{"id":5307,"date":"2023-04-17T09:23:28","date_gmt":"2023-04-17T01:23:28","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/04\/17\/5307\/"},"modified":"2023-04-17T09:46:59","modified_gmt":"2023-04-17T01:46:59","slug":"%e7%8e%af%e5%a2%83%e6%84%9f%e7%9f%a5%e4%b8%ad%e7%9a%84%e6%b3%a8%e6%84%8f%e5%8a%9b%e6%9c%ba%e5%88%b6%ef%bc%88%e4%b8%89%ef%bc%89","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/04\/17\/5307\/","title":{"rendered":"2023-04-17\u73af\u5883\u611f\u77e5\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff08\u4e09\uff09"},"content":{"rendered":"

BEV\u611f\u77e5\u548c\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236<\/p>\n

1. \u524d\u8a00<\/p>\n

\u5728\u672c\u4e13\u9898\u7684\u524d\u4e24\u7bc7\u6587\u7ae0\u4e2d\uff0c\u6211\u4eec\u5206\u522b\u4ecb\u7ecd\u4e86\u4e00\u822c\u7684\u6ce8\u610f\u529b\u673a\u5236\u548c\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u4ee5\u53ca\u5b83\u4eec\u5728\u611f\u77e5\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u3002<\/p>\n

\u5deb\u5a46\u5854\u91cc\u7684\u5de5\u7a0b\u5e08\uff1a\u73af\u5883\u611f\u77e5\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236 (\u4e00) \uff1a\u89c6\u89c9\u611f\u77e5\u4e2d\u5e38\u7528\u7684\u6ce8\u610f\u529b\u673a\u5236<\/p>\n

\u5deb\u5a46\u5854\u91cc\u7684\u5de5\u7a0b\u5e08\uff1a\u73af\u5883\u611f\u77e5\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff08\u4e8c\uff09 \uff1aTransformer\u548c\u81ea\u6ce8\u610f\u529b\u673a\u5236<\/p>\n

\u9664\u4e86\u81ea\u6ce8\u610f\u529b\u4ee5\u5916\uff0c\u4ea4\u53c9\u6ce8\u610f\u529b\uff08Cross Attention\uff09\u4e5f\u662f\u76ee\u524d\u5e94\u7528\u6bd4\u8f83\u5e7f\u6cdb\u7684\u4e00\u79cd\u6ce8\u610f\u529b\u673a\u5236\uff0c\u90a3\u4e48\u5b83\u4e0e\u81ea\u6ce8\u610f\u529b\u7684\u533a\u522b\u5728\u54ea\u91cc\u5462\uff1f<\/p>\n

\u5176\u5b9e\uff0c\u5728Transformer\u7684\u7f16\u7801-\u89e3\u7801\u7ed3\u6784\u4e2d\uff0c\u89e3\u7801\u5668\u5c31\u91c7\u7528\u4e86\u4ea4\u53c9\u6ce8\u610f\u529b\uff1aquery\u6765\u81ea\u89e3\u7801\u5668\uff0c\u662f\u5f53\u524d\u8981\u89e3\u7801\u7684\u8bcd\u7ecf\u8fc7\u591a\u5934\u6ce8\u610f\u529b\u6a21\u5757\u5904\u7406\u540e\u7684\u7279\u5f81\uff0c\u800ckey\u548cvalue\u6765\u81ea\u7f16\u7801\u5668\u7684\u8f93\u51fa\u3002\u8fd9\u4e0e\u81ea\u6ce8\u610f\u529b\u4e2dkey\/value\/query\u6765\u6e90\u4e8e\u540c\u4e00\u4e2a\u8f93\u5165\u662f\u6709\u660e\u663e\u533a\u522b\u7684\u3002\u6b63\u56e0\u4e3a\u4ea4\u53c9\u6ce8\u610f\u529b\u4e2dquery\u548ckey\/value\u7684\u6765\u6e90\u4e0d\u540c\uff0c\u5b83\u7ecf\u5e38\u88ab\u7528\u4e8e\u4e0d\u540c\u57df\uff08Domain\uff09\u4e4b\u95f4\u7684\u6570\u636e\u8f6c\u6362\u3002<\/p>\n

\u90a3\u4e48\uff0c\u4e3a\u4ec0\u4e48\u4ea4\u53c9\u6ce8\u610f\u529b\u4f1a\u5728BEV\u611f\u77e5\u4e2d\u88ab\u5e7f\u6cdb\u5e94\u7528\u5462\uff1f\u8981\u56de\u7b54\u8fd9\u4e2a\u95ee\u9898\uff0c\u5c31\u5f97\u5148\u4e86\u89e3\u4ec0\u4e48\u662fBEV\u611f\u77e5\u3002<\/p>\n

2021\u5e74\uff0cTesla\u5728AI Day\u4e0a\u5c55\u793a\u4e86\u4e00\u4e2a\u7eaf\u89c6\u89c9\u7684FSD\uff08Full Self Driving\uff09\u7cfb\u7edf\u3002\u9664\u4e86\u91c7\u7528\u4e86\u5f88\u591a\u6df1\u5ea6\u5b66\u4e60\u9886\u57df\u7684\u6210\u529f\u7ecf\u9a8c\uff0c\u8fd9\u4e2a\u7cfb\u7edf\u5728\u591a\u6444\u50cf\u5934\u878d\u5408\u65b9\u9762\u4e5f\u975e\u5e38\u6709\u7279\u70b9\uff1a\u5148\u628a\u6765\u81ea\u591a\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u5230\u4e00\u4e2a\u5411\u91cf\u7a7a\u95f4\uff0c\u7136\u540e\u878d\u5408\u6765\u81ea\u591a\u4e2a\u76f8\u673a\u7684\u7279\u5f81\uff0c\u6700\u540e\u5728\u5411\u91cf\u7a7a\u95f4\u4e2d\u5b8c\u6210\u6240\u6709\u7684\u611f\u77e5\u4efb\u52a1\u3002\u8fd9\u91cc\u6240\u8c13\u7684\u5411\u91cf\u7a7a\u95f4\uff0c\u5176\u5b9e\u5c31\u662f\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u9e1f\u77b0\u89c6\u56fe\uff0c\u4e5f\u5c31\u662fBEV\u5750\u6807\u3002\u8be5\u7cfb\u7edf\u7684\u6838\u5fc3\u601d\u8def\u5c31\u662f\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u5230BEV\u89c6\u56fe\u4e0b\u8fdb\u884c\u878d\u5408\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\u5b8c\u6210\u5404\u79cd\u611f\u77e5\u4efb\u52a1\u3002\u81f3\u4e8e\u4e3a\u4ec0\u4e48\u8981\u5728BEV\u89c6\u56fe\u4e0b\u5b8c\u6210\u611f\u77e5\u4efb\u52a1\uff0c\u53ef\u4ee5\u53c2\u8003\u6211\u4e4b\u524d\u5199\u7684\u4e00\u4e2a\u56de\u7b54\u3002<\/p>\n

\u81ea\u52a8\u9a7e\u9a76BEV\u611f\u77e5\u6709\u54ea\u4e9b\u8ba9\u4eba\u773c\u524d\u4e00\u4eae\u7684\u65b0\u65b9\u6cd5\uff1f<\/p>\n

\u56fe1 \u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5efa\u7acb\u56fe\u50cf\u7a7a\u95f4\u5230BEV\u7a7a\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb<\/p>\n

BEV\u611f\u77e5\u7684\u6982\u5ff5\u4e00\u7ecf\u63d0\u51fa\uff0c\u5c31\u5728\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u5f15\u8d77\u4e86\u5e7f\u6cdb\u7684\u5173\u6ce8\u3002\u7b80\u5355\u7684\u8bf4\uff0c\u89c6\u89c9BEV\u611f\u77e5\u5305\u542b\u4e24\u4e2a\u90e8\u5206\uff1a\u4e00\u4e2a\u662f\u89c6\u56fe\u8f6c\u6362\uff0c\u4e5f\u5c31\u662f\u4ece\u900f\u89c6\u56fe\uff08Perspective View, PV\uff09\u5230\u9e1f\u77b0\u89c6\u56fe\uff08Bird’s Eye View, BEV\uff09\u7684\u8f6c\u6362\uff1b\u53e6\u4e00\u4e2a\u662f\u591a\u4f20\u611f\u5668\u7684\u7279\u5f81\u5c42\u878d\u5408\u3002\u8fd9\u4e24\u4e2a\u90e8\u5206\u7edf\u4e00\u8d77\u6765\u770b\uff0c\u53ef\u4ee5\u8ba4\u4e3a\u662f\u4ece\u5355\u6444\u50cf\u5934\u7684PV\u89c6\u56fe\u5230\u7edf\u4e00\u7684BEV\u89c6\u56fe\u7684\u8f6c\u6362\uff0c\u4e5f\u53ef\u4ee5\u8ba4\u4e3a\u662f\u4e24\u4e2a\u57df\uff08Domain\uff09\u4e4b\u95f4\u7684\u8f6c\u6362\u3002\u65e2\u7136\u662f\u4e0d\u540c\u57df\u4e4b\u95f4\u7684\u8f6c\u6362\uff0c\u90a3\u4e48\u4ea4\u53c9\u6ce8\u610f\u529b\u5c31\u53ef\u4ee5\u5728\u8fd9\u91cc\u6d3e\u4e0a\u7528\u573a\u4e86\u3002<\/p>\n

\u5982\u524d\u6240\u8ff0\uff0cBEV\u611f\u77e5\u7684\u6838\u5fc3\u662f\u89c6\u56fe\u8f6c\u6362\u548c\u7279\u5f81\u878d\u5408\u3002\u672c\u6587\u63a5\u4e0b\u6765\u4f1a\u5bf9\u8fd9\u4e2a\u4e24\u4e2a\u90e8\u5206\uff0c\u4ee5\u53ca\u4ea4\u53c9\u6ce8\u610f\u529b\u5728\u5176\u4e2d\u8d77\u5230\u7684\u4f5c\u7528\uff0c\u8fdb\u884c\u8be6\u7ec6\u7684\u4ecb\u7ecd\u3002<\/p>\n

