{"id":6215,"date":"2023-10-13T09:20:43","date_gmt":"2023-10-13T01:20:43","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/10\/13\/6215\/"},"modified":"2023-10-13T09:25:53","modified_gmt":"2023-10-13T01:25:53","slug":"2023%e5%b9%b4cvpr%e6%9c%80%e4%bd%b3%e8%ae%ba%e6%96%87uniad%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%a8%a1%e5%9e%8b%e5%88%86%e6%9e%90","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/10\/13\/6215\/","title":{"rendered":"2023-10-13  2023\u5e74CVPR\u6700\u4f73\u8bba\u6587UniAD\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5206\u6790"},"content":{"rendered":"<p>2023\u5e74CVPR\u6700\u4f73\u8bba\u6587UniAD\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u5206\u6790\u73b0\u4ee3\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edfUniAD\u7684\u7279\u5f81\u662f\u6309\u987a\u5e8f\u7684\u6a21\u5757\u5316\u4efb\u52a1\uff0c\u5373\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u4e3a\u4e86\u6267\u884c\u5e7f\u6cdb\u591a\u6837\u7684\u4efb\u52a1\u5e76\u5b9e\u73b0\u9ad8\u7ea7\u667a\u80fd\uff0c\u73b0\u4ee3\u65b9\u6cd5\u8981\u4e48\u4e3a\u5355\u4e2a\u4efb\u52a1\u90e8\u7f72\u72ec\u7acb\u6a21\u578b\uff0c\u8981\u4e48\u8bbe\u8ba1\u5177\u6709\u72ec\u7acb\u5934\u90e8\u7684\u591a\u4efb\u52a1\u8303\u5f0f\u3002\u7136\u800c\uff0c\u4ed6\u4eec\u53ef\u80fd\u4f1a\u53d7\u5230\u7d2f\u79ef\u9519\u8bef\u6216\u4efb\u52a1\u534f\u8c03\u4e0d\u8db3\u7684\u5f71\u54cd\u3002\u76f8\u53cd\uff0c\u8ba4\u4e3a\u5e94\u8be5\u5728\u8ffd\u6c42\u6700\u7ec8\u76ee\u6807\uff0c\u5373\u89c4\u5212\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u3002\u9488\u5bf9\u8fd9\u4e00\u70b9\uff0c\u91cd\u65b0\u5ba1\u89c6\u611f\u77e5\u548c\u9884\u6d4b\u4e2d\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\uff0c\u5e76\u5bf9\u4efb\u52a1\u8fdb\u884c\u4f18\u5148\u7ea7\u6392\u5e8f\uff0c\u4ee5\u4fbf\u6240\u6709\u8fd9\u4e9b\u4efb\u52a1\u90fd\u6709\u52a9\u4e8e\u89c4\u5212\u3002\u4ecb\u7ecd\u4e86\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\uff08\uff09\uff0c\u8fd9\u662f\u4e00\u4e2a\u5168\u9762\u7684\u6846\u67b6\u6700\u65b0\u7684\uff0c\u5728\u4e00\u4e2a\u7f51\u7edc\u4e2d\u96c6\u6210\u4e86\u5168\u6808\u9a71\u52a8\u4efb\u52a1\u3002<\/p>\n<p>\u5b83\u7ecf\u8fc7\u7cbe\u5fc3\u8bbe\u8ba1\uff0c\u53ef\u4ee5\u5229\u7528\u6bcf\u4e2a\u6a21\u5757\u7684\u4f18\u52bf\uff0c\u5e76\u4ece\u5168\u5c40\u89d2\u5ea6\u4e3a\u4ee3\u7406\u4ea4\u4e92\u63d0\u4f9b\u4e92\u8865\u7684\u7279\u6027\u62bd\u8c61\u3002\u4efb\u52a1\u901a\u8fc7\u7edf\u4e00\u7684\u67e5\u8be2\u63a5\u53e3\u8fdb\u884c\u901a\u4fe1\uff0c\u4ee5\u4fbf\u4e8e\u5f7c\u6b64\u8fdb\u884c\u89c4\u5212\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u57fa\u51c6\u4e0a\u5b9e\u4f8b\u5316UniAD\u3002\u901a\u8fc7\u5e7f\u6cdb\u7684\u6d88\u878d\uff0c\u6709\u6548\u6027\u5df2\u88ab\u8bc1\u660e\u5728\u5404\u4e2a\u65b9\u9762\u90fd\u5927\u5927\u4f18\u4e8e\u4ee5\u5f80\u7684\u6280\u672f\u72b6\u6001\u3002\u4ee3\u7801\u548c\u6a21\u578b\u662f\u516c\u5f00\u7684\u3002<\/p>\n<p>https:\/\/arxiv.org\/pdf\/2212.10156v2.pdf<\/p>\n<p><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/opendrivelab\/uniad\">https:\/\/github.com\/opendrivelab\/uniad<\/a><\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-c2d9c2bc8a91c4baf0c2c1cc2ad14e10_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"265\" data-original=\"https:\/\/pic1.zhimg.com\/v2-c2d9c2bc8a91c4baf0c2c1cc2ad14e10_r.jpg\" \/><\/p>\n<p>\u56fe3. \u53ef\u89c6\u5316\u7ed3\u679c\u3002<\/p>\n<p>\u5728\u73af\u7ed5\u89c6\u56fe\u56fe\u50cf\u548cBEV\u4e2d\u663e\u793a\u6240\u6709\u4efb\u52a1\u7684\u7ed3\u679c\u3002\u8fd0\u52a8\u548c\u5360\u7528\u6a21\u5757\u7684\u9884\u6d4b\u662f\u4e00\u81f4\u7684\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0cego\u8f66\u8f86\u6b63\u5728\u5411\u524d\u65b9\u7684\u9ed1\u8272\u6c7d\u8f66\u5c48\u670d\u3002\u6bcf\u4e2a\u4ee3\u7406\u90fd\u7528\u4e00\u79cd\u72ec\u7279\u7684\u989c\u8272\u8fdb\u884c\u8bf4\u660e\u3002\u4ec5\u9009\u62e9\u6765\u81ea\u8fd0\u52a8\u9884\u6d4b\u7684\u524d1\u548c\u524d3\u8f68\u8ff9\u5206\u522b\u5728\u56fe\u50cf\u89c6\u56fe\u548cBEV\u4e0a\u8fdb\u884c\u53ef\u89c6\u5316<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-51e374944e5d5f16d8d8fb2530e3c846_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"701\" data-original=\"https:\/\/pic3.zhimg.com\/v2-51e374944e5d5f16d8d8fb2530e3c846_r.jpg\" \/>\u4e0a\u6d77AI\u5b9e\u9a8c\u5ba4\u8054\u5408\u56e2\u961f\u63d0\u51fa\u4e1a\u754c\u9996\u4e2a\u611f\u77e5\u51b3\u7b56\u4e00\u4f53\u5316\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-c692c2029b7a614cf6450273081660dc_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"488\" data-original=\"https:\/\/pic1.zhimg.com\/v2-c692c2029b7a614cf6450273081660dc_r.jpg\" \/><\/p>\n<p>\u56fe1.\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u7684\u5404\u79cd\u8bbe\u8ba1\u6bd4\u8f83\u3002\uff08a\uff09 \u5927\u591a\u6570\u5de5\u4e1a\u89e3\u51b3\u65b9\u6848\u9488\u5bf9\u4e0d\u540c\u7684\u4efb\u52a1\u90e8\u7f72\u5355\u72ec\u7684\u6a21\u578b\u3002\uff08b\uff09 \u591a\u4efb\u52a1\u5b66\u4e60\u65b9\u6848\u4e0e\u5212\u5206\u7684\u4efb\u52a1\u8d1f\u8d23\u4eba\u5171\u4eab\u9aa8\u67b6\u3002\uff08c\uff09 \u7aef\u5230\u7aef\u8303\u5f0f\u5c06\u611f\u77e5\u548c\u9884\u6d4b\u6a21\u5757\u7ed3\u5408\u5728\u4e00\u8d77\u3002\u4ee5\u524d\u7684\u5c1d\u8bd5\u8981\u4e48\u5728\uff08c.1\uff09\u4e2d\u5bf9\u89c4\u5212\u8fdb\u884c\u76f4\u63a5\u4f18\u5316\uff0c\u8981\u4e48\u5728\uff08c.2\uff09\u4e2d\u8bbe\u8ba1\u5e26\u6709\u90e8\u5206\u7ec4\u4ef6\u7684\u7cfb\u7edf\u3002\u76f8\u53cd\uff0c\u5728\uff08c.3\uff09\u4e2d\u8ba4\u4e3a\uff0c\u7406\u60f3\u7684\u7cfb\u7edf\u5e94\u8be5\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\uff0c\u5e76\u6b63\u786e\u7ec4\u7ec7\u5148\u524d\u7684\u4efb\u52a1\u4ee5\u4fbf\u4e8e\u89c4\u5212\u3002<\/p>\n<p>\u5728\u4eca\u5e74\u7684\u56fd\u9645\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u6a21\u5f0f\u8bc6\u522b\u4f1a\u8bae\uff08CVPR\uff09\u4e0a\uff0c\u4e0a\u6d77AI\u5b9e\u9a8c\u5ba4\u8054\u5408\u56e2\u961f\u7684\u7814\u7a76\u6210\u679c\u300aPlanning-oriented Autonomous Driving\u300b[1]\uff08\u4ee5\u8def\u5f84\u89c4\u5212\u4e3a\u5bfc\u5411\u7684\u81ea\u52a8\u9a7e\u9a76\uff09\u6458\u5f97\u6700\u4f73\u8bba\u6587\u5956\uff0c\u53ef\u8c13\u201c\u4e07\u91cc\u6311\u4e00\u201d\uff01\u8be5\u7814\u7a76\u6210\u679c\u63d0\u51fa\u4e86\u9996\u4e2a\u611f\u77e5\u51b3\u7b56\u4e00\u4f53\u5316\u7684\u81ea\u52a8\u9a7e\u9a76\u901a\u7528\u5927\u6a21\u578bUniAD\uff0c\u5f00\u521b\u4e86\u4ee5\u5168\u5c40\u4efb\u52a1\u4e3a\u76ee\u6807\u7684\u81ea\u52a8\u9a7e\u9a76\u5927\u6a21\u578b\u67b6\u6784\u5148\u6cb3, \u4e3a\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u4e0e\u4ea7\u4e1a\u7684\u53d1\u5c55\u63d0\u51fa\u4e86\u65b0\u7684\u65b9\u5411\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-a38bbe30c6a2917be6c400f726c4166c_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"233\" data-original=\"https:\/\/pic1.zhimg.com\/v2-a38bbe30c6a2917be6c400f726c4166c_r.jpg\" \/><\/p>\n<p>\u56fe2:\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\uff08UniAD\uff09\u7684\u7ba1\u9053\u3002\u5b83\u662f\u6309\u7167\u8ba1\u5212\u5bfc\u5411\u7684\u54f2\u5b66\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u3002\u7814\u7a76\u4e86\u6bcf\u4e2a\u6a21\u5757\u5728\u611f\u77e5\u548c\u9884\u6d4b\u4e2d\u7684\u6548\u679c\uff0c\u800c\u4e0d\u662f\u7b80\u5355\u7684\u4efb\u52a1\u5806\u6808\uff0c\u5229\u7528\u4e86\u4ece\u5148\u524d\u8282\u70b9\u5230\u9a7e\u9a76\u573a\u666f\u4e2d\u6700\u7ec8\u89c4\u5212\u7684\u8054\u5408\u4f18\u5316\u7684\u597d\u5904\u3002\u6240\u6709\u611f\u77e5\u548c\u9884\u6d4b\u6a21\u5757\u90fd\u8bbe\u8ba1\u5728\u8f6c\u6362\u5668-\u89e3\u7801\u5668\u7ed3\u6784\u4e2d\uff0c\u4efb\u52a1\u67e5\u8be2\u4f5c\u4e3a\u8fde\u63a5\u6bcf\u4e2a\u8282\u70b9\u7684\u63a5\u53e3\u3002\u4e00\u4e2a\u7b80\u5355\u7684\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u89c4\u5212\u5668\u6700\u7ec8\u53ef\u4ee5\u8003\u8651\u4ece\u5148\u524d\u8282\u70b9\u63d0\u53d6\u7684\u77e5\u8bc6\u6765\u9884\u6d4b\u81ea\u8f66\u8f86\u7684\u672a\u6765\u8def\u7ebf\u70b9\u3002\u5360\u7528\u7387\u8fc7\u9ad8\u7684\u5730\u56fe\u4ec5\u7528\u4e8e\u89c6\u89c9\u76ee\u7684\u3