{"id":6879,"date":"2023-12-14T14:54:02","date_gmt":"2023-12-14T06:54:02","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/12\/14\/6879\/"},"modified":"2023-12-15T14:31:12","modified_gmt":"2023-12-15T06:31:12","slug":"%e5%a4%a7%e5%b9%85%e8%b6%85%e8%b6%8amaptrv2-%ef%bc%81gemap%ef%bc%9a%e5%b1%80%e9%83%a8%e9%ab%98%e7%b2%be%e5%9c%b0%e5%9b%besota%e5%86%8d%e5%ba%a6%e6%98%93%e4%b8%bb","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/12\/14\/6879\/","title":{"rendered":"2023-12-14\u4ee3\u7801\u548c\u6a21\u578b\u6743\u91cd\u5b8c\u5168\u5f00\u6e90\uff01GeMap\uff1a\u4ece\u51e0\u4f55\u6027\u8d28\u51fa\u53d1\u7684\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6848"},"content":{"rendered":"<p data-pid=\"bJRB-UTX\">\u8bba\u6587\uff1a<a class=\" external\" href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2312.03341\" target=\"_blank\" rel=\"nofollow noopener noreferrer\" data-za-detail-view-id=\"1043\"><span class=\"invisible\">https:\/\/<\/span><span class=\"visible\">arxiv.org\/abs\/2312.0334<\/span><span class=\"invisible\">1<\/span><\/a><\/p>\n<p data-pid=\"U-_nVdtN\">\u4e3b\u9875\uff1a<a class=\" external\" href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/invictus717.github.io\/GeMap\/\" target=\"_blank\" rel=\"nofollow noopener noreferrer\" data-za-detail-view-id=\"1043\"><span class=\"invisible\">https:\/\/<\/span><span class=\"visible\">invictus717.github.io\/G<\/span><span class=\"invisible\">eMap\/<\/span><\/a><\/p>\n<p data-pid=\"2QPuCwaR\">\u4ee3\u7801\uff1a<a class=\" external\" href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/cnzzx\/GeMap\" target=\"_blank\" rel=\"nofollow noopener noreferrer\" data-za-detail-view-id=\"1043\"><span class=\"invisible\">https:\/\/<\/span><span class=\"visible\">github.com\/cnzzx\/GeMap<\/span><\/a><\/p>\n<p data-pid=\"u2wfDaq0\">\u4e2d\u6587\u89c6\u9891\u89e3\u8bfb\uff1a<a class=\" external\" 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decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-5fc3ba62bbcbe6c61d8f78bfe4f9eefb_b.jpg\" width=\"692\" data-size=\"normal\" data-rawwidth=\"692\" data-rawheight=\"147\" data-original=\"https:\/\/pic4.zhimg.com\/v2-5fc3ba62bbcbe6c61d8f78bfe4f9eefb_r.jpg\" \/><\/p>\n<p>\u56fe2. 