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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F74962f74j00ry9y64007kd200di00n6g00di00n6.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 5 BEV\u65b9\u6848<\/p>\n<p>\u8fc4\u4eca\u4e3a\u6b62\uff0cBEV\u7f51\u7edc\u5df2\u88ab\u7528\u4e8e\u7269\u4f53\u68c0\u6d4b\u3001\u8bed\u4e49\u5206\u5272\u3001\u5728\u7ebf\u6620\u5c04\u3001\u4f20\u611f\u5668\u878d\u5408\u548c\u8f68\u8ff9\u9884\u6d4b\u7b49\u3002\u5982\u7814\u7a76\u8bba\u6587[29]\u56fe5\u6240\u793a\uff0cBEV\u878d\u5408\u7b97\u6cd5\u6709\u4e24\u79cd\u5178\u578b\u7684\u8fc7\u7a0b\u8bbe\u8ba1\u3002\u4e24\u8005\u4e3b\u8981\u533a\u522b\u5728\u4e8e2D\u52303D\u7684\u8f6c\u6362\u548c\u878d\u5408\u6a21\u5757\u3002\u5728\u900f\u89c6\u56fe\u65b9\u6848\uff08a\uff09\u4e2d\uff0c\u9996\u5148\u5c06\u4e0d\u540c\u7b97\u6cd5\u7684\u7ed3\u679c\u8f6c\u6362\u5230\u4e09\u7ef4\u7a7a\u95f4\uff0c\u7136\u540e\u4f7f\u7528\u5148\u9a8c\u89c4\u5219\u6216\u4eba\u5de5\u65b9\u6cd5\u8fdb\u884c\u878d\u5408\u3002BEV\u65b9\u6848\uff08b\uff09\u9996\u5148\u5c06\u900f\u89c6\u56fe\u7279\u5f81\u8f6c\u6362\u4e3aBEV\uff0c\u7136\u540e\u878d\u5408\u7279\u5f81\u4ee5\u83b7\u5f97\u6700\u7ec8\u9884\u6d4b\u7ed3\u679c\uff0c\u4ece\u800c\u4fdd\u7559\u5927\u90e8\u5206\u539f\u59cb\u4fe1\u606f\u5e76\u907f\u514d\u4eba\u5de5\u8bbe\u8ba1\u3002<\/p>\n<p>\u7ee7BEV\u4e4b\u540e\uff0c\u4e09\u7ef4\u5360\u4f4d\u7f51\u7edc\u9010\u6e10\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u9886\u57df\u7684\u524d\u6cbf\u6280\u672f[32]\u3002BEV\u53ef\u4ee5\u7b80\u5316\u9a7e\u9a76\u573a\u666f\u7684\u7eb5\u5411\u51e0\u4f55\uff0c\u800c\u4e09\u7ef4\u4f53\u7d20\u80fd\u591f\u4ee5\u8f83\u4f4e\u7684\u5206\u8fa8\u7387\u8868\u793a\u5b8c\u6574\u7684\u51e0\u4f55\uff0c\u5305\u62ec\u9053\u8def\u5730\u9762\u548c\u969c\u788d\u7269\u4f53\u79ef\uff0c\u8fd9\u9700\u8981\u8f83\u9ad8\u7684\u8ba1\u7b97\u6210\u672c\u3002\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u6b63\u5728\u4e09\u7ef4\u5360\u4f4d\u7f51\u7edc\u4e2d\u5174\u8d77\u3002\u56fe\u50cf\u5177\u6709\u5929\u7136\u7684\u50cf\u7d20\u5bc6\u5ea6\uff0c\u4f46\u662f\u9700\u8981\u6df1\u5ea6\u4fe1\u606f\u624d\u80fd\u53cd\u5411\u6295\u5c04\u5230\u4e09\u7ef4\u5360\u4f4d\u4e2d\u3002\u6ce8\uff1a\u5bf9\u4e8eLiDAR\u6570\u636e\uff0c\u5360\u4f4d\u7f51\u7edc\u5b9e\u9645\u4e0a\u5b9e\u73b0\u4e86\u8bed\u4e49\u573a\u666f\u8865\u5168\uff08SSC\uff09\u4efb\u52a1\u3002<\/p>\n<p>\u5728\u56fe6\u4e2d\uff0c\u6211\u4eec\u89e3\u91ca\u4e86BEV\u548c\u5360\u7528\u7f51\u7edc\u7684\u4e09\u79cd\u6a21\u578b\u4f53\u7cfb\u7ed3\u6784\uff0c\u4ec5\u9488\u5bf9\u76f8\u673a\u8f93\u5165\uff0c\u4ec5\u9488\u5bf9LiDAR\u8f93\u5165\u4ee5\u53ca\u4e24\u8005\u7ed3\u5408\u8f93\u5165\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F17b6359ej00ry9y65007qd200e100leg00e100le.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 6 BEV\u548c\u5360\u4f4d\u7f51\u7edc\u5b9e\u4f8b<\/p>\n<p>\u4ec5\u591a\u76f8\u673a\u8f93\u5165\u5982\u56fe6(a)\u6240\u793a\uff0c\u591a\u76f8\u673a\u56fe\u50cf\u9996\u5148\u901a\u8fc7&#8221;Backbone&#8221;\u6a21\u5757\u7f16\u7801\uff0c\u5982EfficientNetor\/RegNet\u52a0\u4e0aFPN\/Bi-FPN\uff0c\u7136\u540e\u5206\u4e3a\u4e24\u8def\uff1b\u4e00\u65b9\u9762\uff0c\u56fe\u50cf\u7279\u5f81\u8fdb\u5165&#8221;view transform&#8221;\u6a21\u5757\uff0c\u901a\u8fc7\u6df1\u5ea6\u5206\u5e03\u6216Transformer\u67b6\u6784\u6784\u5efaBEV\u7279\u5f81\uff0c\u7136\u540e\u5206\u522b\u8fdb\u5165\u4e24\u4e2a\u4e0d\u540c\u7684\u5934\u90e8\uff1a\u4e00\u4e2a\u5934\u901a\u8fc7&#8221;map ele detector&#8221;\u6a21\u5757\u8f93\u51fa\u5730\u56fe\u5143\u7d20\u7684\u77e2\u91cf\u5316\u8868\u793a\uff08\u5176\u7ed3\u6784\u7c7b\u4f3c\u4e8e\u57fa\u4e8eTransformer\u7684DETR\u6a21\u578b\uff0c\u4e5f\u6709\u4e00\u4e2a\u53ef\u53d8\u5f62\u7684\u5173\u6ce8\u6a21\u5757\uff0c\u5e76\u8f93\u51fa\u5173\u952e\u70b9\u7684\u4f4d\u7f6e\u548c\u5b83\u4eec\u6240\u5c5e\u5143\u7d20\u7684ID\uff09\u548c&#8221;polyline generat&#8221;\u6a21\u5757\uff08\u5b83\u4e5f\u662f\u4e00\u4e2a\u57fa\u4e8eTransformer\u7ed3\u6784\u7684\u6a21\u578b\uff0c\u8f93\u5165\u8fd9\u4e9b\u5d4c\u5165\u7684\u5173\u952e\u70b9\u3001\u591a\u6bb5\u7ebf\u5206\u5e03\u6a21\u578b\u53ef\u4ee5\u751f\u6210\u591a\u6bb5\u7ebf\u7684\u9876\u70b9\u5e76\u83b7\u5f97\u5730\u56fe\u5143\u7d20\u7684\u51e0\u4f55\u8868\u793a\uff09\uff0c\u53e6\u4e00\u4e2a\u5934\u901a\u8fc7&#8221;BEV obj Detector&#8221;\u6a21\u5757\u83b7\u5f97obj BEV\u8fb9\u754c\u6846\uff0c\u5b83\u53ef\u4ee5\u4f7f\u7528Transformer\u67b6\u6784\u6216\u7c7b\u4f3c\u7684PointPillar\u67b6\u6784\u6765\u5b9e\u73b0\uff1b\u53e6\u4e00\u65b9\u9762\uff0c\u5728&#8221;2D-3D transform&#8221;\u6a21\u5757\u4e2d\uff0c\u57fa\u4e8e\u6df1\u5ea6\u5206\u5e03\u5c06\u4e8c\u7ef4\u7279\u5f81\u7f16\u7801\u6295\u5f71\u5230\u4e09\u7ef4\u5750\u6807\uff0c\u5176\u4e2d\u4fdd\u7559\u9ad8\u5ea6\u4fe1\u606f\uff0c\u5f97\u5230\u7684\u76f8\u673a\u4f53\u7d20\u7279\u5f81\u8fdb\u5165&#8221;3D decod.