531\u53cc\u5c42MLP\u6784\u5efa\u7684\u56de\u5f52\u5934\u5c06\u4e24\u4e2a\u9636\u6bb5\u7684\u6240\u6709\u8fd0\u52a8\u7f16\u7801\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u9884\u6d4b\u771f\u503c\u548c\u9884\u6d4b\u8f68\u8ff9\u4e4b\u95f4\u7684\u504f\u79fb\u91cf\u3002\u8bba\u6587\u4f7f\u7528L_2\u635f\u5931\u4f18\u5316\u504f\u79fb\u91cf\u3002<\/p>\n

<\/p>\n

\u5728\u8fd9\u91cc\uff0c\u8bba\u6587\u91c7\u7528\u8d62\u8005\u901a\u5403\u7684\u7b56\u7565\u6765\u4f18\u5316\u504f\u79fb\u548c\u89d2\u5ea6\u635f\u5931\uff0c\u7c7b\u4f3c\u4e8e\u7b2c\u4e00\u9636\u6bb5\u3002 \u7b2c\u4e8c\u9636\u6bb5\u7684\u603b\u635f\u5931\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n

<\/p>\n

4 \u5b9e\u9a8c<\/p>\n

4.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/p>\n

\u6570\u636e\u96c6\uff1a\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u662f\u5728\u4e24\u4e2a\u5177\u6709\u6311\u6218\u6027\u4e14\u5e7f\u6cdb\u4f7f\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u4e0a\u5f00\u53d1\u548c\u8bc4\u4f30\u7684\uff1anuScenes [2] \u548c Argoverse1[4]\u3002 \u8fd9\u4e9b\u57fa\u51c6\u63d0\u4f9b\u4e86\u5404\u79cd\u7c7b\u578b\u9053\u8def\u667a\u80fd\u4f53\u7684\u8f68\u8ff9\u4ee5\u53ca\u7ed9\u5b9a\u573a\u666f\u7684\u9ad8\u6e05\u5730\u56fe\u3002\u5728nuScenes\u4e2d\uff0c\u76ee\u6807\u667a\u80fd\u4f53\u968f\u540e\u7684\u516d\u79d2\u8f68\u8ff9\u662f\u6839\u636e\u5176\u548c\u76f8\u90bb\u667a\u80fd\u4f53\u6700\u591a\u4e24\u79d2\u7684\u8f68\u8ff9\u9884\u6d4b\u7684\uff0c\u8f68\u8ff9\u91c7\u6837\u7387\u4e3a 2Hz\u3002\u5728Argoverse1\u4e2d\uff0c\u76ee\u6807\u667a\u80fd\u4f53\u7684\u540e\u7eed\u4e09\u79d2\u8f68\u8ff9\u662f\u6839\u636e\u5176\u548c\u90bb\u8fd1\u667a\u80fd\u4f53\u5728\u6700\u521d\u4e24\u79d2\u5185\u7684\u8f68\u8ff9\u9884\u6d4b\u7684\uff0c\u8f68\u8ff9\u91c7\u6837\u7387\u4e3a10 Hz\u3002\u4e3a\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u4e24\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u7684\u5b98\u65b9\u6570\u636e\u5206\u533a\u548c\u5728\u7ebf\u6d4b\u8bd5\u670d\u52a1\u5668\u5206\u522b\u7528\u4e8e\u8bad\u7ec3\u548c\u6d4b\u8bd5\u8bbe\u7f6e\u3002<\/p>\n