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decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-be2d2334e7cd391109cb9809a698a71f_b.jpg\" width=\"692\" data-size=\"normal\" data-rawwidth=\"692\" data-rawheight=\"187\" data-original=\"https:\/\/pic4.zhimg.com\/v2-be2d2334e7cd391109cb9809a698a71f_r.jpg\" \/><\/p>\n<p>\u56fe3. \u51e0\u4f55\u5173\u8054\u8868\u793a\u3002\u5e73\u884c\u5173\u7cfb\u548c\u5782\u76f4\u5173\u7cfb\u8868\u73b0\u4e3a\u504f\u79fb\u5411\u91cf\u7684\u5939\u89d2\u4e3a0\u5ea6\u6216\u800590\u5ea6\uff1b\u4e24\u70b9\u4e4b\u95f4\u7684\u8ddd\u79bb\u53ef\u4ee5\u4e00\u5b9a\u7a0b\u5ea6\u53cd\u6620\u8f66\u9053\u5bbd\u5ea6\u4fe1\u606f<\/p>\n<p>\u4e3a\u4f18\u5316\u51e0\u4f55\u5f62\u72b6\u548c\u5173\u8054\u7684\u8868\u793a\uff0c\u6211\u4eec\u91c7\u7528\u6700\u6734\u7d20\u7684\u505a\u6cd5\uff0c\u76f4\u63a5\u8ba1\u7b97\u9884\u6d4b\u548c\u6807\u7b7e\u7684\u51e0\u4f55\u8868\u793a\uff0c\u7136\u540e\u7528L_1\u8303\u6570\u4f5c\u4e3a\u4f18\u5316\u76ee\u6807\uff1a<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-fa0b3c9d3b575ecb1b4e328500a5d115_b.jpg\" width=\"505\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"505\" data-rawheight=\"149\" data-original=\"https:\/\/pic2.zhimg.com\/v2-fa0b3c9d3b575ecb1b4e328500a5d115_r.jpg\" \/><\/p>\n<p>\u8fd9\u91ccd\u548calpha\u5206\u522b\u8868\u793a\u6839\u636e\u6807\u7b7e\u8ba1\u7b97\u5f97\u5230\u7684\u957f\u5ea6\u548c\u5939\u89d2\uff0chat{d}\u548chat{alpha}\u5219\u8868\u793a\u6839\u636e\u9884\u6d4b\u8ba1\u7b97\u5f97\u5230\u7684\u957f\u5ea6\u548c\u5939\u89d2\u3002\u5728\u5904\u7406\u5939\u89d2\u65f6\u4f7f\u7528\u4e86\u4e00\u4e2a\u6280\u5de7\uff1a\u76f4\u63a5\u8ba1\u7b97\u89d2\u5ea6\u6d89\u53ca\u5230\u4e0d\u8fde\u7eed\u7684arctan\u51fd\u6570\uff0c\u5728\u4f18\u5316\u65f6\u4f1a\u9047\u5230\u56f0\u96be\uff08\u5728\u00b190\u5ea6\u9644\u8fd1\u5b58\u5728\u68af\u5ea6\u6d88\u5931\u7684\u95ee\u9898\uff09\uff0c\u56e0\u6b64\u6211\u4eec\u5b9e\u9645\u4e0a\u6bd4\u8f83\u7684\u662f\u5939\u89d2\u7684\u4f59\u5f26\u548c\u6b63\u5f26\u503c\uff1a<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-013b4a66951195c774c3e608fba1ccae_b.jpg\" width=\"497\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"497\" data-rawheight=\"43\" data-original=\"https:\/\/pic3.zhimg.com\/v2-013b4a66951195c774c3e608fba1ccae_r.jpg\" \/><\/p>\n<p>\u51e0\u4f55\u8868\u793a\u7684\u57fa\u7840\u662f\u89d2\u5ea6\u548c\u8ddd\u79bb\uff0c\u56e0\u6b64\u6211\u4eec\u5f62\u8c61\u5730\u5c06\u5bf9\u5e94\u7684\u51e0\u4f55\u635f\u5931\u79f0\u4e3a\u201d\u6b27\u51e0\u91cc\u5f97\u635f\u5931\u201c\uff0c\u4e5f\u4ee3\u8868\u7740\u8fd9\u4e00\u635f\u5931\u5bf9\u4e8e\u65cb\u8f6c\u548c\u5e73\u79fb\u53d8\u6362\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