&#8221;\u6a21\u5757\u5f97\u5230\u591a\u5c3a\u5ea6\u4f53\u7d20\u7279\u5f81\uff0c\u7136\u540e\u8fdb\u5165&#8221;occupancy&#8221;\u6a21\u5757\u8fdb\u884c\u7c7b\u9884\u6d4b\uff0c\u751f\u6210\u4f53\u7d20\u8bed\u4e49\u5206\u5272\u3002<\/p>\n<p>\u4ec5LiDAR\u8f93\u5165\u5982\u56fe6\uff08b\uff09\u6240\u793a\uff0c\u90e8\u5206\u6a21\u5757\u4e0e\u56fe6\uff08a\uff09\u76f8\u540c\u3002\u9996\u5148\uff0c\u5728&#8221;Voxelization&#8221;\u6a21\u5757\u4e2d\uff0c\u5c06\u70b9\u4e91\u5212\u5206\u4e3a\u95f4\u8ddd\u5747\u5300\u7684\u4f53\u7d20\u7f51\u683c\uff0c\u751f\u6210\u4e09\u7ef4\u70b9\u4e0e\u4f53\u7d20\u7684\u591a\u5bf9\u4e00\u6620\u5c04\uff1b\u7136\u540e\u8fdb\u5165&#8221;FeatEncod&#8221;\u6a21\u5757\uff0c\u5c06\u4f53\u7d20\u7f51\u683c\u8f6c\u6362\u4e3a\u70b9\u4e91\u7279\u5f81\u56fe\uff08\u4f7f\u7528PointNet\u6216PointPillar\uff09\uff1b\u4e00\u65b9\u9762\uff0c\u5728&#8221;view transform&#8221;\u6a21\u5757\u4e2d\uff0c\u5c06\u7279\u5f81\u56fe\u6295\u5f71\u5230BEV\u4e0a\uff0c\u5728BEV\u7a7a\u95f4\u4e2d\u7ed3\u5408\u7279\u5f81\u805a\u5408\u5668\u548c\u7279\u5f81\u7f16\u7801\u5668\uff0c\u7136\u540e\u8fdb\u884cBEV\u89e3\u7801\uff0c\u5206\u4e3a\u4e24\u4e2a\u5934\uff1a\u4e00\u4e2a\u5934\u90e8\u7684\u5de5\u4f5c\u539f\u7406\u5982\u56fe6(a)\u6240\u793a\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u4e09\u7ef4\u70b9\u4e91\u7279\u5f81\u56fe\u53ef\u4ee5\u76f4\u63a5\u8fdb\u5165&#8221;3D Decod&#8221;\u6a21\u5757\uff0c\u901a\u8fc7\u4e09\u7ef4\u89e3\u5377\u79ef\u83b7\u5f97\u591a\u5c3a\u5ea6\u4f53\u7d20\u7279\u5f81\uff0c\u7136\u540e\u5728&#8221;Occup&#8221;\u6a21\u5757\u4e2d\u8fdb\u884c\u4e0a\u91c7\u6837\u548c\u7c7b\u9884\u6d4b\uff0c\u751f\u6210\u4f53\u7d20\u8bed\u4e49\u5206\u5272\u3002<\/p>\n<p>\u76f8\u673a\u548cLiDAR\u540c\u65f6\u8f93\u5165\u5982\u56fe6(c)\u6240\u793a\uff0c\u5927\u591a\u6570\u6a21\u5757\u4e0e\u56fe6(a)\u548c6(b)\u76f8\u540c\uff0c\u9664\u4e86&#8221;Feat concat&#8221;\u6a21\u5757\u5c06\u8fde\u63a5\u6765\u81eaLiDAR\u8def\u5f84\u548c\u76f8\u673a\u8def\u5f84\u7684\u7279\u5f81\u3002<\/p>\n<p>\u6ce8\uff1a\u5bf9\u4e8e\u57fa\u4e8e\u76f8\u673a\u7684\u5360\u4f4d\u7f51\u7edc\uff0c\u503c\u5f97\u4e00\u63d0\u7684\u662f\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u4e00\u79cd\u65b0\u8303\u4f8b&#8211;\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09[47]\u3002NeRF\u4e0d\u662f\u76f4\u63a5\u8fd8\u539f\u6574\u4e2a\u4e09\u7ef4\u573a\u666f\u7684\u51e0\u4f55\u56fe\u5f62\uff0c\u800c\u662f\u751f\u6210\u4e00\u79cd\u88ab\u79f0\u4e3a&#8221;\u8f90\u5c04\u573a&#8221;\u7684\u4f53\u79ef\u8868\u793a\uff0c\u5b83\u80fd\u591f\u4e3a\u76f8\u5173\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u6bcf\u4e00\u70b9\u521b\u5efa\u989c\u8272\u548c\u5bc6\u5ea6\u3002<\/p>\n<p><strong>4 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F42e3d3daj00ry9y66003nd200cq00dcg00cq00dc.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 7 L4\u521b\u4e1a\u516c\u53f8Cruise.AI\u7684\u9884\u6d4b\u6a21\u578b<\/p>\n<p>\u56fe7\u7ed9\u51fa\u4e86L4\u81ea\u52a8\u9a7e\u9a76\u521b\u4e1a\u516c\u53f8Cruise.AI[36]\u8bbe\u8ba1\u7684\u9884\u6d4b\u6a21\u578b\u56fe\u3002\u663e\u7136\uff0c\u5b83\u5c55\u793a\u4e86\u4e00\u4e2a\u7f16\u7801\u5668-\u89e3\u7801\u5668\u7ed3\u6784\u3002\u5728\u7f16\u7801\u5668\u4e2d\uff0c\u6709\u4e00\u4e2a&#8221;\u573a\u666f\u7f16\u7801\u5668&#8221;\u6765\u5904\u7406\u73af\u5883\u4e0a\u4e0b\u6587\uff08\u5730\u56fe\uff09\uff0c\u7c7b\u4f3c\u4e8e\u8c37\u6b4cWaymo\u7684ChauffeurNet\uff08\u5149\u6805\u5316\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff09\u6216VectorNet\uff08\u77e2\u91cf\u5316\u8f93\u5165\uff09\u67b6\u6784\u4e00\u6837\uff1b\u6709\u4e00\u4e