\u8bc4\u4f30\u51c6\u5219\uff1a\u8bba\u6587\u91c7\u7528\u6807\u51c6\u8bc4\u4f30\u6307\u6807\u6765\u8861\u91cf\u9884\u6d4b\u6027\u80fd\uff0c\u5305\u62ecFDE_K\u548cADE_K\uff0c\u5206\u522b\u8868\u793a\u9884\u6d4bK\u6a21\u6001\u6700\u540e\u4e00\u6b65\u7684l_2\u8bef\u5dee\u548c\u6bcf\u4e00\u6b65\u7684\u5e73\u5747\u503c\u3002\u6b64\u5904\u62a5\u544a\u4e86K\u6a21\u6001\u7684\u6700\u5c0f\u8bef\u5dee\u3002ADE\u548cFDE\u5747\u4ee5\u7c73\u4e3a\u5355\u4f4d\u3002\u6b64\u5916\uff0c\u672a\u547d\u4e2d\u7387MR_k\u8861\u91cf\u6700\u540e\u4e00\u6b65\u8bef\u5dee\u5927\u4e8e2.0 m\u7684\u573a\u666f\u7684\u767e\u5206\u6bd4\u3002\u5bf9\u4e8e\u591a\u6a21\u6001\u8f68\u8ff9\u9884\u6d4b\uff0cK\u5728nuScenes\u4e2d\u8bbe\u7f6e\u4e3a5\u548c10\uff0c\u5728Argoverse1\u4e2d\u8bbe\u7f6e\u4e3a6\u3002 \u5bf9\u4e8e\u6240\u6709\u8bc4\u4f30\u6307\u6807\uff0c\u8d8a\u4f4e\u8d8a\u597d\u3002<\/p>\n

\u5b9e\u73b0\u7ec6\u8282\uff1aLAformer\u4e2d\u6240\u6709\u7279\u5f81\u5411\u91cf\u7684\u9690\u85cf\u7ef4\u5ea6\u8bbe\u7f6e\u4e3a128\u3002\u53ea\u6709\u76ee\u6807\u667a\u80fd\u4f5350 m\uff08\u66fc\u54c8\u987f\u8ddd\u79bb\uff09\u5185\u7684\u8f66\u9053\u6bb5\u88ab\u91c7\u6837\u4e3a\u573a\u666f\u4e0a\u4e0b\u6587\u3002 \u516c\u5f0f\u4e2d\u7684 \u03bb1 (9)\u8bbe\u7f6e\u4e3a10\u3002 \u7b49\u5f0f\u4e2d\u7684\u03bb2\u3001\u03bb3(12)\u5206\u522b\u8bbe\u7f6e\u4e3a5\u548c 2\u3002\u8bba\u6587\u4f7f\u7528\u4e24\u9636\u6bb5\u8bad\u7ec3\u65b9\u6848\u3002\u5728\u7b2c\u4e00\u9636\u6bb5\uff0c\u9664\u4e86\u8fd0\u52a8\u7ec6\u5316\u6a21\u5757\u4e4b\u5916\u7684\u6240\u6709\u6a21\u5757\u90fd\u4f7f\u7528Adam\u4f18\u5316\u5668 [21] \u8fdb\u884c\u8bad\u7ec3\u3002\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0c\u6240\u6709\u6a21\u5757\u4e00\u8d77\u8bad\u7ec3\u3002LAFormer \u5728 8xRTX3090 \u5361\u4e0a\u63a5\u53d7\u4e86\u6bcf\u4e2a\u9636\u6bb5\u7ea68\u5c0f\u65f6\u7684\u8bad\u7ec3\u3002<\/p>\n

4.2 \u5b9a\u91cf\u7ed3\u679c\u4e0e\u6bd4\u8f83<\/p>\n

\u88681\u548c\u88682\u5206\u522b\u663e\u793a\u4e86\u5728Argoverse 1\u9a8c\u8bc1\u548c\u5728\u7ebf\u6d4b\u8bd5\u96c6\u4ee5\u53canuScenes\u5728\u7ebf\u6d4b\u8bd5\u96c6\u4e0a\u83b7\u5f97\u7684\u7ed3\u679c\u3002\u6839\u636e\u5b98\u65b9\u53d1\u5e03\u7684\u8bba\u6587\uff0c\u6392\u884c\u699c\u7ed3\u679c\uff08\u5728\u7ebf\u6d4b\u8bd5\uff09\u66f4\u65b0\u81f32023-02-20\u3002<\/p>\n

\u5728Argoverse 1\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cLAformer\u5728ADE\u548cFDE\u4e0a\u4ee5\u660e\u663e\u4f18\u52bf\u5728\u9a8c\u8bc1\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5b83\u8fd8\u5728\u6d4b\u8bd5\u96c6\u4e0a\u53d6\u5f97\u4e86\u4f18\u5f02\u7684\u6210\u7ee9\uff0c\u4e0e\u4e9a\u519b\u65b9\u6cd5 HiVT \u4e0d\u76f8\u4e0a\u4e0b\u3002<\/p>\n