002<\/p>\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u5305\u542b\u4e09\u5927\u4e3b\u4efb\u52a1\u5373\uff0c\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u5f53\u524d\uff0c\u4e1a\u754c\u4e3b\u6d41\u7684\u65b9\u6848\u67b6\u6784\u5206\u522b\u91c7\u7528\u4e0d\u540c\u7684\u6a21\u5757\u6765\u5904\u7406\u8fd9\u4e9b\u5177\u4f53\u4efb\u52a1\uff0c\u4f46\u7531\u4e8e\u5404\u6a21\u5757\u5e76\u975e\u4ee5\u9a7e\u9a76\u4e3a\u6700\u7ec8\u76ee\u6807\u8fdb\u884c\u4f18\u5316\uff0c\u56e0\u800c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u6574\u4f53\u6027\u80fd\u63d0\u5347\u53d7\u5230\u4e86\u5f88\u5927\u9650\u5236\u3002<\/p>\n<p>\u5728UniAD\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u9996\u6b21\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u4e09\u5927\u7c7b\u4e3b\u4efb\u52a1\u3001\u516d\u5c0f\u7c7b\u5b50\u4efb\u52a1\uff08\u76ee\u6807\u68c0\u6d4b\u3001\u76ee\u6807\u8ddf\u8e2a\u3001\u573a\u666f\u5efa\u56fe\u3001\u8f68\u8ff9\u9884\u6d4b\u3001\u6805\u683c\u9884\u6d4b\u548c\u8def\u5f84\u89c4\u5212\uff09\u6574\u5408\u5230\u7edf\u4e00\u7684\u57fa\u4e8e Transformer\u7684\u7aef\u5230\u7aef\u7f51\u7edc\u6846\u67b6\u4e0b\uff0c\u5b9e\u73b0\u4e86\u5168\u6808\u5173\u952e\u4efb\u52a1\u9a7e\u9a76\u901a\u7528\u6a21\u578b\u3002\u5728 nuScenes \u771f\u5b9e\u573a\u666f\u6570\u636e\u96c6\u4e0b\uff0cUniAD\u7684\u6240\u6709\u4efb\u52a1\u5747\u8fbe\u5230\u9886\u57df\u6700\u4f73\u6027\u80fd\uff08State-of-the-art\uff09\uff0c\u5c24\u5176\u662f\u9884\u6d4b\u548c\u89c4\u5212\u6548\u679c\u8fdc\u8d85\u4e4b\u524d\u7684\u6700\u4f73\u65b9\u6848\u3002\u5176\u4e2d\uff0c\u591a\u76ee\u6807\u8ddf\u8e2a\u51c6\u786e\u7387\u8d85\u8d8aSOTA 20%\uff0c\u8f66\u9053\u7ebf\u9884\u6d4b\u51c6\u786e\u7387\u63d0\u534730%\uff0c\u9884\u6d4b\u8fd0\u52a8\u4f4d\u79fb\u548c\u89c4\u5212\u7684\u8bef\u5dee\u5219\u5206\u522b\u964d\u4f4e\u4e8638%\u548c28%\u3002<\/p>\n<p>UniAD\uff1a\u7edf\u4e00\u611f\u77e5\u3001\u9884\u6d4b\u3001\u89c4\u5212\u7684\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b<\/p>\n<p>\u8fd9\u7bc7\u6587\u7ae0\u53d1\u5e03\u5230\u4e86\u51e0\u5e74\u7684CVPR\uff0c\u800c\u4e14\u4e2d\u56fd\u4eba\u53d1\u8868\u7684\uff0c\u503c\u5f97\u4e00\u770b\u3002\u53e6\u5916\u6700\u8fd1\u4eba\u5f62\u673a\u5668\u4eba\u5f00\u59cb\u5728\u8d44\u672c\u5708\u5927\u706b\uff0c\u673a\u5668\u4eba\u79d1\u7814\u548c\u5c31\u4e1a\u53ef\u80fd\u662f\u4e00\u4e2a\u597d\u7684\u65b9\u5411\u3002<\/p>\n<p>github: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/opendrivelab\/uniad\">https:\/\/github.com\/opendrivelab\/uniad<\/a><\/p>\n<p>\u8bba\u6587\u5730\u5740\uff1a <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/pdf\/2212.10156v2.pdf\">https:\/\/arxiv.org\/pdf\/2212.10156v2.pdf<\/a><\/p>\n<p>\u56fd\u5185\u7248ChatGPT\uff1a <a href=\"https:\/\/link.zhihu.com\/?target=http%3A\/\/chat.menganhealth.cn\/\">http:\/\/chat.menganhealth.cn\/<\/a><\/p>\n<p><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/opendrivelab\/uniad\">https:\/\/github.com\/opendrivelab\/uniad<\/a><\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-50032de232e0fcde0535d6c9c92ff658_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"459\" data-original=\"https:\/\/pic1.zhimg.com\/v2-50032de232e0fcde0535d6c9c92ff658_r.jpg\" \/><\/p>\n<p>\u4eae\u70b9<\/p>\n<p>\u9762\u5411\u89c4\u5212\u7684\u7406\u5ff5\uff1aUniAD\u662f\u4e00\u4e2a\u9075\u5faa\u9762\u5411\u89c4\u5212\u7406\u5ff5\u7684\u7edf\u4e00\u81ea\u52a8\u9a7e\u9a76\u7b97\u6cd5\u6846\u67b6\u3002\u6ca1\u6709\u8fdb\u884c\u72ec\u7acb\u7684\u6a21\u5757\u5316\u8bbe\u8ba1\u548c\u591a\u4efb\u52a1\u5b66\u4e60\uff0c\u800c\u662f\u5206\u7ea7\u6267\u884c\u4e00\u7cfb\u5217\u4efb\u52a1\uff0c\u5305\u62ec\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u3002SOTA\u6027\u80fd\uff1aUniAD\u4e2d\u7684\u6240\u6709\u4efb\u52a1\u90fd\u5b9e\u73b0\u4e86SOTA\u6027\u80fd\uff0c\u5c24\u5176\u662f\u9884\u6d4b\u548c\u89c4\u5212\uff08\u8fd0\u52a8\uff1a0.71m minADE\uff0cocc:63.4%IoU\uff0c\u89c4\u5212\uff1a0.31%avg.Col\uff09\u3002<\/p>\n<p>\u6d88\u606f<\/p>\n<p>\u8bba\u6587\u6807\u9898\u66f4\u6539\uff1a\u4e3a\u4e86\u907f\u514d\u4e0e\u673a\u5668\u4eba\u5b66\u4e2d\u7684\u201c\u76ee\u6807\u70b9\u201d\u5bfc\u822a\u6df7\u6dc6\uff0c\u5c06\u8bc4\u5ba1\u5458\u5efa\u8bae\u7684\u6807\u9898\u4ece\u201c\u76ee\u6807\u5bfc\u5411\u201d\u66f4\u6539\u4e3a\u201c\u8ba1\u5212\u5bfc\u5411\u201d\u3002\u975e\u5e38\u611f\u8c22\u3002<\/p>\n<p>\u89c4\u5212\u6307\u6807\uff1a\u8ba8\u8bba[\u53c2\u8003\u6587\u732e\uff1a#29]\uff1a\u5173\u4e8e\u5f00\u73af\u89c4\u5212\u7ed3\u679c\u6bd4\u8f83\u7684\u6f84\u6e05\u548c\u901a\u77e5\u3002<\/p>\n<p>2023\/08\/03 Bugfix[Commit]\uff1a\u4ee5\u524d\uff0c\u4e0e\u5b9e\u9645\u60c5\u51b5\u76f8\u6bd4\uff0c\u53ef\u89c6\u5316\u7684\u89c4\u5212\u7ed3\u679c\u5728x\u8f74\u4e0a\u662f\u76f8\u53cd\u7684\u3002\u73b0\u5728\u5b83\u88ab\u4fee\u590d\u4e86\u3002<\/p>\n<p>2023\/06\/12 Bugfix[Ref:#21]\uff1a\u4ee5\u524d\uff0cstage1\u6a21\u578b\uff08track_map\uff09\u7684\u6027\u80fd\u5728\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\u65f6\u65e0\u6cd5\u590d\u5236\uff0c\u56e0\u4e3a\u9519\u8bef\u5730\u6dfb\u52a0\u4e86loss_past_traj\u5e76\u51bb\u7ed3\u4e86img_neck\u548cBN\u3002\u901a\u8fc7\u5728\u8bad\u7ec3\u4e2d\u5220\u9664loss_pas_traj\u5e76\u89e3\u51bbimg_nec\u514b\u548cBN\uff0c\u53ef\u4ee5\u590d\u5236\u62a5\u544a\u7684\u7ed3\u679c\uff08AMOTA:0.393\uff0cstage_train_log\uff09\u3002<\/p>\n<p>2023\/04\/18\u65b0\u529f\u80fd\uff1a\u53ef\u4