2. \u89c6\u56fe\u8f6c\u6362<\/p>\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u4e2d\uff0c\u5e38\u7528\u7684\u4f20\u611f\u5668\u5305\u62ec\u6444\u50cf\u5934\uff0c\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3002\u524d\u8005\u7684\u6570\u636e\u5f62\u5f0f\u662f\u56fe\u50cf\uff0c\u800c\u540e\u4e24\u8005\u7684\u6570\u636e\u5f62\u5f0f\u662f\u70b9\u4e91\u3002\u5bf9\u4e8e\u611f\u77e5\u4efb\u52a1\u6765\u8bf4\uff0c\u6211\u4eec\u9700\u8981\u5f97\u5230\u7684\u662f\u573a\u666f\u4e2d\u5404\u79cd\u76ee\u6807\u5728\u8f66\u8f86\u5750\u6807\u7cfb\uff08\u6216\u8005\u8bf4BEV\u5750\u6807\uff09\u4e0b\u7684\u4f4d\u7f6e\u3002\u6444\u50cf\u5934\u56fe\u50cf\u91c7\u7528\u900f\u89c6\u89c6\u56fe\uff0c\u56e0\u6b64\u9700\u8981\u5c06\u5176\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff0c\u518d\u8fdb\u884c\u540e\u7eed\u7684\u5904\u7406\u3002\u8fd9\u79cd\u8f6c\u6362\u5728\u57fa\u4e8e\u591a\u6444\u50cf\u5934\u7684\u89c6\u89c9\u611f\u77e5\u7cfb\u7edf\u4e2d\u4f1a\u8d77\u5230\u975e\u5e38\u91cd\u8981\u7684\u4f5c\u7528\u3002\u81f3\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u7531\u4e8e\u53ef\u4ee5\u76f4\u63a5\u83b7\u53d6\u573a\u666f\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u5176\u6570\u636e\u53ef\u4ee5\u88ab\u8ba4\u4e3a\u5df2\u7ecf\u5904\u4e8e\u4ee5\u8f66\u8f86\u4e3a\u4e2d\u5fc3\u7684\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\uff0c\u5e76\u4e0d\u9700\u8981\u50cf\u56fe\u50cf\u90a3\u6837\u8fdb\u884c\u590d\u6742\u7684\u89c6\u56fe\u8f6c\u6362\u3002<\/p>\n

\u56e0\u6b64\uff0c\u5728\u89c6\u56fe\u8f6c\u6362\u8fd9\u4e2a\u90e8\u5206\u6211\u4eec\u4e3b\u8981\u5173\u6ce8\u7684\u662f\u56fe\u50cf\u4ece\u900f\u89c6\u89c6\u56fe\u5230BEV\u89c6\u56fe\u7684\u8f6c\u6362\u3002\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e3b\u8981\u6d89\u53ca\u7684\u662f\u70b9\u4e91\u7279\u5f81\u5982\u4f55\u5728BEV\u89c6\u56fe\u4e0b\u4e0e\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u878d\u5408\uff0c\u8fd9\u4e2a\u5185\u5bb9\u6211\u4eec\u4f1a\u5728\u4e0b\u4e00\u8282\u4ecb\u7ecd\u3002<\/p>\n

\u900f\u89c6\u89c6\u56fe\u5230BEV\u89c6\u56fe\u7684\u8f6c\u6362\uff0c\u5176\u601d\u8def\u4e3b\u8981\u6709\u4e24\u79cd\u3002\u4e00\u79cd\u662f\u91c7\u7528\u51e0\u4f55\u4fe1\u606f\uff0c\u5229\u7528\u573a\u666f\u7684\u9ad8\u5ea6\u6216\u8005\u6df1\u5ea6\u4fe1\u606f\u5c06\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff1b\u53e6\u4e00\u79cd\u662f\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u76f4\u63a5\u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\uff0c\u4e0d\u9700\u8981\u4efb\u4f55\u7684\u5047\u8bbe\uff0c\u4e5f\u4e0d\u9700\u8981\u4e2d\u95f4\u6b65\u9aa4\u6765\u4f30\u8ba1\u9ad8\u5ea6\u6216\u8005\u6df1\u5ea6\u3002<\/p>\n

2.1 \u57fa\u4e8e\u51e0\u4f55\u4fe1\u606f\u7684\u65b9\u6cd5<\/p>\n

\u4e13\u680f\u4e4b\u524d\u5728\u5173\u4e8e3D\u89c6\u89c9\u611f\u77e5\u7684\u6587\u7ae0\u91cc\uff0c\u4ecb\u7ecd\u4e86\u56fe\u50cf\u4ece\u900f\u89c6\u89c6\u56fe\u5230BEV\u89c6\u56fe\u7684\u53cd\u53d8\u6362\u65b9\u6cd5\u3002\u7406\u8bba\u4e0a\u8bf4\u8fd9\u662f\u4e00\u4e2a\u75c5\u6001\u95ee\u9898\uff0c\u4f46\u662f\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e9b\u989d\u5916\u4fe1\u606f\u6765\u8f85\u52a9\u89e3\u51b3\u3002\u8fd9\u4e9b\u989d\u5916\u7684\u4fe1\u606f\u5305\u62ec\u6df1\u5ea6\u548c\u9ad8\u5ea6\uff0c\u524d\u8005\u53ef\u4ee5\u7531\u56fe\u50cf\u6df1\u5ea6\u4f30\u8ba1\u6216\u8005\u6df1\u5ea6\u4f20\u611f\u5668\uff08\u6bd4\u5982\u6fc0\u5149\u96f7\u8fbe\uff09\u83b7\u5f97\uff1b\u540e\u8005\u901a\u5e38\u6765\u6e90\u4e8e\u4e00\u4e9b\u5047\u8bbe\uff0c\u6bd4\u5982\u50cf\u7d20\u4f4d\u4e8e\u5730\u9762\uff0c\u4e5f\u5c31\u662f\u9ad8\u5ea6\u4e3a\u96f6\u3002\u76f8\u5173\u7684\u4e00\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u53c2\u8003\u4ee5\u4e0b\u6587\u7ae0\u3002<\/p>\n

\u5deb\u5a46\u5854\u91cc\u7684\u5de5\u7a0b\u5e08\uff1a\u89c6\u89c9\u4f20\u611f\u5668\uff1a3D\u611f\u77e5\u7b97\u6cd5<\/p>\n

\u4e0b\u9762\u6211\u4eec\u4e3b\u8981\u4ecb\u7ecd\u4e00\u4e0b\u53ef\u4ee5\u8fdb\u884c\u7aef\u5bf9\u7aef\u5b66\u4e60\u7684\u57fa\u4e8e\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\u7684\u65b9\u6cd5\u3002<\/p>\n

LSS\uff08Lift\uff0cSplat\uff0cShoot\uff09<\/p>\n

LSS\u7b97\u6cd5\u7684\u8f93\u5165\u662f\u591a\u5f20\u56fe\u50cf\uff08\u6765\u81ea\u4e8e\u5b89\u88c5\u5728\u8f66\u8eab\u4e0d\u540c\u4f4d\u7f6e\u7684\u76f8\u673a\uff09\u548c\u76f8\u673a\u7684\u5185\u5916\u53c2\uff0c\u8f93\u51fa\u5219\u662fBEV\u89c6\u56fe\u4e0b\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u6bd4\u5982\u76ee\u6807\u5206\u5272\u6216\u8005\u8fd0\u52a8\u9884\u6d4b\u7b49\u3002<\/p>\n

LSS\u65b9\u6cd5\u793a\u610f\u56fe<\/p>\n

\u591a\u5f20\u56fe\u50cf\u9996\u5148\u7528\u4e00\u4e2a\u5171\u4eab\u7684CNN\u4e3b\u5e72\u7f51\u7edc\u63d0\u53d6\u7279\u5f81\uff0c\u7136\u540e\u5206\u522b\u5bf9\u6bcf\u4e2a\u7279\u5f81\u56fe\u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\u3002\u8fd9\u4e2a\u6b65\u9aa4\u7684\u6838\u5fc3\u662f\u4f30\u8ba1\u7279\u5f81\u56fe\u6bcf\u4e2a\u50cf\u7d20\u5904\u7684\u6df1\u5ea6\u5206\u5e03\u3002\u8fd9\u91cc\u5e76\u6ca1\u6709\u9884\u6d4b\u5177\u4f53\u7684\u6df1\u5ea6\u503c\uff0c\u800c\u662f\u7ed9\u6bcf\u4e2a\u53ef\u80fd\u7684\u6df1\u5ea6\u503c\u5206\u914d\u4e00\u4e2a\u6982\u7387\u3002\u5047\u8bbe\u6709D\u4e2a\u53ef\u80fd\u7684\u6df1\u5ea6\u503c\uff0c\u90a3\u4e48\u7f51\u7edc\u5728\u6bcf\u4e2a\u50cf\u7d20\u5904\u4f1a\u9884\u6d4bD\u4e2a\u6982\u7387\u503c\uff08 alpha_{1},alpha_{2},…,alpha_{D} \uff09\u4ee5\u53ca\u8be5\u50cf\u7d20\u5904\u7684\u4e0a\u4e0b\u6587\u7279\u5f81c\uff08\u7ef4\u5ea6\u662fC\uff09\u3002\u7528 alpha \u5bf9c\u8fdb\u884c\u52a0\u6743\u5c31\u5f97\u5230\u4e86\u5bf9\u5e94\u6bcf\u4e2a\u6df1\u5ea6\u7684\u4e0a\u4e0b\u6587\u7279\u5f81\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\u53ef\u4ee5\u5904\u7406\u6df1\u5ea6\u7684\u6a21\u7cca\u6027\uff0c\u56e0\u4e3a\u4ece\u4e8c\u7ef4\u56fe\u50cf\u4e0a\u63a8\u6d4b\u6df1\u5ea6\u662f\u6709\u6b67\u4e49\u7684\u3002<\/p>\n