p>\u51e0\u4f55\u89e3\u8026\u6ce8\u610f\u529b<\/p>\n<p>\u4e00\u79cd\u88abMapTR\uff0cPivotNet\u7b49\u91c7\u7528\u7684\u67b6\u6784\u5c06\u5730\u56fe\u5143\u7d20\u4e0a\u7684\u6bcf\u4e00\u4e2a\u70b9\u5bf9\u5e94\u5230Transformer\u7684\u4e00\u4e2a\u67e5\u8be2\u3002\u8fd9\u4e00\u67b6\u6784\u7684\u95ee\u9898\u5728\u4e8e\uff1a\u5bf9\u4e24\u5927\u7c7b\u7684\u51e0\u4f55\u6027\u8d28\u4e0d\u52a0\u533a\u5206\u3002<\/p>\n<p>\u5728\u81ea\u6ce8\u610f\u529b\u4e2d\uff0c\u6240\u6709\u67e5\u8be2\uff08\u4e5f\u5c31\u662f\u201c\u70b9\u201d\uff09\u4e4b\u95f4\u90fd\u5e73\u7b49\u5730\u76f8\u4e92\u4f5c\u7528\u3002\u7136\u800c\uff0c\u5730\u56fe\u5143\u7d20\u7684\u5f62\u72b6\u5bf9\u5e94\u7740\u4e00\u7ec4\u4e00\u7ec4\u7684\u67e5\u8be2\u3002\u8fd9\u4e9b\u7ec4\u4e4b\u95f4\u7684\u4ea4\u4e92\uff0c\u5728\u611f\u77e5\u5143\u7d20\u5f62\u72b6\u65f6\u5c31\u6210\u4e3a\u4e86\u7d2f\u8d58\u3002\u53cd\u4e4b\u5728\u611f\u77e5\u5143\u7d20\u4e4b\u95f4\u5173\u8054\u7684\u65f6\u5019\uff0c\u5f62\u72b6\u4ea6\u6210\u4e3a\u4e86\u5197\u4f59\u56e0\u7d20\u3002\u8fd9\u610f\u5473\u7740\u5c06\u5f62\u72b6\u3001\u5173\u8054\u7684\u611f\u77e5\u89e3\u8026\uff0c\u53ef\u80fd\u5e26\u6765\u66f4\u597d\u7684\u7ed3\u679c\u3002<\/p>\n<p>\u4e3a\u4e86\u89e3\u8026\u5bf9\u51e0\u4f55\u5f62\u72b6\u548c\u5173\u8054\u5904\u7406\uff0c\u6211\u4eec\u5c06\u81ea\u6ce8\u610f\u529b\u5206\u6210\u4e24\u4e2a\u6b65\u9aa4\u8fdb\u884c\uff1a<\/p>\n<p>\u6bcf\u4e2a\u5730\u56fe\u5143\u7d20\u5305\u62ecNv\u4e2a\u67e5\u8be2\uff0c\u5728\u8fd9Nv\u4e2a\u67e5\u8be2\u5185\u90e8\u8fdb\u884c\u6ce8\u610f\u529b\uff0c\u7528\u4ee5\u5904\u7406\u51e0\u4f55\u5f62\u72b6<\/p>\n<p>\u8865\u5145\u8de8\u5143\u7d20\u7684\u6ce8\u610f\u529b\u5173\u7cfb\uff0c\u7528\u4ee5\u5904\u7406\u51e0\u4f55\u5173\u8054<\/p>\n<p>\u51e0\u4f55\u89e3\u8026\u7684\u6ce8\u610f\u529b\u66f4\u5f62\u8c61\u7684\u8868\u793a\u5982\u4e0b\u56fe\u6240\u793a\u3002\u6211\u4eec\u7684\u5b9e\u73b0\u65b9\u5f0f\u6bd4\u8f83\u6734\u7d20\uff0c\u76f4\u63a5\u4f7f\u7528mask\u63a7\u5236\u6ce8\u610f\u529b\u7684\u8303\u56f4\u3002\u4e8b\u5b9e\u4e0a\uff0c\u7531\u4e8e\u8fd9\u4e24\u79cd\u6ce8\u610f\u529b\u662f\u4e92\u8865\u7684\uff0c\u5408\u7406\u5730\u5b9e\u73b0\u6709\u53ef\u80fd\u8ba9\u65f6\u95f4\u590d\u6742\u5ea6\u7b49\u540c\u4e8e\u8fdb\u884c\u5355\u6b21\u81ea\u6ce8\u610f\u529b\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-8ef841a9b5bbbd73a358a4c513ceecc2_b.jpg\" width=\"931\" data-size=\"normal\" data-rawwidth=\"931\" data-rawheight=\"601\" data-original