\u53ea\u9700\u201c100K\u5927\u5c0f\u7684\u5916\u6302\u201d\uff0c\u5c31\u80fd\u8ba9\u81ea\u52a8\u9a7e\u9a76AI\u8bc6\u522b\u201c\u7269\u4f53\u8fd0\u52a8\u72b6\u6001\u201d\u7684\u80fd\u529b\u5927\u5e45\u4e0a\u5347\uff01<\/p>\n
\u8fd9\u662f\u4e00\u9879\u6765\u81ea\u9999\u6e2f\u5927\u5b66\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u673a\u5668\u667a\u80fd\u5b9e\u9a8c\u5ba4\uff08CVMI Lab\uff09\u548cTCL AI Lab\u7684\u65b0\u7814\u7a76\uff0c\u76ee\u524d\u8bba\u6587\u5df2\u88abCVPR 2023\u6536\u5f55\u3002<\/p>\n
<\/p>\n
\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u79cd\u53eb\u505aMarS3D\u7684\u8f7b\u91cf\u7ea7\u6a21\u578b\uff0c\u7ed9\u539f\u672c\u53ea\u80fd\u8bc6\u522b\u7269\u4f53\u201c\u662f\u4ec0\u4e48\u201d\u7684\u8bed\u4e49\u5206\u5272\u6a21\u578b\u7528\u4e0a\u540e\uff0c\u5c31\u80fd\u8ba9\u5b83\u4eec\u8fdb\u4e00\u6b65\u5b66\u4f1a\u8bc6\u522b\u8fd9\u4e9b\u7269\u4f53\u201c\u662f\u5426\u5728\u52a8\u201d\u3002<\/p>\n
<\/p>\n
\u800c\u4e14\u662f\u4efb\u610f\u4e3b\u6d41\u6a21\u578b\u5373\u63d2\u5373\u7528\uff0c\u51e0\u4e4e\u4e0d\u9700\u8981\u989d\u5916\u7684\u8ba1\u7b97\u91cf\uff08\u63a8\u7406\u65f6\u95f4\u53ea\u589e\u52a0\u4e0d\u52300.03\u79d2\uff09\uff0c\u76ee\u524d\u5df2\u5f00\u6e90\u3002<\/p>\n
\u8981\u77e5\u9053\uff0c\u5bf9\u4e8e\u9760\u6fc0\u5149\u96f7\u8fbe\u6765\u5224\u65ad\u5468\u56f4\u73af\u5883\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u800c\u8a00\uff0c\u5176\u611f\u77e5\u80fd\u529b\uff0c\u5f88\u5927\u7a0b\u5ea6\u4e0a\u4f9d\u8d56\u4e8e3D\u70b9\u4e91\u8bed\u4e49\u5206\u5272\u6a21\u578b\u7684\u51c6\u786e\u7387\u548c\u6548\u7387\u3002<\/p>\n
\u5982\u679c\u60f3\u63d0\u5347\u6a21\u578b\u8bc6\u522b\u201c\u8fd0\u52a8\u7269\u4f53\u201d\u7684\u80fd\u529b\uff0c\u5f80\u5f80\u9700\u8981\u5c06\u7e41\u91cd\u7684\u5ba4\u5916\u591a\u5e27\u70b9\u4e91\u6570\u636e\u5206\u522b\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u548c\u5904\u7406\uff0c\u4f46\u8fd9\u79cd\u65b9\u6cd5\u4e0d\u4ec5\u8981\u589e\u52a0\u5927\u91cf\u8ba1\u7b97\uff0c\u8bc6\u522b\u6027\u80fd\u4e5f\u6ca1\u63d0\u5347\u591a\u5c11\uff0c\u5c5e\u5b9e\u662f\u4e8b\u500d\u529f\u534a\u3002<\/p>\n