2a&#8221;\u5bf9\u8c61\u5386\u53f2\u7f16\u7801\u5668&#8221;\u6765\u5904\u7406\u667a\u80fd\u4f53\u5386\u53f2\u6570\u636e\uff08\u4f4d\u7f6e\uff09\uff1b\u8fd8\u6709\u4e00\u4e2a\u57fa\u4e8e\u6ce8\u610f\u529b\u56fe\u7f51\u7edc\u6765\u6355\u6349\u667a\u80fd\u4f53\u4e4b\u95f4\u7684\u8054\u5408\u4ea4\u4e92\u3002\u4e3a\u4e86\u5904\u7406\u52a8\u6001\u573a\u666f\u7684\u53d8\u5316\uff0c\u4ed6\u4eec\u5c06\u4e13\u5bb6\u6df7\u5408\uff08MoE\uff09\u7f16\u7801\u5230\u95e8\u63a7\u7f51\u7edc\u4e2d\u3002\u4f8b\u5982\uff0c\u5728\u505c\u8f66\u573a\u6709\u4e0d\u540c\u7684\u884c\u4e3a\uff0c\u5982\u5012\u8f66\u9a76\u51fa\u3001\u9a76\u51fa\u548cK\u5f62\u8f6c\u5f2f\u3001\u5e73\u884c\u505c\u8f66\u7b2c\u4e8c\u6b21\u5c1d\u8bd5\u3001\u5012\u8f66\u548c\u9a76\u51fa\u3001\u5012\u8f66\u5e73\u884c\u505c\u8f66\u548c\u5782\u76f4\u9a76\u51fa\u7b49\u3002<\/p>\n<p>\u5728\u56fe7\u6240\u793a\u7684\u89e3\u7801\u5668\u4e2d\uff0c\u6709\u4e00\u4e2a\u4e24\u9636\u6bb5\u7684\u7ed3\u6784\uff0c\u5373\u7531\u4e00\u4e2a\u7b80\u5355\u7684\u56de\u5f52\u5668\u751f\u6210\u521d\u59cb\u8f68\u8ff9\uff0c\u7136\u540e\u7531\u5177\u6709&#8221;\u591a\u6a21\u6001\u4e0d\u786e\u5b9a\u6027&#8221;\u4f30\u8ba1\u7684\u957f\u671f\u9884\u6d4b\u5668\u8fdb\u884c\u5b8c\u5584\u3002\u4e3a\u4e86\u589e\u5f3a\u8f68\u8ff9\u9884\u6d4b\u5668\uff0c\u8fd8\u6709\u4e00\u4e9b\u8f85\u52a9\u4efb\u52a1\u9700\u8981\u8bad\u7ec3\uff0c\u5982&#8221;\u8054\u5408\u8f68\u8ff9\u4e0d\u786e\u5b9a\u6027&#8221;\u4f30\u8ba1\u548c&#8221;\u4ea4\u4e92\u68c0\u6d4b\u548c\u4e0d\u786e\u5b9a\u6027&#8221;\u4f30\u8ba1\uff0c\u4ee5\u53ca&#8221;\u5360\u4f4d\u9884\u6d4b&#8221;\u3002<\/p>\n<p>\u8be5\u8f68\u8ff9\u9884\u6d4b\u5668\u7684\u4e00\u4e2a\u5927\u521b\u65b0\u662f\u5b83\u7684&#8221;\u81ea\u76d1\u7763&#8221;\u673a\u5236\u3002\u57fa\u4e8e&#8221;\u540e\u89c1\u4e4b\u660e&#8221;\u7684\u89c2\u5bdf\uff0c\u4ed6\u4eec\u63d0\u4f9b&#8221;\u673a\u52a8\u81ea\u52a8\u6807\u6ce8\u5668&#8221;\u548c&#8221;\u4ea4\u4e92\u81ea\u52a8\u6807\u6ce8\u5668&#8221;\u4e3a\u9884\u6d4b\u5668\u6a21\u578b\u751f\u6210\u5927\u91cf\u8bad\u7ec3\u6570\u636e\u3002<\/p>\n<p>5 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F202f61ccj00ry9y67004sd200k4005ng00gk004n.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 8 MachMap\u6846\u67b6<\/p>\n<p>MachMap\u7684\u6846\u67b6\u5982\u56fe8\u6240\u793a\u3002\u5b83\u901a\u8fc7\u56fe\u50cf\u9aa8\u5e72\u548c\u5468\u56f4\u56fe\u50cf\u7684\u9888\u90e8\u4ece\u6bcf\u4e2a\u89c6\u56fe\u751f\u62102D\u7279\u5f81\u3002\u7136\u540e\uff0c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u7528\u4e8e\u805a\u5408\u4e0d\u540c\u89c6\u56fe\u4e4b\u95f4\u76843D\u7279\u5f81\uff0c\u5e76\u6cbfz\u8f74\u5bf9\u5176\u8fdb\u884c\u5e73\u5747\u3002\u5728\u65f6\u95f4\u878d\u5408\u6a21\u5757\u4e2d\uff0c\u65b0\u7684BEV\u7279\u5f81\u4e0eBEV\u7279\u5f81\u7684\u9690\u85cf\u72b6\u6001\u8fdb\u884c\u878d\u5408\u3002<\/p>\n<p>\u5229\u7528\u5b9e\u4f8b\u7ea7\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u673a\u5236\u6267\u884c\u5b9e\u4f8b\u89e3\u7801\u5668\u53ef\u4ee5\u5b8c\u5584\u5185\u5bb9\u548c\u70b9\u7279\u5f81\u5e76\u83b7\u5f97\u6700\u7ec8\u7ed3\u679c\u3002<\/p>\n<p><strong>6 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Estimator Transformer\uff08POET\uff09\u6a21\u5757\u4f7f\u7528\u6ce8\u610f\u673a\u5236\u4e0e\u4ece\u8de8\u6a21\u578b\u7279\u5f81\u4e2d\u68c0\u7d22\u5230\u7684\u76f8\u5173\u4fe1\u606f\u4ea4\u4e92\u6765\u66f4\u65b0\u7684\u3002\u5b9a\u4f4d\u67b6\u6784\u5982\u56fe9\u6240\u793a\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2Fdfb3634dj00ry9y67003nd200kp007ag00gk005t.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 9 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2Fc5e1b239j00ry9y6900a2d200jr00c5g00gk00a6.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 10 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F76bc4e75j00ry9y6b004md200he009eg00gk008x.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 12 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F15d8a627j00ry9y6b008zd200ht00bag00gk00ah.