\u5047\u8bbe\u7279\u5f81\u56fe\u5927\u5c0f\u4e3aHxW\uff0c\u6bcf\u4e2a\u50cf\u7d20\u6709D\u4e2a\u53ef\u80fd\u7684\u6df1\u5ea6\u503c\u3002\u901a\u8fc7\u76f8\u673a\u7684\u5185\u5916\u53c2\uff0c\u6bcf\u4e2a\u50cf\u7d20\u90fd\u53ef\u4ee5\u8f6c\u6362\u4e3a\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684D\u4e2a\u70b9\uff0c\u56e0\u6b64\u6bcf\u4e2a\u76f8\u673a\u7684\u7279\u5f81\u56fe\u90fd\u53ef\u4ee5\u8f6c\u6362\u4e3aHxWxD\u4e2a\u70b9\u3002\u5982\u679c\u6709N\u4e2a\u76f8\u673a\u7684\u8bdd\uff0c\u90a3\u4e48\u6700\u7ec8\u5c31\u6709NxHxWxD\u4e2a\u70b9\u3002\u8fd9\u4e9b\u4e09\u7ef4\u70b9\u53ef\u4ee5\u901a\u8fc7\u7c7b\u4f3cPointPillar\u4e2d\u7684\u65b9\u5f0f\u8f6c\u6362\u6210BEV\u89c6\u56fe\u4e0b\u7684\u7279\u5f81\u3002\u6bcf\u4e2aPillar\u5bf9\u5e94BEV\u4e2d\u7684\u4e00\u4e2a\u7f51\u683c\uff0c\u843d\u5230\u7f51\u683c\u4e2d\u7684\u70b9\u8fdb\u884cPooling\u64cd\u4f5c\u540e\u4ecd\u7136\u8fd8\u5f97\u5230\u4e00\u4e2aC\u7ef4\u7684\u7279\u5f81\u3002\u6240\u4ee5BEV\u7279\u5f81\u7684\u7ef4\u5ea6\u7ef4XxYxC\uff0c\u5176\u4e2dX\u548cY\u662fBEV\u7f51\u683c\u6a2a\u5411\u548c\u7eb5\u5411\u7684\u4e2a\u6570\u3002<\/p>\n

LSS\u4e2d\u7684\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\u548c\u7279\u5f81\u52a0\u6743<\/p>\n

\u6709\u4e86\u878d\u5408\u591a\u76f8\u673a\u7684BEV\u7279\u5f81\uff0c\u540e\u7eed\u5c31\u53ef\u4ee5\u5728\u6b64\u57fa\u7840\u4e0a\u5b8c\u6210\u4e0d\u540c\u7684BEV\u611f\u77e5\u4efb\u52a1\uff0c\u8fd9\u91cc\u5c31\u4e0d\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u3002<\/p>\n

BEVDet\u548cBEVDet4D<\/strong><\/p>\n

BEVDet\u4ee5LSS\u4e2d\u7684\u89c6\u56fe\u8f6c\u6362\u4e3a\u57fa\u7840\uff0c\u5728\u56fe\u50cf\u57df\u548cBEV\u57df\u90fd\u91c7\u7528\u4e86\u6709\u6548\u7684\u4e3b\u5e72\u7f51\u7edc\u6765\u63d0\u53d6\u7684\u7279\u5f81\uff0c\u5e76\u4ee5\u6b64\u5b8c\u62103D\u76ee\u6807\u68c0\u6d4b\u3002\u8be5\u65b9\u6cd5\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u53d6\u5f97\u4e86\u975e\u5e38\u597d\u7684\u6548\u679c\uff0c\u4e5f\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u5229\u7528\u6df1\u5ea6\u4f30\u8ba1\u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\u4ee5\u53ca\u5728BEV\u89c6\u56fe\u4e0b\u8bbe\u8ba1\u611f\u77e5\u7b97\u6cd5\u7684\u6709\u6548\u6027\u3002<\/p>\n

BEVDet\u4e3b\u8981\u5305\u62ec\u56db\u4e2a\u90e8\u5206\u3002\u9996\u5148\u662f\u56fe\u50cf\u57df\u7684\u7f16\u7801\u5668\uff0c\u53ef\u4ee5\u91c7\u7528\u7ecf\u5178\u7684ResNet\u6216\u8005\u57fa\u4e8e\u6ce8\u610f\u529b\u7684Swin-Trainsformer\u7ed3\u6784\u3002\u7136\u540e\uff0c\u591a\u5e45\u56fe\u50cf\u7684\u7279\u5f81\u901a\u8fc7LSS\u4e2d\u63d0\u51fa\u7684\u65b9\u6cd5\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff0c\u5728\u8be5\u89c6\u56fe\u4e0b\u8fdb\u884c\u518d\u4e00\u6b21\u7684\u7279\u5f81\u63d0\u53d6\u3002\u6700\u540e\uff0c\u91c7\u7528CenterPoint\u4e2d\u7684Head\u7ed3\u6784\u6765\u5b8c\u62103D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002<\/p>\n

BEVDet\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

BEVDet\u4e4b\u540e\u53c8\u589e\u52a0\u65f6\u5e8f\u878d\u5408\u6a21\u5757\uff0c\u6269\u5c55\u4e3a\u4e86BEVDet4D\u3002\u5728\u8fd9\u4e2a\u6d41\u7a0b\u4e2d\uff0c\u5355\u5e27\u6570\u636e\u7684\u5904\u7406\u91c7\u7528BEVDet\u4e2d\u7684\u65b9\u6cd5\uff0c\u5c06\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\u4e0b\uff0c\u5e76\u63d0\u53d6\u7279\u5f81\u3002BEV\u89c6\u56fe\u7684\u4f18\u70b9\u4e4b\u4e00\u5c31\u662f\u5bf9\u8fd0\u52a8\u4fe1\u606f\u7684\u5efa\u6a21\u6bd4\u8f83\u65b9\u4fbf\u3002BEVDet4D\u4e2d\u5bf9\u591a\u5e27\u7279\u5f81\u7684\u5904\u7406\u65b9\u6cd5\u975e\u5e38\u7b80\u5355\uff0c\u5c31\u662f\u5c06T-1\u65f6\u523b\u7684BEV\u7279\u5f81\u5bf9\u9f50\u5230T\u65f6\u523b\u7684BEV\u7279\u5f81\u8fdb\u884c\u5bf9\u9f50\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u7531\u4e8e\u81ea\u8f66\u7684\u8fd0\u52a8\uff0cT-1\u548cT\u65f6\u523bBEV\u7279\u5f81\u6240\u5904\u7684\u5750\u6807\u7cfb\u662f\u4e0d\u540c\u7684\u3002\u901a\u8fc7\u5e73\u79fb\u548c\u65cb\u8f6c\uff0c\u53ef\u4ee5\u5c06T-1\u65f6\u523b\u7684\u5750\u6807\u5bf9\u9f50\u5230T\u65f6\u523b\u7684\u5750\u6807\u3002\u4e5f\u5c31\u662f\u8bf4\uff0cT-1\u65f6\u523b\u7684BEV\u7279\u5f81\u901a\u8fc7\u5e73\u79fb\u548c\u65cb\u8f6c\u540e\uff0c\u5176\u5750\u6807\u4e0eT\u65f6\u523b\u7684BEV\u7279\u5f81\u76f8\u540c\uff0c\u56e0\u6b64\u5c31\u53ef\u4ee5\u901a\u8fc7\u7b80\u5355\u7684\u53e0\u52a0\u64cd\u4f5c\u6765\u5b8c\u6210\u878d\u5408\u3002<\/p>\n

\u65f6\u5e8f\u878d\u5408\u4e5f\u53ef\u4ee5\u91c7\u7528\u66f4\u590d\u6742\u7684\u65b9\u5f0f\uff0c\u6bd4\u5982\u91c7\u7528RNN\u6765\u7f16\u7801\u6240\u6709\u7684\u5386\u53f2\u4fe1\u606f\uff0c\u800c\u4e0d\u662f\u53ea\u8003\u8651\u524d\u540e\u4e24\u5e27\u3002\u4e4b\u540e\u5728\u4ecb\u7ecdBEVFormer\u65f6\uff0c\u8fd8\u4f1a\u51fa\u73b0\u5229\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u65f6\u5e8f\u878d\u5408\u65b9\u6cd5\u3002\u4f46\u662f\uff0c\u65e0\u8bba\u91c7\u7528\u54ea\u79cd\u65b9\u6cd5\uff0c\u7279\u5f81\u5bf9\u9f50\u90fd\u662f\u5176\u4e2d\u4e00\u4e2a\u91cd\u8981\u7684\u6b65\u9aa4\u3002<\/p>\n

BEVDet4D\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

2.2 \u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u65b9\u6cd5<\/strong><\/p>\n

\u4e0a\u4e00\u5c0f\u8282\u4ecb\u7ecd\u4e86\u57fa\u4e8e\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\u7684\u89c6\u56fe\u8f6c\u6362\u65b9\u6cd5\uff0c\u8fd9\u79cd\u65b9\u6cd5\u4e00\u4e2a\u663e\u8457\u7684\u7279\u70b9\u5c31\u662f\u9700\u8981\u6df1\u5ea6\u4f30\u8ba1\u7684\u8f93\u51fa\uff0c\u5e76\u4ee5\u6b64\u4e3a\u57fa\u7840\u628a\u56fe\u50cf\u50cf\u7d20\u6620\u5c04\u4e3a\u4e09\u7ef4\u70b9\u4e91\u3002\u4e0e\u6b64\u4e0d\u540c\u7684\u662f\uff0c\u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u65b9\u6cd5\u5e76\u6ca1\u6709\u663e\u5f0f\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u800c\u662f\u7528\u6ce8\u610f\u529b\u7684\u65b9\u5f0f\u6765\u76f4\u63a5\u8fdb\u884c\u4e0d\u540c\u57df\uff08\u8fd9\u91cc\u5c31\u662f\u6307\u4e0d\u540c\u89c6\u56fe\uff09\u4e4b\u95f4\u7684\u8f6c\u6362\u3002<\/p>\n

\u524d\u9762\u4ecb\u7ecd\u7684\u7279\u65af\u62c9FSD\u7cfb\u7edf\u4e2d\u5c31\u662f\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u5c06\u591a\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff0c\u4f46\u662fAI Day\u7684\u53d1\u5e03\u4f1a\u4e0a\u5e76\u6ca1\u6709\u63d0\u4f9b\u592a\u591a\u7684\u6280\u672f\u7ec6\u8282\u3002\u4e0b\u9762\u6211\u4eec\u4ee5\u5b66\u672f\u754c\u7684\u4e00\u4e2a\u5de5\u4f5cBEVFormer\u4e3a\u4ee3\u8868\uff0c\u6765\u8be6\u7ec6\u4ecb\u7ecd\u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684BEV\u611f\u77e5\u65b9\u6cd5\u3002<\/p>\n