\u76f8\u6bd4\u4e4b\u4e0b\uff0cMarS3D\u53c2\u6570\u91cf\u53ea\u6709\u7ea6100K\u5927\u5c0f\uff0c\u5374\u80fd\u5c06\u4e3b\u6d41\u70b9\u4e91\u5206\u5272\u6a21\u578b\u7684\u6027\u80fd\u63d0\u5347\u8fd15%\u3002<\/p>\n
\u8fd9\u7a76\u7adf\u662f\u600e\u4e48\u505a\u5230\u7684\uff1f<\/p>\n
100K\u53c2\u6570\u8ba9\u6a21\u578b\u5b66\u4f1a\u8bc6\u522b\u201c\u8fd0\u52a8\u201d\u7269\u4f53<\/strong><\/p>\n \u9996\u5148\u8981\u4e86\u89e3\u4e00\u4e0b3D\u70b9\u4e91\u7684\u4e24\u79cd\u8bed\u4e49\u5206\u5272\u4efb\u52a1\uff0c\u5355\u626b\u63cf\uff08single-scan\uff09\u548c\u591a\u626b\u63cf\uff08multi-scan\uff09\u3002<\/p>\n \u8fd9\u4e24\u79cd\u65b9\u6cd5\u7684\u6838\u5fc3\u5dee\u5f02\uff0c\u5728\u4e8e\u80fd\u5426\u533a\u5206\u7269\u4f53\u7684\u8fd0\u52a8\u72b6\u6001\u3002<\/p>\n \u5355\u626b\u63cf\u4efb\u52a1\u53ea\u9700\u8981\u6839\u636e\u5355\u5e27\u70b9\u4e91\uff0c\u628a\u573a\u666f\u4e2d\u6c7d\u8f66\u3001\u884c\u4eba\u3001\u9053\u8def\u7b49\u8bed\u4e49\u4fe1\u606f\u5206\u5272\u5e76\u6807\u6ce8\u51fa\u6765\u3002\u50cf\u4e0b\u56fe\uff0c\u4e0d\u540c\u7684\u989c\u8272\u4ee3\u8868\u4e0d\u540c\u7684\u7269\u4f53\uff0c\u5982\u84dd\u8272\u7684\u70b9\u4e91\u4ee3\u8868\u8f66\uff1a<\/p>\n \u591a\u626b\u63cf\u4efb\u52a1\uff0c\u5219\u9700\u8981\u6839\u636e\u65f6\u5e8f\u4e0a\u7684\u591a\u5e27\u70b9\u4e91\uff0c\u540c\u65f6\u5206\u5272\u8bed\u4e49\u4fe1\u606f\u548c\u8fd0\u52a8\u72b6\u6001\u3002<\/p>\n \u6362\u8a00\u4e4b\uff0c\u4e0d\u4ec5\u8981\u5b66\u4f1a\u533a\u5206\u6c7d\u8f66\u3001\u884c\u4eba\u3001\u9053\u8def\uff0c\u8fd8\u5f97\u8bc6\u522b\u8fd9\u4e9b\u7269\u4f53\u662f\u5426\u5728\u8fd0\u52a8\u3002\u5982\u6c7d\u8f66\u6807\u7b7e\u6269\u5c55\u6210\u201c\u8fd0\u52a8\u7684\u8f66\u201d\u548c\u201c\u4e0d\u52a8\u7684\u8f66\u201d\uff0c\u4ee5\u53ca\u884c\u4eba\u6269\u5c55\u6210\u201c\u8fd0\u52a8\u7684\u884c\u4eba\u201d\u548c\u201c\u4e0d\u52a8\u7684\u884c\u4eba\u201d\uff1a<\/p>\n \u76ee\u524d\uff0c\u81ea\u52a8\u9a7e\u9a76\u505a\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6570\u636e\u7684\u5904\u7406\uff0c\u4e3b\u8981\u8fd8\u662f\u901a\u8fc7\u5355\u626b\u63cf\u8bed\u4e49\u5206\u5272\u65b9\u6cd5\u3002<\/p>\n \u867d\u7136\u80fd\u901a\u8fc7\u6269\u5c55\u6807\u7b7e\u3001\u878d\u5408\u70b9\u4e91\u6570\u636e\uff0c\u76f4\u63a5\u5c06\u5355\u626b\u63cf\u6a21\u578b\u8bad\u7ec3\u6210\u591a\u626b\u63cf\u6a21\u578b\uff0c\u4ece\u800c\u8ba9AI\u638c\u63e1\u8bc6\u522b\u7269\u4f53\u8fd0\u52a8\u72b6\u6001\u7684\u80fd\u529b\uff0c\u4f46\u5b58\u5728\u4e24\u4e2a\u95ee\u9898\uff1a<\/p>\n \u4e00\u4e2a\u662f\u6027\u80fd\u6536\u6548\u4e00\u822c\uff1b\u53e6\u4e00\u4e2a\u662f\u878d\u5408\u70b9\u4e91\u6570\u636e\u91cf\u5927\uff0c\u5bfc\u81f4\u8fd9\u79cd\u6a21\u578b\u590d\u6742\u3001\u8ba1\u7b97\u65f6\u95f4\u957f\uff0c\u800c\u8fd9\u6b63\u662f\u201c\u4e89\u5206\u593a\u79d2\u201d\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u65e0\u6cd5\u63a5\u53d7\u7684\u3002<\/p>\n \u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e24\u4e2a\u95ee\u9898\uff0c\u8ba9\u8bed\u4e49\u5206\u5272\u6a21\u578b\u53c8\u5feb\u53c8\u597d\u5730\u638c\u63e1\u8bc6\u522b\u201c\u8fd0\u52a8\u7269\u4f53\u201d\u7684\u65b9\u6cd5\uff0cMarS3D\u6a2a\u7a7a\u51fa\u4e16\u3002<\/p>\n \u5373\u4f7f\u4e4b\u524d\u6a21\u578b\u53ea\u80fd\u505a\u5355\u626b\u63cf\u8bed\u4e49\u5206\u5272\uff0c\u7ed9\u5b83\u52a0\u4e2aMarS3D\u540e\uff0c\u4e0d\u4ec5\u80fd\u5927\u5e45\u63d0\u5347\u591a\u626b\u63cf\u8bed\u4e49\u5206\u5272\u80fd\u529b\uff0c\u533a\u5206\u7269\u4f53\u201c\u662f\u5426\u5728\u8fd0\u52a8\u201d\uff0c\u6548\u679c\u8fd8\u6bd4\u5176\u4ed6\u591a\u626b\u63cf\u65b9\u6cd5\u66f4\u597d\u3002<\/p>\n \u6240\u4ee5\uff0cMarS3D\u7684\u6838\u5fc3\u601d\u8def\u662f\u4ec0\u4e48\uff1f<\/p>\n \u5177\u4f53\u6765\u8bf4\uff0c\u6a21\u578b\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u4e8e2D CNN\u7f51\u7edc\u7684\u5206\u652fBEV Branch\uff0c\u8fd9\u4e2a\u6a21\u578b\u80fd\u63d0\u53d6\u70b9\u4e91\u6570\u636e\u8f6c\u6362\u7684BEV\uff08Bird\u2019s Eye View\uff09\u8868\u5f81\uff0c\u5373\u81ea\u4e0a\u800c\u4e0b\u7684\u9e1f\u77b0\u89c6\u89d2\u3002<\/p>\n \u4e4b\u6240\u4ee5\u9009\u7528BEV\uff0c\u4e3b\u8981\u6709\u4e24\u4e2a\u539f\u56e0\u3002<\/p>\n \u4e00\u65b9\u9762\uff0c\u76ee\u524d\u7684\u8fd0\u52a8\u7269\u4f53\u57fa\u672c\u90fd\u662f\u5728\u5730\u4e0a\u8dd1\uff08\u5373\u4f7f\u5728\u7a7a\u4e2d\u98de\uff0c\u4e5f\u51e0\u4e4e\u4e0d\u5b58\u5728\u5782\u76f4\u4e0a\u5347\u7684\u60c5\u51b5\uff09\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u51e0\u4e4e\u6240\u6709\u7684\u8fd0\u52a8\u90fd\u5728\u6c34\u5e73\u9762\u4e0a\u6709\u4f4d\u79fb\uff0c\u56e0\u6b64\u5b83\u80fd\u5f88\u597d\u5730\u53cd\u6620\u7269\u4f53\u5728\u7edd\u5927\u90e8\u5206\u573a\u666f\u4e2d\u7684\u8fd0\u52a8\u72b6\u6001\uff1b<\/p>\n \u53e6\u4e00\u65b9\u9762\uff0cBEV\u76f8\u6bd4\u70b9\u4e91\u6570\u636e\u91cf\u66f4\u5c0f\uff0c\u8fd8\u80fd\u901a\u8fc7\u53c2\u8003\u5e27\u548c\u7279\u5f81\u56fe\u76f8\u51cf\uff0c\u964d\u4f4e\u70b9\u4e91\u7a00\u758f\u6027\u5e26\u6765\u8868\u5f81\u4e0d\u7a33\u5b9a\u7684\u95ee\u9898\uff0c\u5373\u540c\u6837\u9759\u6001\u533a\u57df\u7684\u8868\u5f81\u8fd1\u4f3c\uff0c\u542b\u6709\u52a8\u6001\u7269\u4f53\u533a\u57df\u7684\u8868\u5f81\u8ddd\u79bb\u66f4\u8fdc\u3002\u6b64\u5916\uff0c\u591a\u5c3a\u5bf8\u5377\u79ef\u5bf9\u8868\u5f81\u62bd\u53d6\u7279\u5f81\u56fe\uff0c\u4ee5\u4fdd\u8bc1\u6a21\u578b\u5bf9\u4e0d\u540c\u8fd0\u52a8\u901f\u5ea6\u7684\u7269\u4f53\u90fd\u6709\u5f88\u5f3a\u611f\u77e5\u529b\u3002<\/p>\n \u968f\u540e\uff0c\u5c06\u8fd9\u4e2a\u5206\u652f\u63d0\u53d6\u7684\u8fd0\u52a8\u72b6\u6001\u4fe1\u606f\u7279\u5f81\u3001\u548c\u5176\u4ed6\u88ab\u65f6\u5e8f\u5d4c\u5165\u5411\u91cf\u589e\u5f3a\u7684\u5355\u626b\u63cf\u4efb\u52a1\u6a21\u578b\u5206\u652f3D Branch\u63d0\u53d6\u7684\u8bed\u4e49\u4fe1\u606f\u7279\u5f81\u7ed3\u5408\u8d77\u6765\uff0c\u8fdb\u884c\u7279\u5f81\u878d\u5408\uff0c\u6700\u7ec8\u5b9e\u73b0\u8bed\u4e49\u5206\u5272\u3002<\/p>\n \u90a3\u4e48\uff0c\u8fd9\u6837\u5b9e\u73b0\u76843D\u70b9\u4e91\u8bed\u4e49\u5206\u5272\uff0c\u6548\u679c\u7a76\u7adf\u600e\u4e48\u6837\uff1f<\/p>\n \u51e0\u5341\u6beb\u79d2\u8ba1\u7b97\uff0c\u5206\u5272\u6027\u80fd\u63d0\u5347\u8fd15%<\/strong><\/p>\n \u76f8\u6bd4\u548c\u5176\u4ed6\u8f93\u5165\u5982RGB\u56fe\u50cf\u8fdb\u884c\u7ed3\u5408\uff0c\u8bba\u6587\u91cd\u70b9\u6d4b\u8bd5\u4e86\u6a21\u578b\u9488\u5bf9\u7eaf\u70b9\u4e91\u8f93\u5165\u7684\u5206\u5272\u6548\u679c\u3002<\/p>\n \u4ece\u4e0b\u8868\u53ef\u89c1\uff0c\u5bf9\u4e8eSemanticKITTI\u6570\u636e\u96c6\uff0c\u5728\u76ee\u524d\u4e3b\u6d41\u7684\u5355\u626b\u63cf\u70b9\u4e91\u5206\u5272\u6a21\u578b\u5982SPVCNN\u3001SparseConv\u548cMinkUNet\u4e0a\uff0cMarS3D\u5728\u53ea\u7ed9\u6a21\u578b\u589e\u52a00.1M\u7684\u60c5\u51b5\u4e0b\uff08\u53c2\u6570\u91cf\u589e\u52a0\u4e0d\u52300.5%\uff09\uff0c\u5c06\u6027\u80fd\uff08mIoU\uff09\u5206\u522b\u63d0\u5347\u4e864.96%\u30015.65%\u548c6.24%\u3002<\/p>\n \u540c\u65f6\uff0c\u8ba1\u7b97\u65f6\u95f4\uff08\u5ef6\u8fdf\uff09\u53ea\u589e\u52a0\u4e8619ms\u300114ms\u548c28ms\u3002<\/p>\n 5%\u5bf9\u4e8e\u6a21\u578b\u5206\u5272\u6027\u80fd\u63d0\u5347\u6709\u591a\u663e\u8457\uff1f\u4e0b\u56fe\u662f\u5728\u4e24\u4e2a\u626b\u63cf\u573a\u666f\u4e2d\uff0c\u6a21\u578b\u589e\u52a0MarS3D\u524d\u548c\u589e\u52a0\u540e\u7684\u6548\u679c\u5bf9\u6bd4\uff0c\u5176\u4e2d\u5de6\u56fe\u662f\u589e\u52a0\u524d\uff0c\u4e2d\u95f4\u662f\u589e\u52a0\u540e\uff0c\u53f3\u8fb9\u662f\u771f\u5b9e\u503c\uff1a<\/p>\n \u663e\u7136\uff0c\u589e\u52a0MarS3D\u540e\u6a21\u578b\u8bc6\u522b\u7269\u4f53\u7684\u6548\u679c\u8981\u66f4\u597d\u3002<\/p>\n \u76f4\u63a5\u5c06\u5206\u5272\u6548\u679c\u548c\u771f\u5b9e\u503c\u5bf9\u6bd4\uff0c\u53ef\u89c1\u589e\u52a0MarS3D\u540e\u7684\u201c\u9519\u8bef\u503c\u201d\uff0c\u6bd4\u589e\u52a0\u524d\u8981\u4f4e\u4e0d\u5c11\uff1a<\/p>\n \u6574\u4e2a\u63a8\u7406\u8fc7\u7a0b\uff0c\u53ea\u9700\u8981\u4e00\u5757\u82f1\u4f1f\u8fbeGeForce RTX 3090 GPU\u5c31\u80fd\u641e\u5b9a\u3002<\/p>\n \u5bf9MarS3D\u611f\u5174\u8da3\u7684\u5c0f\u4f19\u4f34\u4eec\uff0c\u53ef\u4ee5\u53bb\u8bd5\u8bd5\u4e86~<\/p>\n \u9879\u76ee\u5730\u5740<\/p>\n https:\/\/github.com\/CVMI-Lab\/MarS3D<\/p>\n \u8bba\u6587\u5730\u5740<\/p>\n https:\/\/arxiv.org\/abs\/2307.09316<\/p>\n \u672c\u6587\u6765\u81ea\u5fae\u4fe1\u516c\u4f17\u53f7\u201c\u91cf\u5b50\u4f4d\u201d\uff08ID:QbitAI\uff09\uff0c\u4f5c\u8005\uff1a\u8427\u7bab\uff0c36\u6c2a\u7ecf\u6388\u6743\u53d1\u5e03\u3002<\/p>\n","protected":false},"excerpt":{"rendered":" \u53ea\u9700\u201c100K\u5927\u5c0f\u7684\u5916\u6302\u201d\uff0c\u5c31\u80fd\u8ba9\u81ea\u52a8\u9a7e\u9a76AI 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