=\"https:\/\/pic3.zhimg.com\/v2-8ef841a9b5bbbd73a358a4c513ceecc2_r.jpg\" \/><\/p>\n<p>\u56fe4. \u51e0\u4f55\u89e3\u8026\u6ce8\u610f\u529b\u3002\u5de6\u4fa7\u4e3a\u5355\u4e2a\u5143\u7d20\u5185\u90e8\u8fdb\u884c\u7684\u5f62\u72b6\u6ce8\u610f\u529b\uff0c\u53f3\u4fa7\u4e3a\u5143\u7d20\u4e4b\u95f4\u8fdb\u884c\u7684\u5173\u8054\u6ce8\u610f\u529b\u3002<\/p>\n<p>\u5b9e\u9a8c\u7ed3\u679c<\/p>\n<p>\u6211\u4eec\u5728nuScenes\u548cArgoverse 2\u4e24\u4e2a\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\u3002\u4e8c\u8005\u90fd\u662f\u5e38\u7528\u7684\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u4e14\u90fd\u63d0\u4f9b\u4e86\u5730\u56fe\u6807\u6ce8\u3002\u4e3b\u8981\u7ed3\u679c\u5728nuScenes\u4e0a\uff0c\u6211\u4eec\u8fdb\u884c\u4e86\u4e09\u7ec4\u5b9e\u9a8c\u3002\u6211\u4eec\u9996\u5148\u4f7f\u7528\u4e86\u4e00\u79cd\u6bd4\u8f83\u7eaf\u7cb9\u7684\u76ee\u6807\u51fd\u6570\u7ec4\u5408\uff0c\u53ea\u5305\u62ec\u51e0\u4f55\u635f\u5931\u548c\u5176\u5b83\u5fc5\u8981\u7684\u635f\u5931\uff08\u5982\u70b9\u5230\u70b9\u8ddd\u79bb\u3001\u8fb9\u7684\u65b9\u5411\u3001\u5206\u7c7b\uff09\uff0c\u8fd9\u4e00\u7ec4\u5408\u662f\u4e3a\u4e86\u4f53\u73b0\u6211\u4eec\u63d0\u51fa\u7684\u51e0\u4f55\u6027\u8d28\u7684\u91cd\u8981\u4ef7\u503c\uff0c\u800c\u4e0d\u8fc7\u591a\u8ffd\u6c42SOTA\u7684\u7ed3\u679c\u3002\u53ef\u4ee5\u770b\u5230\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u76f8\u6bd4\u4e8eMapTR\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u5728mAP\u63d0\u5347\u4e864%\u3002\u4e3a\u4e86\u63a2\u7d22GeMap\u7684\u6781\u9650\uff0c\u6211\u4eec\u4e5f\u52a0\u4e0a\u4e86\u4e00\u4e9b\u8f85\u52a9\u76ee\u6807\uff0c\u5305\u62ec\u5206\u5272\u548c\u6df1\u5ea6\u4f30\u8ba1\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\u6211\u4eec\u4e5f\u53d6\u5f97\u4e86SOTA\u7684\u7ed3\u679c\uff08mAP\u63d0\u53470.7%\uff09\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u53d6\u5f97\u8fd9\u6837\u7684\u63d0\u5347\u5e76\u4e0d\u9700\u8981\u727a\u7272\u592a\u591a\u7684\u63a8\u7406\u901f\u5ea6\u3002\u6700\u540e\uff0c\u6211\u4eec\u8fd8\u5c1d\u8bd5\u4e86\u5f15\u5165\u989d\u5916\u7684LiDAR\u6a21\u6001\u8f93\u5165\uff0c\u5728\u989d\u5916\u6a21\u6001\u8f93\u5165\u7684\u52a0\u6301\u4e0b\uff0cGeMap\u7684\u6027\u80fd\u4e5f\u80fd\u53d6\u5f97\u8fdb\u4e00\u6b65\u63d0\u5347\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic2.zhimg.com\/v2-3e5fa69b028f229dce9410c119929c09_b.jpg\" width=\"1256\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1256\" data-rawheight=\"525\" data-original=\"https:\/\/pic2.zhimg.com\/v2-3e5fa69b028f229dce9410c119929c09_r.jpg\" \/><\/p>\n<p>\u540c\u6837\uff0c\u5728Argoverse 