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 13 UniSim\u4f20\u611f\u5668\u6a21\u62df\u5668\u6982\u8ff0<\/p>\n<p>\u8fd9\u91cc\u6211\u4eec\u62a5\u544a\u4e00\u4e2a\u6700\u65b0\u7684\u795e\u7ecf\u4f20\u611f\u5668\u4eff\u771f\u5e73\u53f0[49]-UniSim\uff0c\u7531Waabi\u3001Toronto 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\u5b89\u5168\u6027<\/strong><\/p>\n<p>\u5b89\u5168\u6027\u662f\u5b9e\u9645\u90e8\u7f72\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf(ADS)\u7684\u4e3b\u8981\u6311\u6218[19\uff0c23]\u3002\u9664\u4e86\u4f20\u611f\u5668\u548c\u7f51\u7edc\u7cfb\u7edf\u7684\u53ef\u80fd\u53d7\u5230\u4f20\u7edf\u653b\u51fb\u4e4b\u5916\uff0c\u57fa\u4e8e\u4eba\u5de5\u667a\u80fd\u6216\u673a\u5668\u5b66\u4e60\uff08\u5305\u62ec\u6df1\u5ea6\u5b66\u4e60\uff09\u7684\u7cfb\u7edf\uff0c\u5c24\u5176\u9700\u8981\u8003\u8651\u795e\u7ecf\u7f51\u7edc\u5929\u751f\u6613\u53d7\u6765\u81ea\u5bf9\u6297\u6027\u793a\u4f8b\u7684\u5bf9\u6297\u6027\u653b\u51fb\u6240\u5e26\u6765\u7684\u65b0\u7684\u5b89\u5168\u95ee\u9898\u3002<\/p>\n<p>ISO 26262\u9053\u8def\u8f66\u8f86\u2014\u2014\u529f\u80fd\u5b89\u5168\u662f\u5e7f\u6cdb\u4f7f\u7528\u7684\u5b89\u5168\u6307\u5bfc\u6807\u51c6\uff0c\u4ec5\u9002\u7528\u4e8e\u7f13\u89e3\u4e0e\u5df2\u77e5\u90e8\u4ef6\u6545\u969c\u76f8\u5173\u7684\u5df2\u77e5\u4e0d\u5408\u7406\u98ce\u9669\uff08\u5373\u5df2\u77e5\u4e0d\u5b89\u5168\u60c5\u666f\uff09\u3002\u4f46\u4e0d\u9002\u7528\u4e8e\u56e0\u590d\u6742\u7684\u73af\u5883\u53d8\u5316\u4ee5\u53caADS\u5982\u4f55\u5e94\u5bf9\u5b83\u4eec\u800c\u4ea7\u751f\u7684AV\u9a7e\u9a76\u98ce\u9669\uff0c\u800c\u8f66\u8f86\u4e0d\u5b58\u5728\u6280\u672f\u6545\u969c<\/p>\n<p>\u76ee\u524d\uff0c\u5bf9\u6297\u9632\u5fa1\u53ef\u4ee5\u5206\u4e3a\u4e3b\u52a8\u9632\u5fa1\u548c\u88ab\u52a8\u9632\u5fa1\u3002\u4e3b\u52a8\u9632\u5fa1\u96c6\u4e2d\u4e8e\u6539\u5584\u76ee\u6807AI\u6a21\u578b\u7684\u9c81\u68d2\u6027\uff0c\u800c\u88ab\u52a8\u9632\u5fa1\u5219\u9488\u5bf9\u68c0\u6d4b\u53cd\u5411\u793a\u4f8b\uff0c\u7136\u540e\u518d\u5c06\u5b83\u4eec\u53cd\u9988\u5230\u6a21\u578b\u4e2d\u3002\u4e3b\u52a8\u9632\u5fa1\u65b9\u6cd5\u4e3b\u8981\u6709\u4e94\u79cd\u7c7b\u578b:\u5bf9\u6297\u8bad\u7ec3\u3001\u7f51\u7edc\u84b8\u998f\u3001\u7f51\u7edc\u6b63\u5219\u5316\u3001\u6a21\u578b\u96c6\u6210\u548c\u8ba4\u8bc1\u9632\u5fa1\u3002\u88ab\u52a8\u9632\u5fa1\u4e3b\u8981\u5305\u62ec\u4ee5\u4e0b\u4e24\u7c7b\uff1a\u5bf9\u6297\u68c0\u6d4b\u548c\u5bf9\u6297\u8f6c\u6362\u3002<\/p>\n<p>\u53ef\u89e3\u91ca\u6027\u662f\u7531\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u7684\u9ed1\u76d2\u7279\u6027\u5f15\u8d77\u7684\u4e00\u4e2a\u95ee\u9898\u3002\u7b80\u5355\u5730\u8bf4\uff0c\u5b83\u5e94\u8be5\u4e3a\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u7684\u884c\u4e3a\u63d0\u4f9b\u4eba\u7c7b\u53ef\u4ee5\u7406\u89e3\u7684\u89e3\u91ca\u3002\u89e3\u91ca\u8fc7\u7a0b\u53ef\u4ee5\u5206\u4e3a\u4e24\u4e2a\u6b65\u9aa4:\u63d0\u53d6\u6b65\u9aa4\u548c\u5c55\u793a\u6b65\u9aa4\u3002\u63d0\u53d6\u6b65\u9aa4\u83b7\u5f97\u4e2d\u95f4\u8868\u5f81\uff0c\u5c55\u793a\u6b65\u9aa4\u4ee5\u7b80\u5355\u7684\u65b9\u5f0f\u5c06\u5176\u5448\u73b0\u7ed9\u4eba\u7c7b\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u53ef\u89c6\u5316\u6a21\u578b\u4e3b\u5e72\u4e2d\u7684\u7279\u5f81\u56fe\u6216\u7ba1\u7406\u89e3\u7801\u5668\u8f93\u51fa\u7684\u635f\u5931\uff0c\u662f\u589e\u5f3a\u53ef\u89e3\u91ca\u6027\u7684\u6709\u6548\u65b9\u5f0f\u3002<\/p>\n<p>\u4e3a\u4e86\u63d0\u4f9b\u5b89\u5168\u4fdd\u8bc1\uff0c\u9700\u8981\u9488\u5bf9ADS\u5c06\u9762\u4e34\u7684\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u5404\u79cd\u573a\u666f\u8fdb\u884c\u5927\u91cf\u7684\u9a8c\u8bc1\u548c\u786e\u8ba4\uff08V&amp;V\uff09\u3002V&amp;V\u6700\u5927\u5316\u573a\u666f\u8986\u76d6\u7387\u7684\u4e00\u4e2a\u5e38\u89c4\u7b56\u7565\u662f\u5728\u6a21\u62df\u751f\u6210\u7684\u5927\u91cf\u5305\u542bADS\u7684\u573a\u666f\u6837\u672c\u3002\u786e\u4fdd\u5408\u7406\u8986\u76d6\u7387\u7684\u65b9\u6cd5\u5206\u4e3a\u4e24\u7c7b\uff1a\u57fa\u4e8e\u573a\u666f\u62bd\u6837\u7684\u65b9\u6cd5\u548c\u5f62\u5f0f\u5316\u65b9\u6cd5\u3002<\/p>\n<p>\u573a\u666f\u62bd\u6837\u65b9\u6cd5\u662f\u4eba\u5de5\u667a\u80fd\u5b89\u5168\u63a7\u5236\u7684\u4e3b\u8981\u65b9\u6cd5\uff0c\u5305\u62ec\u57fa\u4e8e\u6d4b\u8bd5\u7684\u62bd\u6837\u548c\u57fa\u4e8e\u4f2a\u9020\u7684\u62bd\u6837\uff0c\u57fa\u4e8e\u6d4b\u8bd5\u7684\u62bd\u6837\u662f\u4e3a\u4e86\u4ee5\u6700\u5c0f\u7684\u4ee3\u4ef7\u83b7\u5f97\u6700\u5927\u7684\u573a\u666f\u8986\u76d6\u7387\uff0c\u57fa\u4e8e\u4f2a\u9020\u7684\u62bd\u6837\u662f\u4e3a\u4e86\u53d1\u73b0\u5f00\u53d1\u4eba\u5458\u66f4\u5173\u6ce8\u7684\u4e0d\u5e38\u89c1\u6848\u4f8b\uff0c\u5982\u5b89\u5168\u5173\u952e\u573a\u666f\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F7f7f6d2cj00ry9y6c005jd200i4009hg00gk008n.