\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cLAformer\u53d6\u5f97\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\uff0c\u5728ADE\u65b9\u9762\u4ec5\u7565\u900a\u4e8e\u65b0\u53d1\u5e03\u7684 FRM [32]\u3002FRM \u5f15\u5165\u5173\u7cfb\u63a8\u7406\u6765\u5e2e\u52a9\u7406\u89e3\u672a\u6765\u81ea\u6211\u4e0e\u5176\u4ed6\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u4ea4\u4e92\uff0c\u800cLAformer\u5219\u4f9d\u8d56\u6ce8\u610f\u529b\u673a\u5236\u6765\u5b66\u4e60\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u4ea4\u4e92\uff0c\u5e76\u66f4\u4fa7\u91cd\u4e8e\u573a\u666f\u7ea6\u675f\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e0a\u7684\u5dee\u5f02\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6027\u80fd\u5dee\u5f02\u3002\u7136\u800c\uff0cLAformer \u4ee5\u660e\u663e\u7684\u4f18\u52bf\u4f18\u4e8e\u5176\u4ed6\u57fa\u4e8e\u8f66\u9053\u7684\u6a21\u578b\uff0c\u4f8b\u5982 LaneGCN [25\u300151] \u548c PGP [9]\uff0c\u8868\u660e\u8bba\u6587\u7684\u8f66\u9053\u611f\u77e5\u4f30\u8ba1\u6bd4\u5176\u4ed6\u57fa\u4e8e\u8ddd\u79bb\u6216\u542f\u53d1\u5f0f\u8f66\u9053\u641c\u7d22\u66f4\u6709\u6548\u3002<\/p>\n

\u6b64\u5916\uff0c\u4e0e\u5728\u4e24\u4e2a\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u6d4b\u8bd5\u7684\u6a21\u578b\uff08\u7528\u2021\u6807\u8bb0\uff09\u76f8\u6bd4\uff0c\u5373THOMAS [11]\u3001GO HOME [12]\u3001LaneGCN [25]\u7531\u672c\u5730\u884c\u4e3a\u6570\u636e LBA[51]\u589e\u5f3a\uff0c\u4ee5\u53caFRM\uff0c LAformer \u5728\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u660e\u663e\u8868\u73b0\u51fa\u66f4\u666e\u904d\u7684\u8868\u73b0\u3002\u8fd9\u8868\u660e\uff0c\u5373\u4f7fArgoverse 1\u548cnuScenes\u4e2d\u63d0\u4f9b\u7684\u8f68\u8ff9\u5305\u62ec\u4e0d\u540c\u57ce\u5e02\u7684\u4f4d\u7f6e\u548c\u9a7e\u9a76\u65b9\u5411\uff0c\u6240\u63d0\u51fa\u7684\u65f6\u95f4\u7a20\u5bc6\u8f66\u9053\u611f\u77e5\u4f30\u8ba1\u6a21\u5757\u6709\u6548\u5730\u5c06\u573a\u666f\u7ea6\u675f\u4e0e\u8fd0\u52a8\u6a21\u578b\u5bf9\u9f50\u3002\u652f\u6301\u8be5\u6a21\u5757\u529f\u80fd\u7684\u8fdb\u4e00\u6b65\u8bc1\u636e\u53ef\u4ee5\u5728\u8868\u4e2d\u5217\u51fa\u7684\u4ee5\u4e0b\u6d88\u878d\u7814\u7a76\u4e2d\u627e\u5230\u3002<\/p>\n