BEVFormer\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757<\/strong><\/p>\n

\u5982\u4e0a\u56fe\u6240\u793a\uff0c\u5728BEVFormer\u4e2d\uff0c\u591a\u5e45\u56fe\u50cf\u9996\u5148\u7ecf\u8fc7\u4e3b\u5e72\u7f51\u7edc\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u7136\u540e\u8f93\u5165\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\uff08Spatial Cross-Attention\uff09\u8f6c\u6362\u4e3aBEV\u7279\u5f81\u3002\u4e3a\u4e86\u964d\u4f4e\u8ba1\u7b97\u91cf\uff0cBEVFormer\u4e2d\u91c7\u7528\u4e86\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\uff08Deformable Attention\uff09\u6765\u5b9e\u73b0\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u8ba1\u7b97\u3002<\/p>\n

\u5728\u4e00\u822c\u7684\u81ea\u6ce8\u610f\u529b\u8ba1\u7b97\u4e2d\uff0c\u6211\u4eec\u9700\u8981\u5b9a\u4e49query\uff0ckey\u548cvalue\u3002\u5047\u8bbe\u5143\u7d20\u4e2a\u6570\u4e3aN\uff0c\u90a3\u4e48query\uff0ckey\u548cvalue\u7684\u4e2a\u6570\u90fd\u662fN\u3002\u5728\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u4e2d\uff0ckey\u548cvalue\u53ea\u5728\u4e0equery\u4e34\u8fd1\u7684\u4f4d\u7f6e\u9009\u53d6\uff0c\u56e0\u6b64\u5176\u4e2a\u6570\u8fdc\u5c0f\u4e8eN\u3002\u5982\u679c\u5c06\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u7528\u4e8e\u89c6\u56fe\u8f6c\u6362\uff08\u6bd4\u5982\u56fe\u50cf\u5230BEV\uff09\uff0c\u90a3\u4e48query\u6765\u81ea\u4e8eBEV\u89c6\u56fe\uff0c\u800ckey\u548cvalue\u5219\u6765\u81ea\u4e8e\u56fe\u50cf\u89c6\u56fe\u3002\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u4e2dkey\u548cvalue\u7684\u5b9a\u4e49\u65b9\u5f0f\u4e5f\u4e0e\u4e00\u822c\u7684\u6ce8\u610f\u529b\u8ba1\u7b97\u7565\u6709\u4e0d\u540c\uff0c\u5177\u4f53\u7ec6\u8282\u53ef\u4ee5\u53c2\u8003\u672c\u7cfb\u5217\u7684\u4e0a\u4e00\u7bc7\u6587\u7ae0\u3002<\/p>\n

\u4ece\u4e0a\u56fe\uff08b\uff09\u4e2d\u53ef\u4ee5\u770b\u5230\uff0c\u4e3a\u4e86\u5b8c\u6210\u89c6\u56fe\u8f6c\u6362\uff0c\u6211\u4eec\u9996\u5148\u9700\u8981\u4e00\u4e2aBEV\u89c6\u56fe\u4e0b\u7684query\u3002\u5982\u679c\u6ca1\u6709\u65f6\u5e8f\u878d\u5408\u6a21\u5757\uff0c\u90a3\u4e48\u8fd9\u4e2aquery\u5c31\u662f\u53ef\u5b66\u4e60\u7684BEV\u7f51\u683c\u7279\u5f81\uff0c\u5927\u5c0f\u4e3aHxWxC\uff0c\u5176\u4e2dH\u548cW\u662fBEV\u7f51\u683c\u7684\u4e2a\u6570\uff0cC\u662f\u7279\u5f81\u7ef4\u5ea6\u3002\u5982\u679c\u5305\u542b\u65f6\u5e8f\u878d\u5408\u6a21\u5757\uff0c\u90a3\u4e48query\u5c31\u662f\u878d\u5408\u540e\u7684BEV\u7279\u5f81\uff0c\u8fd9\u4e2a\u6211\u4eec\u540e\u9762\u518d\u8bb2\u3002<\/p>\n

\u4e3a\u4e86\u63d0\u53d63D\u7279\u5f81\uff0cBEV query\u4e0a\u7684\u6bcf\u4e00\u4e2a\u7f51\u683c Q_{p} \u90fd\u88ab\u6269\u5c55\u4e3a\u9ad8\u5ea6\u4e0d\u540c\u7684 N_{ref} \u4e2a\u4e09\u7ef4\u70b9\uff0c\u4e5f\u5c31\u662f\u4e0a\u56fe\uff08b\uff09\u4e2d\u7ea2\u8272\u7684\u70b9\u3002\u5bf9\u4e8e\u6bcf\u4e00\u4e2a\u4e09\u7ef4\u70b9\u6765\u8bf4\uff0c\u90fd\u4f1a\u5728\u67d0\u4e9b\u56fe\u50cf\uff08 upsilon_{hit} \uff09\u4e0a\u5b58\u5728\u5bf9\u5e94\u7684\u4f4d\u7f6e\uff08 P(p,i,j) \uff09\u3002\u5728\u8fd9\u4e9b\u4f4d\u7f6e\u5468\u56f4\uff0c\u901a\u8fc7\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u53ef\u4ee5\u5f97\u5230\u5982\u4f55\u4ece\u56fe\u50cf\u7279\u5f81\uff08 F \uff09\u4e0a\u9009\u53d6key\u548cvalue\uff0c\u4ece\u800c\u5f97\u5230 Q_{p}\u5904\u7684BEV\u7279\u5f81\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e0d\u662f\u7279\u522b\u76f4\u89c2\uff0c\u9700\u8981\u5bf9\u7167\u7740\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u7684\u516c\u5f0f\u6765\u7406\u89e3\u3002<\/p>\n

<\/p>\n

\u4ee5\u4e0a\u5c31\u662fBEVFormer\u4e2d\u7684\u89c6\u56fe\u8f6c\u6362\u8fc7\u7a0b\uff0c\u6211\u4eec\u53ef\u4ee5\u628a\u5b83\u8ddfLSS\u4e2d\u7684\u65b9\u6cd5\u8fdb\u884c\u4e00\u4e2a\u5bf9\u6bd4\u3002LSS\u9996\u5148\u901a\u8fc7\u6df1\u5ea6\u4f30\u8ba1\u5c06\u56fe\u50cf\u70b9\u8f6c\u6362\u4e3a\u4e09\u7ef4\u70b9\u4e91\uff0c\u70b9\u7279\u5f81\u76f4\u63a5\u6765\u81ea\u4e8e\u5bf9\u5e94\u7684\u56fe\u50cf\u7279\u5f81\uff1b\u800cBEVFormer\u9996\u5148\u5b9a\u4e49\u4e09\u7ef4\u7f51\u683c\uff08Htimes Wtimes N_{ref}\uff09\uff0c\u4e5f\u5c31\u662f\u4e09\u7ef4\u70b9\u4e91\uff0c\u70b9\u7279\u5f81\u540c\u6837\u6765\u81ea\u4e8e\u56fe\u50cf\u7279\u5f81\uff0c\u4f46\u5e76\u4e0d\u662f\u76f4\u63a5\u5bf9\u5e94\uff0c\u800c\u662f\u901a\u8fc7\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u5728\u5bf9\u5e94\u56fe\u50cf\u70b9\u7684\u90bb\u8fd1\u533a\u57df\u8ba1\u7b97\u83b7\u5f97\u3002\u56e0\u6b64\uff0cLSS\u548cBEVFormer\u7684\u89c6\u56fe\u8f6c\u6362\u90fd\u662f\u901a\u8fc7\u4e8c\u7ef4\u56fe\u50cf\u5230\u4e09\u7ef4\u70b9\u4e91\u7684\u5bf9\u5e94\u6765\u5b9e\u73b0\u7684\uff0c\u4f46\u4e3b\u8981\u533a\u522b\u5728\u4e8e\u4e09\u7ef4\u70b9\u4e91\uff08\u4f4d\u7f6e\u548c\u7279\u5f81\uff09\u7684\u83b7\u53d6\u65b9\u5f0f\u4e0d\u540c\u3002<\/strong><\/p>\n

\u7a7a\u95f4\u6ce8\u610f\u529b\u6a21\u5757\u6700\u540e\u4f1a\u8f93\u51fa\u4e00\u4e2aBEV\u4e0b\u7684\u7279\u5f81\u56fe\uff0c\u8fd9\u4e2a\u7279\u5f81\u56fe\u878d\u5408\u4e86 t \u65f6\u523b\u591a\u5e45\u56fe\u50cf\u7684\u4fe1\u606f\uff08key\u548cvalue\uff09\uff0c\u540c\u65f6\u4e5f\u5305\u542b\u4e86 t-1 \u65f6\u523b\u4e2d\u5b58\u8d2e\u7684\u5386\u53f2\u4fe1\u606f\uff08BEV query\uff09\u3002<\/p>\n

\u65f6\u5e8f\u81ea\u6ce8\u610f\u529b\u673a\u5236<\/strong><\/p>\n

\u65f6\u5e8f\u878d\u5408\u90e8\u5206\u91c7\u7528\u7684\u662f\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u56e0\u4e3aquery\u548ckey\/value\u90fd\u6765\u81eaBEV\u89c6\u56fe\uff0c\u5e76\u6ca1\u6709\u89c6\u56fe\u7684\u8f6c\u6362\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0cquery\uff08 Q \uff09\u7684\u521d\u59cb\u503c\u662f\u53ef\u5b66\u4e60\u7684BEV\u7f51\u683c\u7279\u5f81\u3002\u5982\u679c\u7a7a\u95f4\u548c\u65f6\u5e8f\u6a21\u5757\u88ab\u91cd\u590d\u591a\u6b21\uff08\u6587\u7ae0\u4e2d\u8bbe\u7f6e\u4e3a6\u6b21\uff09\uff0c\u90a3\u4e48query\u4e5f\u53ef\u4ee5\u662f\u7a7a\u95f4\u6ce8\u610f\u529b\u6a21\u5757\u7684\u8f93\u51fa\u3002key\u548cvalue\u5219\u6765\u81ea\u4e8e\u4e0a\u4e00\u5e27\u8f93\u51fa\u7684BEV\u7279\u5f81\uff08 B_{t-1} \uff09\u3002<\/p>\n