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 14 SOTIF\u7684\u76ee\u6807[23]<\/p>\n<p>ISO 21448\u300a\u9884\u5b9a\u529f\u80fd\u5b89\u5168\u300b\uff08SOTIF\uff09\u63d0\u51fa\u4e86\u4e00\u4e2a\u5b9a\u6027\u76ee\u6807\uff0c\u4ece\u9ad8\u5c42\u6b21\u63cf\u8ff0\u4e86\u5982\u4f55\u6700\u5c0f\u5316ADS\u529f\u80fd\u8bbe\u8ba1\u4e2d\u5df2\u77e5\u548c\u672a\u77e5\u7684\u4e0d\u5b89\u5168\u573a\u666f\u540e\u679c[23]\uff0c\u5982\u56fe14\u6240\u793a\u3002\u57fa\u4e8e\u91c7\u6837\u7684\u65b9\u6cd5\u5728\u53d1\u73b0\u672a\u77e5\u7684\u4e0d\u5b89\u5168\u573a\u666f\u65f6\u504f\u5dee\u8f83\u5c0f\uff0c\u66f4\u5177\u63a2\u7d22\u6027\uff0c\u5e76\u4e14\u4ece\u672a\u77e5\u5230\u5df2\u77e5\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6240\u6709\u91c7\u6837\u573a\u666f\u90fd\u5728\u4e00\u81f4\u7684\u4eff\u771f\u73af\u5883\u548c\u76f8\u540c\u7684\u4fdd\u771f\u5ea6\u6c34\u5e73\u4e0b\u8fdb\u884c\u3002<\/p>\n<p>\u5728AV\u5b89\u5168\u6027\u4e2d\u5e7f\u6cdb\u4f7f\u7528\u7684\u5e38\u89c4\u65b9\u6cd5\u5305\u62ec\u6a21\u578b\u68c0\u67e5\u3001\u53ef\u8fbe\u6027\u5206\u6790\u548c\u5b9a\u7406\u8bc1\u660e\u3002\u6a21\u578b\u68c0\u67e5\u6765\u81ea\u8f6f\u4ef6\u5f00\u53d1\uff0c\u4ee5\u786e\u4fdd\u8f6f\u4ef6\u884c\u4e3a\u9075\u5faa\u8bbe\u8ba1\u89c4\u8303\u3002\u5f53\u5b89\u5168\u89c4\u8303\u4ee5\u516c\u7406\u548c\u5f15\u7406\u63cf\u8ff0\u65f6\uff0c\u7136\u540e\u8fdb\u884c\u5b9a\u7406\u8bc1\u660e\u4ee5\u4f7f\u7528\u6700\u574f\u60c5\u51b5\u5047\u8bbe\u6765\u8bc1\u660e\u5b89\u5168\u6027\u3002\u7531\u4e8e\u53ef\u8fbe\u6027\u5206\u6790\u53ef\u4ee5\u5bf9\u52a8\u6001\u9a7e\u9a76\u4efb\u52a1(DDT)\u7684\u7279\u5f81\u7ed9\u51fa\u5b89\u5168\u58f0\u660e\uff0c\u5b83\u4f30\u8ba1DDT\u7684\u7279\u5f81\uff0c\u4f8b\u5982Mobileye\u7684\u5b89\u5168\u6a21\u578bRSS(\u8d23\u4efb\u654f\u611f\u5b89\u5168)\u548cNvidia\u7684\u5b89\u5168\u6a21\u578bSFF(\u5b89\u5168\u529b\u573a)\u3002<\/p>\n<p><strong>12 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2Ffa274b1bj00ry9y6d008yd200h400iyg00gk00ib.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 16 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2F9e2db58ap00ry9y6e000qd200gi002rg00gi002r.png&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 17 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src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2Fa8af7b80j00ry9y6e001bd200ht004fg00gk0043.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 18 \u89c4\u5212\u548c\u51b3\u7b56\u6a21\u5757<\/p>\n<p>\u5728\u611f\u77e5\u548c\u9884\u6d4b\u7684\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e0eST-P3\u7c7b\u4f3c\u7684\u89c4\u5212\u51b3\u7b56\u7b97\u6cd5\u6846\u56fe\uff0c\u5982\u56fe18\u6240\u793a\u3002\u57fa\u4e8e\u9884\u6d4b\u8f93\u51fa\u7684BEV\u65f6\u7a7a\u7279\u5f81\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u57fa\u4e8e\u91c7\u6837\u7684\u89c4\u5212\u65b9\u6cd5\uff0c\u5728 &#8220;Plan Decod&#8221;\u6a21\u5757\u4e2d\u8bad\u7ec3\u4ee3\u4ef7\u51fd\u6570\u6765\u8ba1\u7b97\u91c7\u6837\u5668\u751f\u6210\u7684\u5404\u79cd\u8f68\u8ff9\uff0c\u5e76\u5728&#8221;ArgMin&#8221;\u6a21\u5757\u4e2d\u627e\u5230\u4ee3\u4ef7\u6700\u5c0f\u7684\u8f68\u8ff9\u3002\u4ee3\u4ef7\u51fd\u6570\u5305\u62ec\u5b89\u5168\u6027\uff08\u907f\u5f00\u969c\u788d\u7269\uff09\u3001\u4ea4\u901a\u89c4\u5219\u548c\u8f68\u8ff9\u5e73\u6ed1\u6027\uff08\u52a0\u901f\u5ea6\u548c\u66f2\u7387\uff09\u7b49\u65b9\u9762\u3002\u6700\u540e\uff0c\u5bf9\u6574\u4e2a\u611f\u77e5-\u9884\u6d4b-\u89c4\u5212\u8fc7\u7a0b\u7684\u5168\u5c40\u635f\u5931\u51fd\u6570\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n<p>\u7efc\u4e0a\u6240\u8ff0\uff0cBEV\/Occupancy\u7f51\u7edc\u4e3a\u57fa\u7840\u7684\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u6784\u6210\u4e86\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u89e3\u51b3\u65b9\u6848\uff0c\u79f0\u4e3aBP3\u3002<\/p>\n<p><strong>12.2 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decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F0724%2Fa0841352j00ry9y6f0089d200ih00hsg00gk00fx.