<\/p>\n

4.3 \u6d88\u878d\u5b9e\u9a8c<\/p>\n

\u8003\u8651\u5230\u6570\u636e\u89c4\u6a21\u548c\u771f\u503c\u7684\u53ef\u7528\u6027\uff0c\u8bba\u6587\u5bf9\u5177\u670939,472\u4e2a\u5e8f\u5217\u7684Argoverse 1\u9a8c\u8bc1\u96c6\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\u3002\u57fa\u7ebf\u6a21\u578b\u9884\u6d4b\u672a\u6765\u8f68\u8ff9\u4ec5\u4ee5\u76ee\u6807\u53ca\u5176\u90bb\u8fd1\u667a\u80fd\u4f53\u7684\u89c2\u6d4b\u8f68\u8ff9\u4e3a\u6761\u4ef6\uff0c\u7b2c\u4e8c\u4e2a\u7ec6\u5316\u6a21\u5757\uff08S2\uff09\u548c\u8f66\u9053\u611f\u77e5\u4f30\u8ba1\u6a21\u5757\u88ab\u79fb\u9664\u3002LAformer (Spa.)\u4ec5\u4f30\u8ba1\u76ee\u6807\u4f4d\u7f6e\u4e0e\u8f66\u9053\u4fe1\u606f\u5bf9\u9f50\u7684\u53ef\u80fd\u6027\uff0c\u7c7b\u4f3c\u4e8e\u7a7a\u95f4\u5bc6\u96c6\u6a21\u578b\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cLAformer (Tem.)\u4f30\u8ba1\u6bcf\u4e2a\u65f6\u95f4\u6b65\u7684\u4f4d\u7f6e\u4e0e\u65f6\u95f4\u7a20\u5bc6\u8f66\u9053\u4fe1\u606f\u5bf9\u9f50\u7684\u53ef\u80fd\u6027\u3002LAformer\uff08\u5b8c\u6574\uff09\u662f\u5b8c\u6574\u7684\u5efa\u8bae\u6a21\u578b\u3002<\/p>\n

<\/p>\n

\u4ece\u88683\u53ef\u4ee5\u770b\u51fa\uff0cBaseline\u7684\u6027\u80fd\u8fdc\u4e0d\u5982\u5176\u4ed6\u6a21\u578b\u3002 Baseline\u5bf9\u6bd4 Baseline+S2\u548cLAformer (Tem.) \u5bf9\u6bd4LAformer (Full)\u8bc1\u660e\u4e86S2\u7684\u6027\u80fd\u589e\u76ca\uff0c\u4f8b\u5982\uff0c3%\u7684FDE\u3002LAformer (Spa.)\u4e0e LAformer (Tem.)\u7684\u6bd4\u8f83\u8868\u660e\uff0c\u8bba\u6587\u7684\u65f6\u95f4\u7a20\u5bc6\u65b9\u6cd5\u6bd4\u7a7a\u95f4\u7a20\u5bc6\u65b9\u6cd5\u66f4\u6709\u6548\uff0c\u5c06ADE\u964d\u4f4e\u7ea6 4%\uff0c\u5c06FDE\u964d\u4f4e\u7ea6 8%\u3002 \u6b64\u5916\uff0c\u8bba\u6587\u8fdb\u884c\u4e86\u4e00\u9879\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u5206\u6790\u7b2c\u4e8c\u9636\u6bb5\u4e2d\u89d2\u5ea6\u548c\u504f\u79fb\u635f\u5931\u7684\u6709\u6548\u6027\u3002\u5982\u88684\u6240\u793a\uff0c\u901a\u8fc7\u4f7f\u7528\u4e24\u79cd\u635f\u5931\u6709\u52a9\u4e8e\u5c06\u9884\u6d4b\u7cbe\u5ea6\uff08\u4f7f\u7528ADE\u548cFDE\u5ea6\u91cf\uff09\u63d0\u9ad8\u7ea62%\u3002<\/p>\n

<\/p>\n

\u8bba\u6587\u8fd8\u6d88\u878d\u4e86\u6dfb\u52a0\u5230\u591a\u6a21\u6001\u6761\u4ef6\u89e3\u7801\u5668\u8f93\u5165\u7684\u6f5c\u5728\u53d8\u91cfz\u3002\u5b83\u662f\u4ece\u7ef4\u5ea6\u8bbe\u7f6e\u4e3a2\u7684\u591a\u5143\u6b63\u6001\u5206\u5e03\u4e2d\u91c7\u6837\u7684\u3002\u4f46\u662f\uff0c\u5982\u88685\u6240\u793a\uff0c\u8bba\u6587\u53d1\u73b0\u63d2\u5165z\u53ea\u4f1a\u5e26\u6765\u7ec6\u5fae\u6027\u80fd\u63d0\u5347\uff08\u5c0f\u4e8e0.5\u5398\u7c73\uff09\u3002<\/p>\n