\u9996\u5148\uff0c B_{t-1} \u9700\u8981\u5bf9\u9f50\u5230 t \u65f6\u523b\u7684\u5750\u6807\u7cfb\uff0c\u8bb0\u4e3a B’_{t-1} \u3002\u4e0a\u4e00\u8282\u4ecb\u7ecd\u4e86\uff0cBEVDet\u4e2d\u76f4\u63a5\u5c06\u5bf9\u9f50\u540e\u7684BEV\u7279\u5f81\u4e0e\u5f53\u524d\u5e27\u8fdb\u884c\u53e0\u52a0\u3002\u8fd9\u662f\u6700\u7b80\u5355\u7684\u505a\u6cd5\uff0c\u7406\u8bba\u4e0a\u8bf4\u53ef\u4ee5\u5bf9\u9f50\u9759\u6001\u7684\u573a\u666f\u3002\u4e3a\u4ec0\u4e48\u8bf4\u662f\u7406\u8bba\u4e0a\u5462\uff0c\u90a3\u662f\u56e0\u4e3a\u81ea\u8f66\u7684\u8fd0\u52a8\u4fe1\u606f\u4e5f\u4f1a\u6709\u8bef\u5dee\uff0c\u5f71\u54cd\u5bf9\u9f50\u7684\u7cbe\u5ea6\u3002\u5373\u4f7f\u9759\u6001\u573a\u666f\u53ef\u4ee5\u7cbe\u786e\u5bf9\u9f50\uff0c\u573a\u666f\u4e2d\u7684\u52a8\u6001\u76ee\u6807\u4e5f\u65e0\u6cd5\u901a\u8fc7\u53e0\u52a0\u7684\u65b9\u5f0f\u5bf9\u9f50\u3002\u8fd0\u52a8\u76ee\u6807\u65e0\u6cd5\u8fdb\u884c\u5168\u5c40\u7684\u5bf9\u9f50\uff0c\u53ea\u80fd\u7528\u5c40\u90e8\u7684\u65b9\u5f0f\u6765\u5904\u7406\u3002\u56e0\u6b64\uff0cBEVFormer\u4e2d\u91c7\u7528\u4e86\u5c40\u90e8\u7684\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u6765\u8fdb\u884c\u65f6\u5e8f\u878d\u5408\u3002<\/p>\n

<\/p>\n

\u5728\u65f6\u5e8f\u878d\u5408\u7684\u516c\u5f0f\u4e2d\uff0cquery Q \u5206\u522b\u548c Q \u81ea\u8eab\u4ee5\u53ca\u5bf9\u9f50\u540e\u7684B’_{t-1}\u8ba1\u7b97\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\uff0c\u7136\u540e\u518d\u901a\u8fc7\u7d2f\u52a0\u7684\u65b9\u5f0f\u5408\u5e76\u5230\u4e00\u8d77\u3002\u8fd9\u4e2a\u8f93\u51fa\u4f1a\u4f5c\u4e3a\u7a7a\u95f4\u6ce8\u610f\u529b\u6a21\u5757\u7684BEV query\u3002<\/p>\n

\u5176<\/strong>\u5b83\u76f8\u5173\u65b9\u6cd5<\/strong><\/p>\n

BEVFormerV2. BEVFormer\u4e3b\u8981\u5173\u6ce8\u89c6\u56fe\u53d8\u6362\u548c\u65f6\u5e8f\u878d\u5408\uff0c\u5bf9\u4e8e\u56fe\u50cf\u7279\u5f81\u548cBEV\u7279\u5f81\u7684\u63d0\u53d6\u5219\u91c7\u7528\u4f20\u7edf\u7684\u5377\u79ef\u7f51\u7edc\u6216\u8005transformer\u7ed3\u679c\uff0c\u5e76\u6ca1\u6709\u8fdb\u884c\u6df1\u5165\u7684\u63a2\u8ba8\u3002\u5176\u5b9e\uff0c\u5728\u56fe\u50cf\u7279\u5f81\u63d0\u53d6\u4e2d\uff0c\u4e3a\u4e86\u80fd\u591f\u66f4\u597d\u7684\u83b7\u5f97\u6df1\u5ea6\u4fe1\u606f\uff0c\u901a\u5e38\u4f1a\u91c7\u7528\u57fa\u4e8e\u6df1\u5ea6\u9884\u8bad\u7ec3\u7684\u4e3b\u5e72\u7f51\u7edc\u7ed3\u6784\uff0c\u4f46\u8fd9\u4e5f\u9650\u5236\u4e86\u4e3b\u5e72\u7f51\u7edc\u7684\u9009\u62e9\u3002\u4e3a\u4e86\u6d88\u9664\u8fd9\u79cd\u9650\u5236\uff0cBEVFormerV2\u4e2d\u63d0\u51fa\u7ed9\u4e3b\u5e72\u7f51\u7edc\u589e\u52a0\u4e00\u4e2a\u989d\u5916\u76843D\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1\u3002\u8fd9\u662f\u4e00\u4e2a\u8f85\u52a9\u4efb\u52a1\uff0c\u53ef\u4ee5\u5e2e\u52a9\u4e3b\u5e72\u7f51\u7edc\u66f4\u597d\u7684\u63d0\u53d6\u4e09\u7ef4\u7279\u5f81\u3002\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u8fd9\u4e2a\u989d\u5916\u4efb\u52a1\u4e0e\u4e0b\u6e38\u4efb\u52a1\u7684\u635f\u5931\u5408\u5728\u4e00\u8d77\uff0c\u540c\u65f6\u8fdb\u884c\u4f18\u5316\u3002\u9664\u6b64\u4e4b\u5916\uff0cBEVFormerV2\u5728\u65f6\u5e8f\u878d\u5408\u548c\u68c0\u6d4b\u5934\u65b9\u9762\u4e5f\u8fdb\u884c\u4e86\u76f8\u5e94\u7684\u6539\u8fdb\u3002<\/p>\n

BEVFormerV2\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

DETR3D<\/strong>. BEVFormer\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u5c06\u591a\u5e45\u56fe\u50cf\u4ece\u900f\u89c6\u89c6\u56fe\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff0c\u5176\u4e2d\u6240\u7528\u7684query\u662f\u7a20\u5bc6\u7684\u3002BEV\u89c6\u56fe\u4e0b\u7684\u6bcf\u4e00\u4e2a\u7f51\u683c\u90fd\u4f1a\u6269\u5c55\u51fa\u591a\u4e2a\u9ad8\u5ea6\u4e0d\u540c\u7684\u70b9\uff0c\u8fd9\u4e9b\u4e09\u7ef4\u70b9\u88ab\u6620\u5c04\u5230\u56fe\u50cf\u7a7a\u95f4\u540e\uff0c\u56fe\u50cf\u7279\u5f81\u5c31\u53ef\u4ee5\u4e0e\u4e09\u7ef4\u7a7a\u95f4\u5efa\u7acb\u8054\u7cfb\u3002\u56e0\u6b64\uff0c\u8fd9\u662f\u4e00\u79cd\u7a20\u5bc6\u7684\u89c6\u56fe\u53d8\u6362\uff0c\u6240\u751f\u6210\u7684BEV\u7279\u5f81\u53ef\u4ee5\u652f\u6301\u591a\u79cd\u4e0b\u6e38\u4efb\u52a1\uff0c\u6bd4\u5982\u7a00\u758f\u7684\u76ee\u6807\u68c0\u6d4b\u548c\u7a20\u5bc6\u7684\u8bed\u4e49\u5206\u5272\u3002DETR3D\u7684\u89c6\u56fe\u53d8\u6362\u4e5f\u91c7\u7528\u7c7b\u4f3c\u7684\u601d\u8def\uff0c\u4f46\u662f\u5b83\u7684query\u662f\u7a00\u758f\u7684\u76ee\u6807\u7ea7\u522b\u7684\uff0c\u800c\u4e0d\u662f\u7a20\u5bc6\u7684\u7f51\u683c\u7ea7\u522b\u7684<\/strong>\u3002\u76ee\u6807query\u6240\u5bf9\u5e94\u7684\u4e09\u7ef4\u4e2d\u5fc3\u70b9\u6620\u5c04\u56de\u56fe\u50cf\u89c6\u56fe\u540e\uff0c\u5c31\u53ef\u4ee5\u4ece\u591a\u5e45\u56fe\u50cf\u6765\u83b7\u53d6\u76ee\u6807\u7684\u7279\u5f81\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u9884\u6d4b\u76ee\u6807\u7684\u4e09\u7ef4\u4fe1\u606f\u3002\u66f4\u65b0\u540e\u7684\u76ee\u6807query\uff0c\u53c8\u53ef\u4ee5\u518d\u4ece\u56fe\u50cf\u4e0a\u63d0\u53d6\u7279\u5f81\uff0c\u56e0\u6b64\u8fd9\u662f\u4e00\u4e2a\u8fed\u4ee3\u7684\u8fc7\u7a0b\u3002<\/p>\n

\u603b\u7684\u6765\u8bf4\uff0cDETR3D\u91c7\u7528\u7a00\u758f\u7684\u89c6\u56fe\u53d8\u6362\uff0c\u76f4\u63a5\u4ece\u4e8c\u7ef4\u56fe\u50cf\u6765\u9884\u6d4b3D\u76ee\u6807\uff0c\u6ca1\u6709\u4ea7\u751fBEV\u89c6\u56fe\u4e0b\u7684\u4e2d\u95f4\u7279\u5f81\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\u53ef\u4ee5\u5ffd\u7565\u7a20\u5bc6\u89c6\u56fe\u53d8\u6362\u7684\u90e8\u5206\u8bef\u5dee\uff0c\u5c06\u6ce8\u610f\u529b\u96c6\u4e2d\u5728\u9700\u8981\u9884\u6d4b\u7684\u7a00\u758f\u76ee\u6807\u4e0a\uff0c\u800c\u7f3a\u70b9\u5219\u662f\u65e0\u6cd5\u652f\u6301\u4e0b\u6e38\u7684\u7a20\u5bc6\u4efb\u52a1\uff0c\u6bd4\u5982\u8bed\u4e49\u5206\u5272\u3002<\/p>\n