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p>\u56fe 19 \u534a\u4f20\u7edf\u7684\u6570\u636e\u6807\u6ce8\u6846\u67b6<\/p>\n<p>\u5bf9\u4e8e\u4ec5\u76f8\u673a\u591a\u8f93\u5165\uff0c\u5982\u56fe19(a)\u6240\u793a\uff0c\u6211\u4eec\u9996\u5148\u5728\u591a\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u5e8f\u5217\u4e2d\u4f7f\u7528\u4e09\u4e2a\u6a21\u5757\uff0c\u5373&#8221;inst seg&#8221;\u3001&#8221;depth map&#8221;\u548c&#8221;optical flow&#8221;\uff0c\u4ee5\u8ba1\u7b97\u5b9e\u4f8b\u5206\u5272\u56fe\u3001\u6df1\u5ea6\u56fe\u548c\u5149\u6d41\u56fe\uff1b&#8221;inst seg&#8221;\u6a21\u5757\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u5b9a\u4f4d\u548c\u5206\u7c7b\u4e00\u4e9b\u5bf9\u8c61\u50cf\u7d20\uff0c\u5982\u8f66\u8f86\u548c\u884c\u4eba\uff1b&#8221;depth map&#8221;\u6a21\u5757\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u6839\u636e\u5355\u76ee\u89c6\u9891\u4f30\u8ba1\u4e24\u4e2a\u8fde\u7eed\u5e27\u4e4b\u95f4\u7684\u50cf\u7d20\u8fd0\u52a8\uff0c\u5f62\u6210\u865a\u62df\u7acb\u4f53\u89c6\u89c9\u6765\u63a8\u65ad\u6df1\u5ea6\u56fe\uff1b&#8221;optical flow&#8221;\u6a21\u5757\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u76f4\u63a5\u63a8\u65ad\u4e24\u4e2a\u8fde\u7eed\u5e27\u4e4b\u95f4\u7684\u50cf\u7d20\u8fd0\u52a8\uff1b\u57fa\u4e8e\u6df1\u5ea6\u56fe\u4f30\u8ba1\uff0c&#8221;SLAM\/SFM&#8221;\u6a21\u5757\u53ef\u4ee5\u83b7\u5f97\u7c7b\u4f3cRGB-D+IMU\u4f20\u611f\u5668\u7684\u7a20\u5bc63D\u91cd\u6784\u70b9\u4e91\uff1b\u4e0e\u6b64\u540c\u65f6\uff0c\u5b9e\u4f8b\u5206\u5272\u7ed3\u679c\u5b9e\u9645\u4e0a\u53ef\u4ee5\u5254\u9664\u969c\u788d\u7269\uff0c\u5982\u8f66\u8f86\u548c\u884c\u4eba\uff1b\u901a\u8fc7&#8221;motseg&#8221;\u6a21\u5757\uff0c\u83b7\u5f97\u7684\u5404\u79cd\u8fd0\u52a8\u969c\u788d\u7269\u5c06\u5728\u4e0b\u4e00\u4e2a&#8221;SLAM\/SFM&#8221;\u6a21\u5757(\u4e0d\u8f93\u5165IMU)\u4e2d\u91cd\u5efa\uff0c\u8fd9\u7c7b\u4f3c\u4e8eRGB-D\u4f20\u611f\u5668\u7684SLAM\u67b6\u6784\uff0c\u53ef\u4ee5\u770b\u4f5c\u5355\u76eeSLAM\u7684\u6269\u5c55\uff1b\u7136\u540e\uff0c\u5b83\u5c06&#8221;instseg&#8221;\u7684\u7ed3\u679c\u8f6c\u79fb\u5230&#8221;obj recog&#8221;\u6a21\u5757\uff0c\u5e76\u6807\u6ce8\u70b9\u4e91\u76843D\u5305\u56f4\u6846\uff1b\u5bf9\u4e8e\u9759\u6001\u80cc\u666f\uff0c&#8221;grd det&#8221;\u6a21\u5757\u5c06\u533a\u5206\u9759\u6001\u969c\u788d\u7269\u548c\u9053\u8def\u70b9\u4e91\uff0c\u4ee5\u4fbf\u9759\u6b62\u969c\u788d\u7269(\u5982\u505c\u8f66\u8f66\u8f86\u548c\u4ea4\u901a\u9525)\u5c06&#8221;inst seg&#8221;\u6a21\u5757\u7684\u7ed3\u679c\u8f6c\u79fb\u5230&#8221;obj recog&#8221;\u6a21\u5757\uff0c\u5bf9\u70b9\u4e91\u76843D\u8fb9\u754c\u6846\u8fdb\u884c\u6807\u6ce8\uff1b\u4ece&#8221;SLAM\/SFM&#8221;\u6a21\u5757\u83b7\u5f97\u7684\u52a8\u6001\u5bf9\u8c61\u70b9\u4e91\u548c\u4ece&#8221;grd det&#8221;\u6a21\u5757\u83b7\u5f97\u7684\u9759\u6001\u5bf9\u8c61\u70b9\u4e91\u8fdb\u5165&#8221;Surf Recon&#8221;\u6a21\u5757\u8fdb\u884c\u6cca\u677e\u91cd\u5efa\uff1b\u9053\u8def\u8868\u9762\u70b9\u4e91\u4ec5\u63d0\u4f9b\u62df\u5408\u76843D\u9053\u8def\u8868\u9762\uff1b\u4ece\u56fe\u50cf\u57df&#8221;inst seg&#8221;\u6a21\u5757\u53ef\u4ee5\u83b7\u5f97\u9053\u8def\u8868\u9762\u533a\u57df\uff1b\u57fa\u4e8e\u81ea\u8eab\u8fd0\u52a8\u5b66\uff0c\u53ef\u4ee5\u8fdb\u884c\u56fe\u50cf\u62fc\u63a5\uff1b\u5728&#8221;seman seg&#8221;\u6a21\u5757\u5728\u62fc\u63a5\u7684\u9053\u8def\u8868\u9762\u56fe\u50cf\u4e4b\u540e\uff0c\u53ef\u4ee5\u83b7\u5f97\u8f66\u9053\u6807\u7ebf\u3001\u6591\u9a6c\u7ebf\u548c\u9053\u8def\u8fb9\u754c\uff1b\u7136\u540e\uff0c\u5728&#8221;vectrep&#8221;\u6a21\u5757\u4e2d\u4f7f\u7528\u591a\u7ebf\u6807\u6ce8\uff1b\u6700\u540e\uff0c\u6240\u6709\u6807\u6ce8\u90fd\u6295\u5f71\u5230\u8f66\u8f86\u5750\u6807\u7cfb\u4e0a\uff0c\u5f97\u5230\u4e00\u5e27\u7684\u6700\u7ec8\u6807\u6ce8\u3002<\/p>\n<p>\u56fe19(b)\u6240\u793a\uff0c\u5bf9\u4e8e\u4ec5LiDAR\u8f93\u5165\uff0c\u6211\u4eec\u7ecf\u8fc7&#8221;\u9884\u5904\u7406&#8221;\u6a21\u5757\u3001&#8221;SLAM&#8221;\u6a21\u5757\u548c&#8221;mot seg &#8220;\u6a21\u5757\u3002\u5728&#8221;inst