2\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4e5f\u53d6\u5f97\u4e86\u975e\u5e38\u7a81\u51fa\u7684\u6548\u679c\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-e9a601ea761129c06adbcdd36e9f302f_b.jpg\" width=\"1236\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1236\" data-rawheight=\"246\" data-original=\"https:\/\/pic4.zhimg.com\/v2-e9a601ea761129c06adbcdd36e9f302f_r.jpg\" \/><\/p>\n<p>\u6d88\u878d\u5b9e\u9a8c<\/p>\n<p>\u5728nuScenes\u4e0a\u8fdb\u4e00\u6b65\u8fdb\u884c\u7684\u6d88\u878d\u5b9e\u9a8c\u8bc1\u660e\u4e86\u51e0\u4f55\u635f\u5931\u548c\u51e0\u4f55\u89e3\u8026\u6ce8\u610f\u529b\u7684\u4ef7\u503c\u3002\u6709\u8da3\u7684\u662f\uff0c\u6b63\u5982\u6211\u4eec\u6240\u9884\u6599\u7684\uff0c\u76f4\u63a5\u4f7f\u7528\u51e0\u4f55\u635f\u5931\u53cd\u800c\u4f1a\u5e26\u6765\u6a21\u578b\u8868\u73b0\u7684\u4e0b\u964d\u3002\u6211\u4eec\u8ba4\u4e3a\u8fd9\u662f\u56e0\u4e3a\u7ed3\u6784\u4e0a\u7684\u5bf9\u5f62\u72b6\u548c\u5173\u8054\u5904\u7406\u7684\u8026\u5408\uff0c\u5bfc\u81f4\u6a21\u578b\u5f88\u96be\u4f18\u5316\u51e0\u4f55\u8868\u793a\uff1b\u800c\u5728\u4e0e\u51e0\u4f55\u89e3\u8026\u6ce8\u610f\u529b\u7ed3\u5408\u4e4b\u540e\uff0c\u51e0\u4f55\u635f\u5931\u5c31\u53d1\u6325\u4e86\u5e94\u6709\u7684\u4f5c\u7528\uff08\u4ece\u201d+Euclidean Loss\u201c\u5230\u201dFull\u201c\uff09\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-d1331576fc836d5cca17042b6a02f03e_b.jpg\" width=\"1212\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1212\" data-rawheight=\"318\" data-original=\"https:\/\/pic3.zhimg.com\/v2-d1331576fc836d5cca17042b6a02f03e_r.jpg\" \/><\/p>\n<p>\u66f4\u591a\u7ed3\u679c<\/p>\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5728nuScenes\u4e0a\u8fdb\u884c\u4e86\u53ef\u89c6\u5316\u5206\u6790\u3002\u53ef\u89c6\u5316\u7684\u7ed3\u679c\u8868\u660e\uff0cGeMap\u9664\u4e86\u5177\u6709\u5bf9\u65cb\u8f6c\u548c\u5e73\u79fb\u7684\u9c81\u68d2\u6027\uff0c\u5728\u5904\u7406\u906e\u6321\u95ee\u9898\u4e0a\u4e5f\u8868\u73b0\u51fa\u4e86\u4e00\u5b9a\u4f18\u52bf\uff0c\u5982\u4e0b\u56fe\u3002\u56fe\u4e2d\u6709\u6311\u6218\u6027\u7684\u5730\u56fe\u5143\u7d20\u4f7f\u7528\u6a58\u8272\u65b9\u6846\u6807\u51fa\u3002<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-990609cadbb5363f0a5673e584087b60_b.jpg\" width=\"692\" data-size=\"normal\" data-rawwidth=\"692\" data