DETR3D\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

DETR4D.<\/strong> \u5982\u4e0a\u6240\u8ff0\uff0cDETR3D\u662f\u91c7\u7528\u7a00\u758f\u7684\u76ee\u6807\u7ea7query\uff0c\u800c\u4e14\u53ea\u8003\u8651\u76ee\u6807\u7684\u4e2d\u5fc3\u70b9\uff0c\u8fd9\u5c31\u9650\u5236\u4e86\u76ee\u6807\u7279\u5f81\u7684\u611f\u53d7\u91ce\u8303\u56f4\uff0c\u5e76\u4e14\u4f1a\u5bf9\u76ee\u6807\u4f4d\u7f6e\u7684\u8bef\u5dee\u6bd4\u8f83\u654f\u611f\u3002DETR4D\u9488\u5bf9\u8fd9\u4e2a\u95ee\u9898\u8fdb\u884c\u6539\u8fdb\uff0c\u5c06\u4e00\u4e2a\u4e2d\u5fc3\u70b9\u6269\u5c55\u4e3a\u591a\u4e2a\u91c7\u6837\u70b9<\/strong>\u3002\u8fd9\u4e9b\u91c7\u6837\u70b9\u7684\u4f4d\u7f6e\u4e5f\u4e0d\u662f\u56fa\u5b9a\u7684\uff0c\u800c\u662f\u7531query\u7279\u5f81\u9884\u6d4b\u5f97\u5230\u7684\u3002\u8fd9\u4e0e\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u4e2d\u7684offset\u9884\u6d4b\u6709\u7c7b\u4f3c\u4e4b\u5904\u3002\u591a\u4e2a\u91c7\u6837\u70b9\u6620\u5c04\u56de\u76f8\u5e94\u7684\u56fe\u50cf\u7a7a\u95f4\u540e\uff0c\u53ef\u4ee5\u63d0\u4f9b\u66f4\u4e3a\u4e30\u5bcc\u7684\u76ee\u6807\u7279\u5f81\u63cf\u8ff0\u3002<\/p>\n

\u4e0d\u540c\u7684query\u751f\u6210\u65b9\u6cd5\u5bf9\u6bd4<\/p>\n

\u9664\u4e86\u4e2d\u5fc3\u70b9\u6269\u5c55\uff0cDETR4D\u8fd8\u5728\u65f6\u5e8f\u878d\u5408\u4ee5\u53caquery\u521d\u59cb\u5316\u65b9\u9762<\/strong>\u8fdb\u884c\u4e86\u6539\u8fdb\u3002<\/p>\n

\u5bf9\u4e8e\u65f6\u5e8f\u878d\u5408\uff0cDETR4D\u63d0\u51fa\u5728query\u548c\u56fe\u50cf\u7279\u5f81\u4e24\u90e8\u5206\u90fd\u5229\u7528\u524d\u4e00\u5e27\u7684\u4fe1\u606f<\/strong>\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u7b2cT\u5e27\u548c\u7b2cT-1\u5e27\u7684query\u8fdb\u884c\u81ea\u6ce8\u610f\u529b\u8ba1\u7b97\uff0c\u4ece\u800c\u5f97\u5230\u878d\u5408\u540e\u7684query\u3002\u8fd9\u4e2aquery\u540c\u65f6\u6620\u5c04\u56deT\u5e27\u548cT-1\u5e27\u7684\u56fe\u50cf\u4f4d\u7f6e\uff0c\u4ece\u4e24\u5e27\u7279\u5f81\u4e0a\u540c\u65f6\u63d0\u53d6\u76ee\u6807\u4fe1\u606f\u3002\u8fd9\u91cc\u65e0\u8bba\u662fquery\u8fd8\u662f\u7279\u5f81\u7684\u65f6\u5e8f\u878d\u5408\uff0c\u90fd\u8003\u8651\u4e86\u8f66\u8f86\u81ea\u8eab\u7684\u8fd0\u52a8\uff0c\u7528\u6765\u6d88\u9664\u4e24\u5e27\u4e4b\u95f4\u5750\u6807\u7684\u5dee\u5f02\u3002<\/p>\n

\u5bf9\u4e8equery\u521d\u59cb\u5316\uff0cDETR4D\u6ca1\u6709\u91c7\u7528\u4e00\u822c\u7684\u968f\u673a\u65b9\u6cd5\uff0c\u800c\u662f\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u201c\u7b80\u5316\u7248\u201d\u7684BEV\u76ee\u6807\u68c0\u6d4b\u5668\uff0c\u7528\u6765\u63d0\u4f9bquery\u7684\u521d\u59cb\u4f4d\u7f6e<\/strong>\u3002\u5177\u4f53\u6765\u8bf4\uff0cDETR4D\u4e2d\u5b9a\u4e49\u4e86\u4e00\u4e2a\u4e09\u7ef4\u7f51\u683c\uff0c\u5e76\u5c06\u56fe\u50cf\u7279\u5f81\u6309\u7167\u76f8\u673a\u53c2\u6570\u6620\u5c04\u5230\u8fd9\u4e9b\u7f51\u683c\u4e2d\u3002\u8fd9\u4e0eBEVFormer\u4e2d\u7684BEV\u7279\u5f81\u751f\u6210\u65b9\u5f0f\u7c7b\u4f3c\uff0c\u53ea\u4e0d\u8fc7\u7f51\u683c\u7279\u5f81\u76f4\u63a5\u6765\u6e90\u4e8e\u5bf9\u5e94\u4f4d\u7f6e\u7684\u56fe\u50cf\u7279\u5f81\uff0c\u5e76\u6ca1\u6709\u76f8\u5bf9\u590d\u6742\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u8ba1\u7b97\u3002\u7136\u540e\uff0c\u4e09\u7ef4\u7f51\u683c\u88ab\u538b\u7f29\u6210BEV\u7279\u5f81\uff0c\u901a\u8fc7\u4e00\u4e2a\u8f7b\u91cf\u7684\u5377\u79ef\u7f51\u7edc\u751f\u6210heatmap\u3002\u800cheatmap\u4e0a\u54cd\u5e94\u6bd4\u8f83\u5927\u7684\u70b9\u5c31\u4f5c\u4e3a\u521d\u59cb\u7684query\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u5176\u5b9e\u975e\u5e38\u7c7b\u4f3cCenterNet\u7684\u76ee\u6807\u68c0\u6d4b\uff0c\u56e0\u6b64\u4e5f\u53ef\u4ee5\u7406\u89e3\u4e3a\u5148\u7528\u4e00\u4e2a\u7b80\u5316\u7684\u76ee\u6807\u68c0\u6d4b\u5668\u6765\u4e3a\u6bcf\u4e00\u5e27\u63d0\u4f9b\u76ee\u6807query\uff0c\u518d\u91c7\u7528\u590d\u6742\u7684\u6ce8\u610f\u529b\u673a\u5236\u548c\u65f6\u5e8f\u878d\u5408\u5bf9\u76ee\u6807\u4f4d\u7f6e\u8fdb\u884c\u7ec6\u5316\u3002<\/p>\n

DETR4D\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

PETR.<\/strong> \u5728\u4e4b\u524d\u4ecb\u7ecd\u7684\u65b9\u6cd5\u4e2d\uff0c\u4e0d\u7ba1\u662f\u91c7\u7528\u7a20\u5bc6\u7684\u8fd8\u662f\u7a00\u758f\u7684query\uff0c\u56fe\u50cf\u7279\u5f81\u90fd\u8981\u901a\u8fc7\u4e00\u4e2a\u201c\u91c7\u6837\u201d\u7684\u8fc7\u7a0b\u6620\u5c04\u5230\u4e09\u7ef4\u7a7a\u95f4\uff0c\u800c\u8fd9\u4e2a\u8fc7\u7a0b\u5bf9\u7cfb\u7edf\u7684\u8fd0\u884c\u901f\u5ea6\u6709\u4e00\u5b9a\u5f71\u54cd\u3002\u4e3a\u4e86\u907f\u514d\u7279\u5f81\u91c7\u6837\uff0cPETR\u4e2d\u63d0\u51fa\u5728\u56fe\u50cf\u7279\u5f81\u4e0a\u9644\u52a0\u4e09\u7ef4\u7a7a\u95f4\u4fe1\u606f\u7684\u7f16\u7801<\/strong>\u3002\u76ee\u6807\u68c0\u6d4b\u8fc7\u7a0b\u8fd8\u662f\u662f\u5728\u4e8c\u7ef4\u56fe\u50cf\u7a7a\u95f4\u4e0a\u5b8c\u6210\uff0c\u53ea\u4e0d\u8fc7\u8fd9\u91cc\u7684\u7279\u5f81\u5df2\u7ecf\u5305\u542b\u4e86\u4e09\u7ef4\u4fe1\u606f\uff0c\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u4e2a\u52a0\u5f3a\u7248\u7684\u56fe\u50cf\u7279\u5f81\u3002<\/p>\n

<\/p>\n

PETR\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

\u4e09\u7ef4\u7279\u5f81\u7f16\u7801\uff0c\u5176\u5b9e\u5c31\u662f\u7ed9\u56fe\u50cf\u7279\u5f81\u7684\u6bcf\u4e00\u4e2a\u50cf\u7d20\u9644\u52a0D\u4e2a\u53ef\u80fd\u7684\u6df1\u5ea6\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u4ece\u56fe\u50cf\u5750\u6807\u751f\u6210\u4e09\u7ef4\u5750\u6807\u3002\u8fd9\u4e9b\u4e09\u7ef4\u5750\u6807\u7ecf\u8fc7\u5168\u8fde\u63a5\u5c42\u7684\u5904\u7406\u4e4b\u540e\uff0c\u4f5c\u4e3a\u9644\u52a0\u7279\u5f81\u4e0e\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u62fc\u63a5\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e0e\u524d\u9762\u4ecb\u7ecd\u7684LSS\u4e2d\u5bf9\u6df1\u5ea6\u4fe1\u606f\u7684\u5904\u7406\u6709\u4e9b\u7c7b\u4f3c\uff0c\u53ea\u4e0d\u8fc7PETR\u4e2d\u6ca1\u6709\u6839\u636e\u6df1\u5ea6\u4fe1\u606f\u751f\u6210\u70b9\u4e91\uff0c\u800c\u662f\u76f4\u63a5\u628a\u4e09\u7ef4\u5750\u6807\u4f5c\u4e3a\u7279\u5f81\u6765\u4f7f\u7528\u3002<\/p>\n