seg&#8221;\u6a21\u5757\u4e2d\uff0c\u76f4\u63a5\u5bf9\u4e0d\u540c\u4e8e\u80cc\u666f\u7684\u8fd0\u52a8\u7269\u4f53\u8fdb\u884c\u57fa\u4e8e\u70b9\u4e91\u7684\u68c0\u6d4b\uff1b\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\uff08\u5982PointNet\u548cPointPillar\uff09\u4ece\u70b9\u4e91\u4e2d\u63d0\u53d6\u7279\u5f81\u56fe\uff1b\u5bf9\u4e8e\u9759\u6001\u80cc\u666f\uff0c\u7ecf\u8fc7&#8221;Grd Seg&#8221;\u6a21\u5757\u540e\uff0c\u5224\u65ad\u4e3a\u975e\u8def\u9762\u7684\u70b9\u4e91\u8fdb\u5165\u53e6\u4e00\u4e2a&#8221;Inst Seg&#8221;\u6a21\u5757\u8fdb\u884c\u7269\u4f53\u68c0\u6d4b\uff0c\u5f97\u5230\u9759\u6001\u7269\u4f53\u7684\u4e09\u7ef4\u8fb9\u754c\u6846\u6807\u6ce8\uff1b\u5bf9\u4e8e\u8def\u9762\u70b9\u4e91\uff0c\u5e94\u7528&#8221;Semantic Seg&#8221;\u6a21\u5757\uff0c\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\uff0c\u5229\u7528\u53cd\u5c04\u5f3a\u5ea6\u5bf9\u4e0e\u56fe\u50cf\u6570\u636e\u76f8\u4f3c\u7684\u8bed\u4e49\u5bf9\u8c61\u8fdb\u884c\u50cf\u7d20\u7ea7\u5206\u7c7b\uff0c\u5373\u8f66\u9053\u6807\u7ebf\u3001\u6591\u9a6c\u7ebf\u3001\u9053\u8def\u533a\u57df\u7b49\uff1b\u901a\u8fc7\u68c0\u6d4b\u9053\u8def\u8fb9\u754c\u5f97\u5230\u8def\u7f18\u77f3\u4f4d\u7f6e\uff0c\u6700\u540e\u5728&#8221;Vect Rep&#8221;\u6a21\u5757\u4e2d\u8fdb\u884c\u591a\u8fb9\u5f62\u7684\u6807\u6ce8\uff1b\u8ddf\u8e2a\u5230\u7684\u52a8\u6001\u7269\u4f53\u70b9\u4e91\u548c\u5b9e\u4f8b\u5206\u5272\u5f97\u5230\u7684\u9759\u6001\u7269\u4f53\u70b9\u4e91\u8fdb\u5165&#8221;surf recon&#8221;\u6a21\u5757\uff0c\u8fdb\u884c\u6cca\u677e\u91cd\u5efa\uff1b\u6700\u540e\uff0c\u5c06\u6240\u6709\u6807\u6ce8\u6295\u5f71\u5230\u8f66\u8f86\u5750\u6807\u7cfb\u4e0a\u5f97\u5230\u4e00\u5e27\u7684\u6700\u7ec8\u6807\u6ce8\u3002<\/p>\n<p>\u5bf9\u4e8e\u56fe19(c)\u6240\u793a\u5177\u6709LiDAR\u548c\u591a\u76f8\u673a\u7684\u8f93\u5165\uff0c\u6211\u4eec\u5c06\u56fe19(a)\u4e2d\u7684&#8221;\u5149\u6d41&#8221;\u6a21\u5757\u66ff\u6362\u4e3a&#8221;\u573a\u666f\u6d41&#8221;\u6a21\u5757\uff0c&#8221;\u573a\u666f\u6d41&#8221;\u6a21\u5757\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u4f30\u8ba1\u4e09\u7ef4\u70b9\u4e91\u7684\u8fd0\u52a8\uff1b&#8221;\u6df1\u5ea6\u56fe&#8221;\u6a21\u5757\u66ff\u6362\u4e3a&#8221;\u6df1\u5ea6\u586b\u5145&#8221;\u6a21\u5757\uff0c&#8221;\u6df1\u5ea6\u586b\u5145&#8221;\u6a21\u5757\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\u5b8c\u6210\u6df1\u5ea6\u586b\u5145\uff0c\u6df1\u5ea6\u586b\u5145\u7531\u70b9\u4e91\u6295\u5f71\uff08\u63d2\u503c\u548c&#8221;\u586b\u8865\u7a7a\u6d1e&#8221;\uff09\u5230\u56fe\u50cf\u5e73\u9762\u5f97\u5230\uff0c\u7136\u540e\u53cd\u5411\u6295\u5f71\u56de\u4e09\u7ef4\u7a7a\u95f4\u751f\u6210\u70b9\u4e91\uff1b\u540c\u65f6\uff0c&#8221;seg inst&#8221;\u6a21\u5757\u66ff\u6362\u4e3a&#8221;seman seg&#8221;\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u6807\u6ce8\u70b9\u4e91\uff1b\u968f\u540e\uff0c\u7a20\u5bc6\u7684\u70b9\u4e91\u548cIMU\u6570\u636e\u5c06\u8fdb\u5165&#8221;SLAM&#8221;\u6a21\u5757\u8fdb\u884c\u8fd0\u52a8\u8f68\u8ff9\u4f30\u8ba1\uff0c\u5e76\u9009\u62e9\u6807\u8bb0\u4e3a\u969c\u788d\u7269\uff08\u8f66\u8f86\u548c\u884c\u4eba\uff09\u7684\u70b9\u4e91\uff1b\u540c\u65f6\uff0c\u4f30\u8ba1\u7684\u573a\u666f\u6d41\u4e5f\u5c06\u8fdb\u5165&#8221;mot seg&#8221;\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u533a\u5206\u8fd0\u52a8\u969c\u788d\u7269\u548c\u9759\u6001\u969c\u788d\u7269\uff1b\u8fd0\u52a8\u7269\u4f53\u901a\u8fc7&#8221;inst seg&#8221;\u6a21\u5757\u548c&#8221;track&#8221;\u6a21\u5757\u540e\uff0c\u5f97\u5230\u8fd0\u52a8\u7269\u4f53\u7684\u6807\u6ce8\uff1b\u540c\u6837\uff0c\u9759\u6001\u969c\u788d\u7269\u901a\u8fc7&#8221;grd seg&#8221;\u6a21\u5757\u540e\uff0c\u7531&#8221;inst seg&#8221;\u6a21\u5757\u6807\u6ce8\uff1b\u8f66\u9053\u6807\u7ebf\u3001\u6591\u9a6c\u7ebf\u3001\u9053\u8def\u8fb9\u7f18\u7b49\u5730\u56fe\u5143\u7d20\u901a\u8fc7&#8221;seman seg&#8221;\u6a21\u5757\u5f97\u5230\uff1b\u62fc\u63a5\u540e\u7684\u8def\u9762\u56fe\u50cf\u548c\u5bf9\u9f50\u540e\u7684\u70b9\u4e91\u8fdb\u5165&#8221;vect rep&#8221;\u6a21\u5757\u8fdb\u884c\u591a\u8fb9\u5f62\u6807\u6ce8\uff1b\u901a\u8fc7\u8ddf\u8e2a\u5f97\u5230\u7684\u52a8\u6001\u7269\u4f53\u70b9\u4e91\u548c\u5b9e\u4f8b\u5206\u5272\u5f97\u5230\u7684\u9759\u6001\u7269\u4f53\u70b9\u4e91\u8fdb\u5165&#8221;surf