<\/p>\n

4.4 \u8d85\u53c2\u6570\u7684\u654f\u611f\u6027\u5206\u6790<\/p>\n

top-k \u8f66\u9053\u6bb5\u7684\u6570\u91cf\u548c\u635f\u5931\u7684\u6743\u91cd\u662f LAformer \u7684\u5173\u952e\u8d85\u53c2\u6570\u3002\u4e3a\u4e86\u9a8c\u8bc1\u5b83\u4eec\u7684\u5f71\u54cd\uff0c\u8bba\u6587\u901a\u8fc7\u5728\u88686\u548c\u88687\u4e2d\u4e0b\u5212\u7ebf\u6307\u793a\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u8303\u56f4\u5185\u6539\u53d8\u5b83\u4eec\u7684\u503c\u6765\u8fdb\u884c\u5b9e\u9a8c\u3002<\/p>\n

\u5982\u88686\u5de6\u4fa7\u6240\u793a\uff0c\u8f66\u9053\u6bb5\u7684\u6570\u91cf\u4ece1\u589e\u52a0\u52304\uff0c\u6027\u80fd\u5f00\u59cb\u968f\u7740k\u7684\u589e\u52a0\u6709\u6240\u63d0\u5347\uff0c\u76f4\u5230k=3\uff0c\u4f46\u5728\u90a3\u4e4b\u540e\uff0c\u5b83\u5f00\u59cb\u4e0b\u964d\u3002\u5728\u7b2c\u4e8c\u9636\u6bb5\uff0ck=2\u63d0\u4f9b\u4e86\u6bd43\u66f4\u597d\u7684\u7ed3\u679c\u3002\u4f7f\u7528\u8f83\u5927\u7684k\u589e\u52a0\u4e86\u5305\u542b\u4e0d\u76f8\u5173\u7684\u8f66\u9053\u6bb5\u7684\u6982\u7387\uff0c\u800c\u76f8\u5bf9\u8f83\u5c0f\u7684k\u4f7f\u89e3\u7801\u5668\u80fd\u591f\u4e13\u6ce8\u4e8e\u6700\u76f8\u5173\u7684\u8f66\u9053\u6bb5\u3002<\/p>\n

<\/p>\n

\u8bba\u6587\u8fd8\u6539\u53d8\u4e86\u7b49\u5f0f\uff089\uff09\u4e2d\u7684\u635f\u5931\u6743\u91cd \u03bb1\u548c\u7b49\u5f0f(12)\u4e2d\u7684\u03bb2\uff0c\u03bb3\uff0c\u5982\u88687\u6240\u793a\uff0c\u8bba\u6587\u4ec5\u89c2\u5bdf\u5230\u7ec6\u5fae\u6027\u80fd\u5dee\u5f02\uff0c\u4f8b\u5982\u57281\u5398\u7c73\u5185\u6ce2\u52a8\u3002<\/p>\n

<\/p>\n

4.5 \u8ba1\u7b97\u6027\u80fd<\/p>\n

\u5982\u8868 8 \u6240\u793a\uff0cLAformer \u5177\u67092,645K\u53c2\u6570\uff0c\u7c7b\u4f3c\u4e8eHiVT-128\uff0c\u4f46\u5927\u4e8eLTP\u548cDenseTNT\u3002\u5bf9\u4e8e\u5e73\u5747\u6709 12\u4e2a\u667a\u80fd\u4f53\u7684\u573a\u666f\uff0c\u5b83\u7684\u63a8\u7406\u65f6\u95f4\u7ea6\u4e3a115 ms\uff0c\u4e0eHiVT\u76f8\u6bd4\uff0c\u8fd9\u4e0d\u662f\u4e3b\u8981\u4f18\u52bf\u3002\u4f46\u8fd9\u79cd\u63a8\u7406\u901f\u5ea6\u4e0e LTP \u76f8\u5f53\uff0c\u6bd4DenseTNT\u548c GP\u66f4\u5feb\uff0c\u4f7fLAformer\u572810 Hz\u65f6\u63a5\u8fd1\u5b9e\u65f6\u3002<\/p>\n