3. \u7279\u5f81\u878d\u5408<\/strong><\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u901a\u5e38\u90fd\u9700\u8981\u591a\u4e2a\u4f20\u611f\u5668\uff0c\u4e0d\u540c\u4f20\u611f\u5668\u5177\u6709\u4e0d\u540c\u7684\u89c6\u56fe\uff0c\u6bd4\u5982\u76f8\u673a\u91c7\u7528\u900f\u89c6\u89c6\u56fe\uff0c\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u91c7\u7528\u4e09\u7ef4\u89c6\u56fe\u6216\u8005BEV\u89c6\u56fe\u3002\u5373\u4f7f\u540c\u6837\u662f\u76f8\u673a\uff0c\u5176\u900f\u89c6\u89c6\u56fe\u4e5f\u4f1a\u968f\u7740\u76f8\u673a\u7684\u5b89\u88c5\u4f4d\u7f6e\u800c\u53d8\u5316\u3002\u89c6\u56fe\u7684\u4e0d\u540c\u4f1a\u7ed9\u4f20\u611f\u5668\u878d\u5408\u5e26\u6765\u4e0d\u4fbf\uff0c\u5c24\u5176\u662f\u7279\u5f81\u5c42\u7684\u878d\u5408\u3002BEV\u611f\u77e5\u7684\u4f18\u70b9\u4e4b\u4e00\u5c31\u662f\u628a\u6240\u6709\u7684\u4f20\u611f\u5668\u90fd\u8f6c\u6362\u5230\u7edf\u4e00\u7684BEV\u89c6\u56fe<\/strong>\uff0c\u8fd9\u6837\u5c31\u6d88\u9664\u4e86\u4e0d\u540c\u89c6\u56fe\u5e26\u6765\u7684\u5f71\u54cd\u3002<\/p>\n

\u524d\u9762\u4ecb\u7ecd\u7684BEVDet\u548cBEVFormer\uff0c\u90fd\u662f\u5c06\u591a\u5e45\u56fe\u50cf\u8f6c\u6362\u4e3a\u4e09\u7ef4\u70b9\u4e91\uff08\u867d\u7136\u65b9\u6cd5\u4e0d\u540c\uff09\u3002\u800c\u4ece\u70b9\u4e91\u751f\u6210BEV\u7279\u5f81\u7684\u8fc7\u7a0b\u5c31\u81ea\u7136\u7684\u5305\u62ec\u4e86\u591a\u76f8\u673a\u7684\u7279\u5f81\u878d\u5408<\/strong>\uff1aBEVDet\u4e2d\u662f\u7b80\u5355\u7684Pooling\u64cd\u4f5c\uff0c\u800cBEVFormer\u4e2d\u5219\u662f\u57fa\u4e8e\u6ce8\u610f\u529b\u673a\u5236\u7684\u52a0\u6743\u6c42\u548c\u3002\u867d\u7136\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u65b9\u6cd5\u5177\u6709\u66f4\u5927\u7684\u53ef\u5b66\u4e60\u7a7a\u95f4\uff0c\u4f46\u662f\u76ee\u524d\u4eceperformance\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u4e8c\u8005\u57fa\u672c\u5904\u4e8e\u540c\u4e00\u6c34\u51c6\u3002<\/p>\n

\u5c06\u591a\u76f8\u673a\u7684\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\u4ee5\u540e\uff0c\u56fe\u50cf\u548c\u6fc0\u5149\u96f7\u8fbe\u6216\u8005\u6beb\u7c73\u6ce2\u96f7\u8fbe\u70b9\u4e91\u7684\u878d\u5408\u4e5f\u4f1a\u53d8\u5f97\u975e\u5e38\u5bb9\u6613\u3002\u4ee5\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4e3a\u4f8b\uff0c\u5b83\u672c\u8eab\u5df2\u7ecf\u5904\u4e8e\u4e09\u7ef4\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\uff0c\u5c06\u5176\u8f6c\u6362\u4e3aBEV\u89c6\u56fe\u975e\u5e38\u7b80\u5355\u3002\u5f53\u591a\u4f20\u611f\u5668\u7684\u6570\u636e\u90fd\u5904\u4e8eBEV\u89c6\u56fe\u65f6\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u5f88\u5bb9\u6613\u7684\u628a\u5b83\u4eec\u90fd\u62fc\u63a5\u5230\u4e00\u8d77\uff0c\u4ece\u800c\u5b8c\u6210\u878d\u5408\u3002<\/p>\n

BEVFusion<\/strong>\u91c7\u7528\u4e86\u4e0a\u8ff0\u7b56\u7565\uff0c\u5c06\u591a\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u6570\u636e\u5728BEV\u89c6\u56fe\u4e0b\u878d\u5408\u5230\u4e00\u8d77\u3002\u7531\u4e8e\u6df1\u5ea6\u4f30\u8ba1\u4f1a\u6709\u4e00\u5b9a\u8bef\u5dee\uff0c\u56fe\u50cf\u8fdb\u884c\u89c6\u56fe\u8f6c\u6362\u540e\u5e76\u4e0d\u80fd\u591f\u5b8c\u5168\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684BEV\u7279\u5f81\u5bf9\u9f50\u3002\u56e0\u6b64\uff0cBEVFusion\u4e2d\u63d0\u51fa\u5728\u62fc\u63a5\u540e\u7684BEV\u7279\u5f81\u4e0a\u8fdb\u884c\u4e00\u4e9b\u5377\u79ef\u64cd\u4f5c\uff0c\u4ee5\u6d88\u9664\u5c40\u90e8\u7684\u5bf9\u9f50\u8bef\u5dee\u3002<\/p>\n

BEVFusion\u7684\u878d\u5408\u6d41\u7a0b<\/p>\n

\u57282.2\u8282\u4e2d\u6211\u4eec\u4ecb\u7ecd\u4e86\u4e24\u79cd\u4e0d\u540c\u7684query\u751f\u6210\u7b56\u7565\uff1a\u7a20\u5bc6 vs. \u7a00\u758f\u3002BEVFusion\u4e2d\u91c7\u7528\u7684\u662f\u7a20\u5bc6\u7684query\u7b56\u7565\uff0c\u6bcf\u4e2a\u4f20\u611f\u5668\u90fd\u751f\u6210\u4e86BEV\u7279\u5f81\uff0c\u518d\u8fdb\u884c\u878d\u5408\u3002\u540c\u6837\u7684\uff0c\u7279\u5f81\u878d\u5408\u4e5f\u53ef\u4ee5\u5728\u7a00\u758fquery\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\uff0c\u4e5f\u5c31\u662f\u5728\u76ee\u6807\u7ea7\u522b\u4e0a\u8fdb\u884c\u3002<\/p>\n

FUTR3D<\/strong>\u91c7\u7528\u7684\u5c31\u662f\u8fd9\u79cd\u57fa\u4e8e\u7a00\u758fquery\u7684\u878d\u5408\u7b56\u7565\u3002\u5b83\u9996\u5148\u4f1a\u968f\u673a\u521d\u59cb\u5316\u4e00\u4e9bquery\uff0c\u5e76\u5c06\u5176\u7f16\u7801\u4e3a\u4e09\u7ef4\u5750\u6807\uff0c\u4f5c\u4e3a\u76ee\u6807\u7684\u521d\u59cb\u4f4d\u7f6e\uff08\u53c2\u8003\u70b9\uff09\uff0c\u4ee5\u6b64\u4e3a\u57fa\u7840\u4ece\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u7279\u5f81\u4e0a\u8fdb\u884c\u91c7\u6837\u3002\u878d\u5408\u7684\u8fc7\u7a0b\u5c31\u662f\u628a\u8fd9\u4e9b\u91c7\u6837\u7684\u7279\u5f81\u62fc\u63a5\u5230\u4e00\u8d77\uff0c\u7528MLP\u8fdb\u884c\u5904\u7406\uff0c\u5e76\u9644\u52a0\u76f8\u5e94\u7684\u4e09\u7ef4\u5750\u6807\u4fe1\u606f\u3002\u8fd9\u4e2a\u7279\u5f81\u88ab\u7528\u6765\u66f4\u65b0query\uff0c\u540c\u65f6\u4e5f\u7528\u6765\u9884\u6d4b\u76ee\u6807\u7684\u4f4d\u7f6e\uff0c\u5927\u5c0f\uff0c\u901f\u5ea6\u7b49\u4fe1\u606f\uff0c\u5e76\u4ee5\u6b64\u6765\u66f4\u65b0\u4e09\u7ef4\u53c2\u8003\u70b9\u7684\u4f4d\u7f6e\u3002\u8fd9\u662f\u4e00\u4e2a\u8fed\u4ee3\u7684\u8fc7\u7a0b\uff0c\u6bcf\u6b21\u8fed\u4ee3\u90fd\u4f1a\u66f4\u65b0\u53c2\u8003\u70b9\u4f4d\u7f6e\uff0c\u4ece\u800c\u4e00\u6b65\u6b65\u903c\u8fd1\u771f\u5b9e\u7684\u76ee\u6807\u4f4d\u7f6e\u3002<\/p>\n