-rawheight=\"346\" data-original=\"https:\/\/pic1.zhimg.com\/v2-990609cadbb5363f0a5673e584087b60_r.jpg\" \/><\/p>\n<p>\u56fe5. \u53ef\u89c6\u5316\u5bf9\u6bd4\u7ed3\u679c\u3002\u5173\u4e8e\u5bf9\u906e\u6321\u7684\u9c81\u68d2\u6027\uff0c\u5728\u96e8\u5929\u7684\u5b9e\u9a8c\u7ed3\u679c\u4e2d\uff08\u89c1\u4e0b\u8868\u201dtext{mAP}_{rny}\u201c\uff09\u4e5f\u5f97\u5230\u4e86\u5b9a\u91cf\u9a8c\u8bc1\uff08\u56e0\u4e3a\u96e8\u6c34\u5bf9\u76f8\u673a\u6709\u5929\u7136\u7684\u906e\u6321\uff09\uff1a<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-f2f044ac72fc96bc0d107a047cf9395e_b.jpg\" width=\"1183\" data-caption=\"\" data-size=\"normal\" data-rawwidth=\"1183\" data-rawheight=\"237\" data-original=\"https:\/\/pic3.zhimg.com\/v2-f2f044ac72fc96bc0d107a047cf9395e_r.jpg\" \/><\/p>\n<p>\u8fd9\u53ef\u4ee5\u89e3\u91ca\u4e3a\u6a21\u578b\u5b66\u5230\u4e86\u51e0\u4f55\u6027\u8d28\uff0c\u56e0\u6b64\u5373\u4f7f\u6709\u906e\u6321\uff0c\u4e5f\u80fd\u66f4\u597d\u5730\u731c\u51fa\u5730\u56fe\u5143\u7d20\u3002\u4f8b\u5982\uff0c\u6a21\u578b\u7406\u89e3\u4e86\u8f66\u9053\u7ebf\u7684\u5f62\u72b6\uff0c\u90a3\u4e48\u53ea\u9700\u8981\u201d\u770b\u5230\u201c\u4e00\u90e8\u5206\uff0c\u5c31\u80fd\u591f\u4f30\u8ba1\u5269\u4e0b\u7684\u90e8\u5206\uff1b\u6a21\u578b\u7406\u89e3\u4e86\u8f66\u9053\u7ebf\u4e4b\u95f4\u7684\u5e73\u884c\u5173\u7cfb\uff0c\u6216\u8005\u8f66\u9053\u7684\u5bbd\u5ea6\u7279\u70b9\uff0c\u56e0\u6b64\u54ea\u6015\u5176\u4e2d\u4e00\u6761\u88ab\u906e\u6321\uff0c\u4e5f\u80fd\u6839\u636e\u5e73\u884c\u3001\u5bbd\u5ea6\u56e0\u7d20\u731c\u6d4b\u88ab\u906e\u6321\u7684\u90e8\u5206\u3002<\/p>\n<p>\u603b\u7ed3<\/p>\n<p>\u6211\u4eec\u6307\u51fa\u4e86\u5730\u56fe\u5143\u7d20\u6240\u5177\u6709\u7684\u51e0\u4f55\u6027\u8d28\uff0c\u4ee5\u53ca\u5176\u5bf9\u4e8e\u5728\u7ebf\u5411\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u4ef7\u503c\u3002\u57fa\u4e8e\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5f3a\u6709\u529b\u7684\u65b9\u6cd5\uff0c\u521d\u6b65\u5bf9\u8fd9\u4e00\u4ef7\u503c\u8fdb\u884c\u4e86\u9a8c\u8bc1\u3002\u6b64\u5916\uff0cGeMap\u8868\u73b0\u51fa\u7684\u5bf9\u906e\u6321\u7684\u9c81\u68d2\u6027\uff0c\u6216\u8bb8\u9884\u793a\u7740\u5728\u5176\u5b83\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\uff08\u4f8b\u5982\u68c0\u6d4b\u3001\u5360\u6709\u9884\u6d4b\u7b49\uff09\u4e2d\u5229\u7528\u51e0\u4f55\u6027\u8d28\u5904\u7406\u906e\u6321\u7684\u601d\u8def\u2014\u2014\u56e0\u4e3a\u8f66\u8f86\u548c\u9053\u8def\u90fd\u5177\u6709\u