<\/p>\n

4.6 \u5b9a\u6027\u7ed3\u679c<\/p>\n

\u56fe3\u663e\u793a\u4e86LAFormer\u4e0eArgoverse 1\u9a8c\u8bc1\u96c6\u4e0a\u7684\u4e9a\u519b\u6a21\u578b\u76f8\u6bd4\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u4e3a\u4e86\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u8bba\u6587\u4f7f\u7528\u516c\u5f00\u8bad\u7ec3\u7684 HiVT [52] \u6a21\u578b\u6765\u590d\u5236\u4ed6\u4eec\u8bba\u6587\u4e2d\u62a5\u544a\u7684\u7ed3\u679c\u3002\u7531\u4e8e DenseTNT [15] \u4e0d\u63d0\u4f9b\u7ecf\u8fc7\u8bad\u7ec3\u7684\u6a21\u578b\uff0c\u8bba\u6587\u4ece\u5934\u5f00\u59cb\u901a\u8fc7\u4f18\u5316\uff08DenseTNT w\/100ms opt.\uff09\u91cd\u65b0\u8bad\u7ec3\u79bb\u7ebf\u6a21\u578b\uff0c\u4ee5\u5b9e\u73b0\u4e0e\u4ed6\u4eec\u8bba\u6587\u4e2d\u62a5\u544a\u7684\u6027\u80fd\u76f8\u4f3c\u7684\u6027\u80fd\u3002\u6240\u6709\u6a21\u578b\u5728\u5341\u5b57\u8def\u53e3\u7684\u5404\u79cd\u4ea4\u901a\u573a\u666f\u4e2d\u4e3a\u76ee\u6807\u4e3b\u4f53\u751f\u6210\u5408\u7406\u7684\u591a\u6a21\u6001\u9884\u6d4b\uff0c\u4f8b\u5982\u53f3\u8f6c 1 \u548c\u5de6\u8f6c2\u30014\uff0c\u6216\u52a0\u901f\u76f4\u884c3\u3002\u4f46\u662f\uff0cLAformer \u5728\u53f3\u8f6c\u573a\u666f1\u548c\u52a0\u901f\u573a\u666f \u4e2d\u751f\u6210\u66f4\u51c6\u786e\u7684\u9884\u6d4b\uff0c\u800c\u5176\u4ed6\u6a21\u578b\u503e\u5411\u4e8e\u9884\u6d4b\u51cf\u901f\u6216\u8f6c\u5f2f\u6a21\u5f0f\u3002\u6b64\u5916\uff0c\u5f53\u65f6\u95f4\u7a20\u5bc6\u7684\u8f66\u9053\u611f\u77e5\u6a21\u5757\u88ab\u505c\u7528\u65f6\uff08w\/o D vs. w\/o S2\uff09\uff0cLAformer \u5728\u6a2a\u5411\u65b9\u5411\u4e0a\u751f\u6210\u7684\u9884\u6d4b\u8f83\u5c11\u3002 \u7136\u800c\uff0c\u6700\u53f3\u5217\u663e\u793a\u7684\u5177\u6709\u7b2c\u4e8c\u9636\u6bb5\u7ec6\u5316\u6a21\u5757\u7684\u5b8c\u6574\u6a21\u578b\u4fdd\u6301\u4e86\u826f\u597d\u7684\u9884\u6d4b\u591a\u6837\u6027\u548c\u51c6\u786e\u6027\u3002<\/p>\n

<\/p>\n

\u56fe4\u663e\u793a\u4e86LAformer\u5728nuScenes\u4e0a\u7684\u66f4\u591a\u5b9a\u6027\u7ed3\u679c \u5b83\u4e0d\u4ec5\u53ef\u4ee5\u5728\u76f4\u884c\u884c\u9a76\u4e2d\u751f\u6210\u51c6\u786e\u7684\u9884\u6d4b\uff0c\u800c\u4e14\u53ef\u4ee5\u5728\u590d\u6742\u7684\u4ea4\u53c9\u8def\u53e3\u751f\u6210\u51c6\u786e\u7684\u9884\u6d4b\uff0c\u4f8b\u5982\u7ee7\u7eed\u5411\u524d\u884c\u9a76\u3001\u5de6\u8f6c\u6216\u53f3\u8f6c\u3002 \u4e0e\u8f66\u9053\u6bb5\u5bf9\u9f50\u7684\u591a\u6a21\u6001\u9884\u6d4b\u610f\u5473\u7740\u667a\u80fd\u4f53\u5728\u4ea4\u53c9\u8def\u53e3\u7684\u8fd0\u52a8\u4e0d\u786e\u5b9a\u3002<\/p>\n

5 \u7ed3\u8bba<\/p>\n

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