<\/p>\n

FUTR3D\u7f51\u7edc\u7ed3\u6784\u56fe<\/p>\n

\u65e0\u8bba\u662f\u7a20\u5bc6\u7684\u8fd8\u662f\u7a00\u758f\u7684\u7b56\u7565\uff0c\u4e0a\u8ff0\u65b9\u6cd5\u4e2d\u7684query\u90fd\u662f\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u5b9a\u4e49\uff0c\u5e76\u72ec\u7acb\u4e8e\u4f20\u611f\u5668\u7684\u3002\u4e5f\u5c31\u662f\u8bf4\u4e0d\u540c\u7684\u4f20\u611f\u5668\u7279\u5f81\u4f1a\u901a\u8fc7\u7279\u5b9a\u7684\u6620\u5c04\u5bf9\u5e94\u5230\u8fd9\u4e9b\u5171\u7528\u7684query\u4e0a\uff0c\u4ee5\u6b64\u4e3a\u7ebd\u5e26\u6765\u5b8c\u6210\u7279\u5f81\u878d\u5408\u3002\u9664\u6b64\u4ee5\u5916\uff0c\u8fd8\u6709\u4e00\u79cd\u878d\u5408\u7684\u7b56\u7565\uff0c\u5e76\u6ca1\u6709\u5171\u7528\u7684query\uff0c\u800c\u662f\u4ee5\u4e00\u79cd\u4f20\u611f\u5668\u7684\u7279\u5f81\u4e3aquery\uff0c\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u628a\u5176\u4ed6\u4f20\u611f\u5668\u7684\u7279\u5f81\u4e0e\u4e4b\u8fdb\u884c\u878d\u5408<\/strong>\u3002\u8c37\u6b4c\u63d0\u51fa\u7684\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u7684DeepFusion<\/strong>\u65b9\u6cd5\u91c7\u7528\u7684\u5c31\u662f\u8fd9\u79cd\u7b56\u7565\u3002<\/p>\n

\u4f20\u7edf\u7684\u70b9\u4e91+\u56fe\u50cf\u878d\u5408\u548cDeepFusion\u7684\u5bf9\u6bd4<\/p>\n

\u8fd9\u79cd\u878d\u5408\u65b9\u6cd5\u4e0e\u4f20\u7edf\u7684\u7ed9\u70b9\u4e91\u9644\u52a0\u56fe\u50cf\u7279\u5f81\u7684\u65b9\u5f0f\uff08\u4e0a\u56fe\u5de6\u4fa7\uff09\u66f4\u52a0\u7c7b\u4f3c\uff0c\u4f46\u662f\u662f\u5728\u70b9\u4e91\u7279\u5f81\uff08\u800c\u4e0d\u662f\u70b9\u4e91\uff09\u7684\u57fa\u7840\u4e0a\u91c7\u7528\u4e86\u66f4\u4e3a\u590d\u6742\u7684\u6ce8\u610f\u529b\u673a\u5236\u6765\u5b8c\u6210\u878d\u5408\u3002<\/p>\n

4. \u603b\u7ed3<\/strong><\/p>\n

BEV\u611f\u77e5\u8fd1\u4e24\u5e74\u6765\u5f15\u8d77\u4e86\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u5f88\u591a\u7684\u5173\u6ce8\uff0c\u91cd\u8981\u7684\u539f\u56e0\u4e4b\u4e00\u5728\u4e8e\u5b83\u53ef\u4ee5\u5c06\u591a\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u8f6c\u6362\u5e76\u878d\u5408\u5230\u4e00\u4e2a\u7edf\u4e00\u7684\u4e09\u7ef4\u5750\u6807\u7cfb\u4e0b\uff0c\u53ef\u4ee5\u5f88\u597d\u7684\u652f\u6301\u4e0b\u6e38\u7684\u611f\u77e5\u4efb\u52a1\uff0c\u540c\u65f6\u4e5f\u65b9\u4fbf\u4e86\u4e0e\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u8fdb\u884c\u7279\u5f81\u5c42\u878d\u5408\u3002<\/p>\n

\u7c97\u7565\u7684\u8bf4\uff0cBEV\u611f\u77e5\u7684\u6280\u672f\u8def\u7ebf\u6709\u4e24\u5927\u7c7b<\/strong>\uff1a\u4e00\u79cd\u662f\u751f\u6210\u7a20\u5bc6\u7684BEV\u7279\u5f81<\/strong>\uff0c\u53ef\u4ee5\u652f\u6301\u591a\u79cd\u4e0b\u6e38\u611f\u77e5\u4efb\u52a1\uff1b\u53e6\u4e00\u79cd\u5219\u662f\u76f4\u63a5\u751f\u6210\u7a00\u758f\u7684\u4e09\u7ef4\u76ee\u6807<\/strong>\uff0c\u4f46\u662f\u65e0\u6cd5\u652f\u6301\u8f93\u51fa\u7a20\u5bc6\u7ed3\u679c\u7684\u4e0b\u6e38\u611f\u77e5\u4efb\u52a1\uff0c\u6bd4\u5982\u8bed\u4e49\u5206\u5272\u3002<\/p>\n

\u5728\u7a20\u5bc6\u7684BEV\u611f\u77e5\u4e2d\uff0c\u901a\u5e38\u4f1a\u5b9a\u4e49\u4e00\u4e2a\u4e09\u7ef4\u7684BEV\u7f51\u683c\uff0c\u901a\u8fc7\u76f8\u673a\u7684\u5185\u5916\u53c2\u77e9\u9635\u4e0e\u56fe\u50cf\u7a7a\u95f4\u5efa\u7acb\u5bf9\u5e94\u5173\u7cfb\uff0c\u4ece\u800c\u628a\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u5230BEV\u7a7a\u95f4\u3002\u8fd9\u4e2a\u6620\u5c04\u53ef\u4ee5\u662f\u7b80\u5355\u7684\u53cc\u7ebf\u6027\u63d2\u503c\uff08Simple-BEV\uff09\uff0c\u4e5f\u53ef\u4ee5\u57fa\u4e8e\u56fe\u50cf\u7684\u6df1\u5ea6\u4f30\u8ba1\u8fdb\u884c\u52a0\u6743\uff08LSS\uff0cBEVDet\uff09\uff0c\u4e5f\u53ef\u4ee5\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u8fdb\u884c\u52a0\u6743\uff08BEVFormer\uff09\u3002\u4ece\u76ee\u524d\u5404\u79cd\u65b9\u6cd5\u63d0\u4f9b\u7684\u5b9e\u9a8c\u7ed3\u679c\u6765\u770b\uff0c\u4e0d\u540c\u6620\u5c04\u65b9\u6cd5\u4e4b\u95f4\u7684\u5dee\u522b\u5e76\u4e0d\u5927\u3002\u53cd\u800c\u662f\u4e00\u4e9b\u8bad\u7ec3\u7684\u7ec6\u8282\uff0c\u6bd4\u5982BatchSize\uff0cAugmentation\uff0c\u56fe\u50cf\u5927\u5c0f\u7b49\u5bf9\u7b97\u6cd5\u7ed3\u679c\u5f71\u54cd\u8f83\u5927\uff08\u53ef\u4ee5\u53c2\u8003Simple-BEV\u6587\u7ae0\u4e2d\u7684\u5b9e\u9a8c\u7ed3\u679c\uff09\u3002\u8fd9\u5e94\u8be5\u4e5f\u662f\u540e\u7eed\u9700\u8981\u8fdb\u4e00\u6b65\u7814\u7a76\u548c\u63a2\u8ba8\u7684\u5730\u65b9\u3002<\/p>\n

\u5728\u7a00\u758f\u7684BEV\u611f\u77e5\u4e2d\uff0c\u901a\u5e38\u4f1a\u91c7\u7528DETR\u7684\u76ee\u6807\u68c0\u6d4b\u6846\u67b6\uff0c\u76f4\u63a5\u6839\u636e\u7a00\u758f\u7684query\u6765\u83b7\u5f97\u4e09\u7ef4\u76ee\u6807\u6846\u3002\u8fd9\u4e9bquery\u662f\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u5b9a\u4e49\u7684\uff0c\u540c\u6837\u901a\u8fc7\u76f8\u673a\u7684\u5185\u5916\u53c2\u77e9\u9635\u4e0e\u56fe\u50cf\u7a7a\u95f4\u5efa\u7acb\u5bf9\u5e94\u5173\u7cfb\uff0c\u4ece\u800c\u628a\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u5230query\u4e0a\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e0e\u7a20\u5bc6\u7684BEV\u611f\u77e5\u662f\u7c7b\u4f3c\u7684\uff0c\u6bd4\u5982DETR3D\u548cDETR4D\u4e2d\u5c31\u662f\u91c7\u7528\u4e86\u53cc\u7ebf\u6027\u63d2\u503c\u6765\u8fdb\u884c\u91c7\u6837\u3002\u6b64\u5916\uff0c\u4e5f\u53ef\u4ee5\u4e0d\u91c7\u7528\u663e\u5f0f\u7684\u7a7a\u95f4\u6620\u5c04\uff0c\u800c\u662f\u5c06\u4e09\u7ef4\u7a7a\u95f4\u4fe1\u606f\u9644\u52a0\u5728\u56fe\u50cf\u7279\u5f81\u4e4b\u4e0a\uff0c\u76f4\u63a5\u7531\u589e\u5f3a\u7684\u56fe\u50cf\u7279\u5f81\u6765\u9884\u6d4b\u4e09\u7ef4\u76ee\u6807\uff0c\u6bd4\u5982PETR\u4e2d\u7684\u505a\u6cd5\u3002<\/p>\n

BEV\u611f\u77e5\u5c06\u591a\u4e2a\u76f8\u673a\u7684\u89c6\u89c9\u4fe1\u606f\u6620\u5c04\u5230BEV\u7a7a\u95f4\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u975e\u5e38\u65b9\u4fbf\u7684\u4e0e\u6fc0\u5149\u96f7\u8fbe\u548c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u8fdb\u884c\u878d\u5408\u3002\u8fd9\u79cd\u878d\u5408\u540c\u6837\u53ef\u4ee5\u5728\u7a20\u5bc6\uff08\u6bd4\u5982BEVFusion\uff09\u548c\u7a00\u758f\uff08FUTR3D\uff09\u4e24\u79cd\u65b9\u5f0f\u4e0b\u8fdb\u884c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

BEV\u611f\u77e5\u548c\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236 1. \u524d\u8a00 \u5728\u672c\u4e13 […]<\/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-5307","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":20,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5307"}],"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=5307"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5307\/revisions"}],"predecessor-version":[{"id":5316,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/5307\/revisions\/5316"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=5307"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=5307"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=5307"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}