recon&#8221;\u6a21\u5757\u8fdb\u884c\u6cca\u677e\u91cd\u5efa\uff1b\u6700\u540e\u5c06\u6240\u6709\u6807\u6ce8\u6295\u5f71\u5230\u8f66\u8f86\u5750\u6807\u7cfb\u4e0a\u5f97\u5230\u4e00\u5e27\u7684\u6700\u7ec8\u6807\u6ce8\u3002<\/p>\n<p>\u6ce8\u610f:\u8fd9\u79cd\u534a\u4f20\u7edf\u6807\u6ce8\u65b9\u6cd5\u4e5f\u88ab\u79f0\u4e3a4D\u6807\u6ce8\uff0c\u662f\u7531\u7279\u65af\u62c9\u7684\u81ea\u52a8\u9a7e\u9a76\u56e2\u961f\u9996\u5148\u63a2\u7d22\u3002\u56e0\u6b64\uff0c\u6240\u63d0\u51fa\u7684\u6570\u636e\u6807\u6ce8\u6846\u67b6\u5206\u4e24\u9636\u6bb5\u8fd0\u884c:\u9996\u5148\u662f\u534a\u4f20\u7edf4D\u6807\u6ce8\uff0c\u7136\u540e\u662f\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u7aef\u5230\u7aef\u6807\u6ce8\u3002<\/p>\n<p><strong>12.3 \u4e3b\u52a8\u5b66\u4e60<\/strong><\/p>\n<p>\u81ea\u52a8\u9a7e\u9a76\u673a\u5668\u5b66\u4e60\u6a21\u578b\u7684\u8bad\u7ec3\u5e73\u53f0\u53ef\u4ee5\u6839\u636e\u8fb9\u7f18\u60c5\u51b5\u3001OOD\u6216\u5f02\u5e38\u6570\u636e\u7684\u68c0\u6d4b\u65b9\u6cd5\uff0c\u91c7\u7528\u5408\u7406\u7684\u65b9\u6cd5\u5229\u7528\u8fd9\u4e9b\u589e\u91cf\u6570\u636e\u3002\u5176\u4e2d\uff0c\u4e3b\u52a8\u5b66\u4e60\u662f\u6700\u5e38\u7528\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u6709\u6548\u5229\u7528\u8fd9\u4e9b\u6709\u4ef7\u503c\u7684\u6570\u636e\u3002\u4e3b\u52a8\u5b66\u4e60\u662f\u4e00\u4e2a\u8fed\u4ee3\u8fc7\u7a0b\uff0c\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u6bcf\u6b21\u8fed\u4ee3\u90fd\u4f1a\u5b66\u4e60\u4e00\u4e2a\u6a21\u578b\uff0c\u5e76\u4f7f\u7528\u4e00\u4e9b\u542f\u53d1\u5f0f\u65b9\u6cd5\u4ece\u672a\u6807\u660e\u70b9\u6c60\u4e2d\u9009\u62e9\u4e00\u7ec4\u70b9\u8fdb\u884c\u6807\u6ce8\u3002\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u662f\u542f\u53d1\u5f0f\u65b9\u6cd5\u4e4b\u4e00\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5f97\u5230\u4e86\u5e7f\u6cdb\u5e94\u7528\u3002\u4e0d\u786e\u5b9a\u6027\u6709\u4e24\u79cd\u4e3b\u8981\u7c7b\u578b\uff1a\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u548c\u5076\u7136\u4e0d\u786e\u5b9a\u6027\u3002\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u901a\u5e38\u88ab\u79f0\u4e3a\u6a21\u578b\u4e0d\u786e\u5b9a\u6027\uff0c\u5176\u4f30\u8ba1\u65b9\u6cd5\u4e3b\u8981\u5305\u62ec\u96c6\u5408\u6cd5\uff08Ensemble method\uff09\u548c\u8499\u7279\u5361\u7f57\u5254\u9664\u6cd5\uff08Monte Carlo dropout method\uff09\uff1b\u5076\u7136\u4e0d\u786e\u5b9a\u6027\u88ab\u79f0\u4e3a\u6570\u636e\u4e0d\u786e\u5b9a\u6027\uff0c\u5e38\u7528\u7684\u4f30\u8ba1\u65b9\u6cd5\u662f\u57fa\u4e8e\u8d1d\u53f6\u65af\u7406\u8bba\u7684\u6982\u7387\u673a\u5668\u5b66\u4e60\u3002<\/p>\n<p>\u6ce8\uff1a\u5c3d\u7ba1\u4eba\u4eec\u5927\u591a\u91c7\u7528\u76d1\u7763\u5b66\u4e60\u6765\u8bad\u7ec3\u6570\u636e\u95ed\u73af\u4e2d\u7684\u6a21\u578b\uff0c\u4f46\u4e3a\u4e86\u63d0\u9ad8\u6cdb\u5316\u3001\u53ef\u6269\u5c55\u6027\u548c\u6548\u7387\uff0c\u5f15\u5165\u4e86\u4e00\u4e9b\u65b0\u7684\u673a\u5668\u5b66\u4e60\u6280\u672f\uff0c\u5982\u534a\u76d1\u7763\u5b66\u4e60\uff08\u540c\u65f6\u4f7f\u7528\u6709\u6807\u7b7e\u548c\u65e0\u6807\u7b7e\u6570\u636e\uff09\uff0c\u751a\u81f3\u81ea\u76d1\u7763\u5b66\u4e60\uff08\u5982\u6d41\u884c\u7684\u65e0\u6807\u7b7e\u6570\u636e\u5bf9\u6bd4\u5b66\u4e60\uff09\u3002<\/p>\n<p><strong>13 \u7ed3\u8bba<\/strong><\/p>\n<p>\u5728\u8fd9\u7bc7\u5173\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u7efc\u8ff0\u4e2d\uff0c\u6211\u4eec\u6982\u8ff0\u4e86\u4e00\u4e9b\u5173\u952e\u7684\u521b\u65b0\u548c\u672a\u89e3\u51b3\u7684\u95ee\u9898\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u51e0\u79cd\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u67b6\u6784\u6a21\u578b\uff0c\u5373BEV\/\u5360\u4f4d\u611f\u77e5\u3001V2X\u4e2d\u7684\u534f\u540c\u611f\u77e5\u3001\u57fa\u4e8eBEV\/\u5360\u7528\u7f51\u7edc\u7684\u611f\u77e5\u4e0e\u9884\u6d4b\u548c\u89c4\u5212(BP3)\u7684\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u672c\u6587\u7684\u4e00\u4e2a\u65b0\u89c2\u70b9\u662f\uff0c\u6211\u4eec\u66f4\u5173\u6ce8\u81ea\u52a8\u9a7e\u9a76\u7814\u53d1\u4e2d\u7684\u6570\u636e\u95ed\u73af\u3002\u7279\u522b\u662f\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u5bf9\u5e94\u7684\u6570\u636e\u9009\u62e9\/\u7b5b\u9009\u548c\u6570\u636e\u6807\u6ce8\/\u6807\u8bb0\u673a\u5236\u6765\u9a71\u52a8\u6570\u636e\u95ed\u73af\u3002<\/p>\n<p><strong>13.1 ChatGPT \u548c SOTA 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