ee5\u7528\u5176\u4ed6BEV\u7f16\u7801\u65b9\u6cd5\u66ff\u6362BEVFormer\uff0c\u4f8b\u5982LSS\uff0c\u53ea\u8981\u5728track_train\u548ctrack_inference\u4e2d\u63d0\u4f9bBEV_embed\u548cBEV_pos\u3002\u786e\u4fddbevs\u548cbevs\u5f62\u72b6\u76f8\u540c\u3002<\/p>\n<p>2023\/04\/18\u57fa\u672c\u6a21\u578b\u68c0\u67e5\u70b9\u53d1\u5e03\u3002<\/p>\n<p>2023\/03\/29\u4ee3\u7801\u548c\u6a21\u578b\u521d\u59cb\u7248\u672cv1.0\u3002<\/p>\n<p>2021\u5e743\u67083\u65e5 UniAD\u88abCVPR 2023\u5f55\u53d6\u4e3a\u83b7\u5956\u5019\u9009\u4eba\uff082360\u7bc7\u5df2\u5f55\u53d6\u8bba\u6587\u4e2d\u670912\u7bc7\uff09\uff01<\/p>\n<p>2022\/12\/21 UniAD\u8bba\u6587\u53ef\u5728arXiv\u4e0a\u83b7\u5f97\u3002<\/p>\n<p>\u7ed3\u679c\u548c\u9884\u5148\u8bad\u7ec3\u7684\u6a21\u578b<\/p>\n<p>UniAD\u5206\u4e24\u4e2a\u9636\u6bb5\u8fdb\u884c\u57f9\u8bad\u3002\u5c06\u53d1\u5e03\u4e24\u4e2a\u9636\u6bb5\u7684\u9884\u8bad\u7ec3\u68c0\u67e5\u70b9\uff0c\u4e0b\u8868\u5217\u51fa\u4e86\u6bcf\u4e2a\u6a21\u578b\u7684\u7ed3\u679c\u3002<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-bc56242632d189698d17389c494569be_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"161\" data-original=\"https:\/\/pic3.zhimg.com\/v2-bc56242632d189698d17389c494569be_r.jpg\" \/><\/p>\n<p>\u9636\u6bb51\uff1a\u611f\u77e5\u8bad\u7ec3<\/p>\n<p>\u9996\u5148\u8bad\u7ec3\u611f\u77e5\u6a21\u5757\uff08\u5373\u8f68\u8ff9\u548c\u5730\u56fe\uff09\uff0c\u4ee5\u83b7\u5f97\u4e0b\u4e00\u9636\u6bb5\u7684\u7a33\u5b9a\u6743\u91cd\u521d\u59cb\u5316\u3002BEV\u7279\u5f81\u88ab\u805a\u5408\u4e3a\u5177\u67095\u4e2a\u5e27\uff08queue_length\uff1d5\uff09\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-793c534170fc26f669d66ce0a5b8fb6e_b.jpg\" width=\"865\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"865\" data-rawheight=\"142\" data-original=\"https:\/\/pic3.zhimg.com\/v2-793c534170fc26f669d66ce0a5b8fb6e_r.jpg\" \/><\/p>\n<p>\u68c0\u67e5\u70b9\u4f7f\u7528\u60c5\u51b5<\/p>\n<p>\u5c06\u6240\u9700\u7684\u68c0\u67e5\u70b9\u4e0b\u8f7d\u5230UniAD\/ckpts\/\u76ee\u5f55\u4e2d\u3002<\/p>\n<p>\u53ef\u4ee5\u6309\u7167TRAIN_EVAL.md\u4e2d\u7684\u8bc4\u4f30\u90e8\u5206\u5bf9\u8fd9\u4e9b\u68c0\u67e5\u70b9\u8fdb\u884c\u8bc4\u4f30\uff0c\u4ee5\u91cd\u73b0\u7ed3\u679c\u3002<\/p>\n<p>\u4e5f\u53ef\u4ee5\u4f7f\u7528\u63d0\u4f9b\u7684\u6743\u91cd\u521d\u59cb\u5316\u81ea\u5df1\u7684\u6a21\u578b\u3002\u5c06\u914d\u7f6e\u4e2d\u7684load_from\u5b57\u6bb5\u66f4\u6539\u4e3apath\/of\/ckpt\uff0c\u7136\u540e\u6309\u7167train_EVAL.md\u4e2d\u7684\u8bad\u7ec3\u6bb5\u5f00\u59cb\u8bad\u7ec3\u3002<\/p>\n<p>\u6a21\u578b\u7ed3\u6784<\/p>\n<p>UniAD\u7684\u6574\u4e2a\u7ba1\u9053\u7531UniAD_e2e.py\u63a7\u5236\uff0cUniAD_e2.py\u534f\u8c03UniAD\/projects\/mmdet3d_plugin\/UniAD\/dense_heads\u4e2d\u7684\u6240\u6709\u4efb\u52a1\u6a21\u5757\u3002\u5982\u679c\u5bf9\u7279\u5b9a\u4efb\u52a1\u6a21\u5757\u7684\u5b9e\u73b0\u611f\u5174\u8da3\uff0c\u8bf7\u53c2\u9605\u5176\u76f8\u5e94\u7684\u6587\u4ef6\uff0c\u4f8b\u5982motion_head\u3002<\/p>\n<p>TODO\u5217\u8868<\/p>\n<p>\u6240\u6709\u914d\u7f6e\u548c\u68c0\u67e5\u70b9<\/p>\n<p>\u5c06MapFormer\u7684\u5b9e\u73b0\u4ecePanoptic SegFormer\u5347\u7ea7\u4e3aTopoNet\uff0c\u5b83\u5177\u6709\u5411\u91cf\u5316\u7684\u5730\u56fe\u8868\u793a\u548c\u62d3\u6251\u63a8\u7406\u529f\u80fd\u3002<\/p>\n<p>\u652f\u6301\u66f4\u5927\u7684\u6279\u91cf<\/p>\n<p>[\u957f\u671f]\u63d0\u9ad8\u672a\u6765\u5ef6\u671f\u7684\u7075\u6d3b\u6027<\/p>\n<p>\u4fee\u590d\u4e86\u4ece\u96f6\u5f00\u59cb\u8bad\u7ec3\u65f6\u65e0\u6cd5\u91cd\u73b0\u9636\u6bb51\u8f68\u8ff9\u56fe\u6a21\u578b\u7684\u7ed3\u679c\u7684\u9519\u8bef\u3002[\u53c2\u8003\u7f16\u53f7\uff1a#21]<\/p>\n<p>\u53ef\u89c6\u5316\u4ee3\u7801<\/p>\n<p>\u5206\u79bbBEV\u7f16\u7801\u5668\u548c\u8ddf\u8e2a\u6a21\u5757<\/p>\n<p>\u57fa\u672c\u6a21\u578b\u914d\u7f6e\u548c\u68c0\u67e5\u70b9<\/p>\n<p>\u4ee3\u7801\u521d\u59cb\u5316<\/p>\n<p>\u8bb8\u53ef\u8bc1<\/p>\n<p>\u9664\u975e\u53e6\u6709\u89c4\u5b9a\uff0c\u5426\u5219\u6240\u6709\u8d44\u4ea7\u548c\u4ee3\u7801\u90fd\u5728Apache 2.0\u8bb8\u53ef\u8bc1\u4e0b\u3002<\/p>\n<p>\u5f15\u6587<\/p>\n<p>\u5982\u679c\u8be5\u9879\u76ee\u5728\u4ee5\u4e0bBibTex\u65b9\u9762\u6709\u52a9\u4e8e\u7814\u7a76\uff0c\u8bf7\u8003\u8651\u5f15\u7528\u8bba\u6587\uff1a<\/p>\n<p>@inproceedings{hu2023_uniad,<\/p>\n<p>title={Planning-oriented Autonomous Driving},<\/p>\n<p>author={Yihan Hu and Jiazhi Yang and Li Chen and Keyu Li and Chonghao Sima and Xizhou Zhu and Siqi Chai and Senyao Du and Tianwei Lin and Wenhai Wang and Lewei Lu and Xiaosong Jia and Qiang Liu and Jifeng Dai and Yu Qiao and Hongyang Li},<\/p>\n<p>booktitle={Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition},<\/p>\n<p>year={2023},<\/p>\n<p>}<\/p>\n","protected":false},"excerpt":{"rendered":"<p>2023\u5e74CVPR\u6700\u4f73\u8bba\u6587UniAD\u81ea\u52a8\u9a7e\u9a76\u6a21 [&hellip;]<\/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-6215","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6215"}],"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=6215"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6215\/revisions"}],"predecessor-version":[{"id":6219,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6215\/revisions\/6219"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6215"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6215"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6215"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}