76f8\u5bf9\u89c4\u8303\u7684\u51e0\u4f55\u6027\u8d28\u3002\u5f53\u7136\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u672c\u8eab\u4e5f\u6709\u5f88\u591a\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63a2\u7d22\u7684\u5730\u65b9\u3002\u6bd4\u5982\u4e0d\u540c\u590d\u6742\u5ea6\u7684\u51e0\u4f55\u5143\u7d20\u662f\u5426\u53ef\u4ee5\u9002\u5e94\u6027\u5730\u4f7f\u7528\u4e0d\u540c\u7684\u70b9\u6765\u63cf\u8ff0\uff1f\u662f\u5426\u80fd\u4ece\u6982\u7387\u7684\u89d2\u5ea6\u51fa\u53d1\u7406\u89e3\u51e0\u4f55\u8868\u793a\uff0c\u8ba9\u5176\u5bf9\u566a\u97f3\u66f4\u5177\u9c81\u68d2\u6027\uff1f\u56e0\u4e3a\u6211\u4eec\u5bf9\u4e8e\u5143\u7d20\u5173\u8054\u8fdb\u884c\u4e86\u7b80\u5316\uff0c\u90a3\u4e48\u662f\u5426\u5b58\u5728\u66f4\u597d\u7684\u51e0\u4f55\u5173\u8054\u7684\u8868\u793a\u65b9\u6cd5\uff1f\u8fd9\u4e9b\u90fd\u662f\u8fdb\u4e00\u6b65\u4f18\u5316\u7684\u65b9\u5411\u3002<\/p>\n<p>References<\/p>\n<p>[1] Bencheng Liao, Shaoyu Chen, Xinggang Wang, Tianheng Cheng, Qian Zhang, Wenyu Liu, and Chang Huang. MapTR: Structured modeling and learning for online vectorized HD map construction. In The Eleventh International Conference on Learning Representations, 2023.[2] Qi Li, Yue Wang, Yilun Wang, and Hang Zhao. Hdmapnet: An online hd map construction and evaluation framework. In 2022 International Conference on Robotics and Automation (ICRA), pages 4628\u20134634. IEEE, 2022.[3] Wenjie Ding, Limeng Qiao, Xi Qiu, and Chi Zhang. Pivotnet: Vectorized pivot learning for end-to-end hd map construction. In Proceedings of the IEEE\/CVF International Conference on Computer Vision, pages 3672\u20133682, 2023.[4] End-to-end vectorized hd-map construction with piecewise bezier curve. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pages 13218\u201313228, 2023.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\uff1ahttps:\/\/arxiv.org\/ab [&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-6879","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6879"}],"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=6879"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6879\/revisions"}],"predecessor-version":[{"id":6887,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6879\/revisions\/6887"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6879"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6879"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6879"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}