{"id":6990,"date":"2023-12-21T15:42:05","date_gmt":"2023-12-21T07:42:05","guid":{"rendered":"http:\/\/192.168.10.115\/?p=6990"},"modified":"2023-12-25T15:22:00","modified_gmt":"2023-12-25T07:22:00","slug":"2023-12-21%e8%a7%86%e8%a7%89%e4%bc%a0%e6%84%9f%e5%99%a8%ef%bc%9abev%e6%84%9f%e7%9f%a5%e7%bb%bc%e8%bf%b02023-12-21","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/12\/21\/6990\/","title":{"rendered":"2023-12-21\u89c6\u89c9\u4f20\u611f\u5668\uff1aBEV\u611f\u77e5\u7efc\u8ff0"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\" id=\"h_654311603_0\">1 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class=\"wp-block-heading\" id=\"h_654311603_1\">1.1 \u5f80\u671f\u6587\u7ae0\u56de\u987e<\/h3>\n\n\n\n<p>\u5728\u6b63\u5f0f\u5f00\u59cb\u4e4b\u524d\uff0c\u6211\u4eec\u5148\u5bf9\u4e4b\u524d\u7684\u89c6\u89c9\u611f\u77e5\u6587\u7ae0\u8fdb\u884c\u4e00\u4e2a\u7b80\u5355\u7684\u56de\u987e\uff0c\u5e76\u5206\u6790<strong>\u5b83\u4eec\u4e0eBEV\u611f\u77e5\u4e4b\u95f4\u7684\u8054\u7cfb<\/strong>\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/419671307\">\u89c6\u89c9\u4f20\u611f\u5668\uff1a2D\u611f\u77e5\u7b97\u6cd5<\/a><\/p>\n\n\n\n<p>2D\u611f\u77e5\u7684\u4efb\u52a1\u662f\u4ece\u5355\u5f20\u56fe\u50cf\uff08\u6216\u8005\u4e00\u4e2a\u65f6\u95f4\u5e8f\u5217\uff09\u4e2d\u68c0\u6d4b\u6216\u8005\u5206\u5272\u76ee\u6807\u3002\u4f5c\u4e3a\u4f20\u7edf\u7684\u89c6\u89c9\u611f\u77e5\u65b9\u5f0f\uff0c2D\u611f\u77e5\u8fd1\u5341\u5e74\u6765\u5728\u6df1\u5ea6\u5b66\u4e60\u548c\u5927\u6570\u636e\u7684\u52a0\u6301\u4e0b\u5f97\u5230\u4e86\u6781\u5927\u7684\u63d0\u5347\uff0c\u8fd9\u4e5f\u662f\u81ea\u52a8\u9a7e\u9a76\u8fd9\u4e9b\u5e74\u5feb\u901f\u53d1\u5c55\u7684\u539f\u63a8\u52a8\u529b\u4e4b\u4e00\u3002\u4f46\u662f\uff0c\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u6765\u8bf4\uff0c\u6211\u4eec\u6700\u7ec8\u9700\u8981\u7684\u662f\u76ee\u6807\u5728\u8f66\u8f86\u5750\u6807\u7cfb\u4e0b\u76f8\u5173\u4fe1\u606f\uff0c\u56e0\u6b642D\u7684\u611f\u77e5\u7ed3\u679c\u8fd8\u9700\u8981\u6620\u5c04\u52303D\u7a7a\u95f4\uff0c\u624d\u80fd\u652f\u6301\u5b9a\u4f4d\uff0c\u9884\u6d4b\uff0c\u89c4\u5212\u7b49\u4e0b\u6e38\u4efb\u52a1\u3002\u6240\u4ee5\uff0c\u867d\u71362D\u89c6\u89c9\u611f\u77e5\u81ea\u8eab\u7684\u53d1\u5c55\u76f8\u5bf9\u6bd4\u8f83\u6210\u719f\uff0c2D\u52303D\u6620\u5c04\u8fd9\u4e2a\u75c5\u6001\u95ee\u9898\u5374\u6210\u4e3a\u4e86\u5b83\u5728\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u4e2d\u7684\u4e00\u4e2a\u7eca\u811a\u77f3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"748\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image.webp\" alt=\"\" class=\"wp-image-6992\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image.webp 748w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-300x61.webp 300w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><figcaption class=\"wp-element-caption\">2D\u89c6\u89c9\u611f\u77e5<\/figcaption><\/figure>\n\n\n\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/426569335\">\u89c6\u89c9\u4f20\u611f\u5668\uff1a3D\u611f\u77e5\u7b97\u6cd5<\/a><\/p>\n\n\n\n<p>3D\u611f\u77e5\u4ece\u56fe\u50cf\u4e2d\u76f4\u63a5\u83b7\u53d6\u76ee\u6807\u548c\u573a\u666f\u76843D\u4fe1\u606f\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\u6700\u5173\u952e\u7684\u73af\u8282\u5c31\u662f\u4ece2D\u56fe\u50cf\u7684\u900f\u89c6\u89c6\u56fe\u6765\u6062\u590d\u6df1\u5ea6\u4fe1\u606f\u3002\u5bf9\u4e8e\u5355\u76ee\u76f8\u673a\u6765\u8bf4\uff0c\u8fd9\u662f\u4e00\u4e2a\u7406\u8bba\u4e0a\u7684\u75c5\u6001\u95ee\u9898\uff0c\u5b9e\u9645\u5e94\u7528\u4e2d\u867d\u7136\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e9b\u51e0\u4f55\u5047\u8bbe\u6216\u8005\u673a\u5668\u5b66\u4e60\u7684\u65b9\u5f0f\u6765\u4f30\u8ba1\u6df1\u5ea6\uff0c\u4f46\u662f\u7cbe\u5ea6\u76f8\u5bf9\u8f83\u4f4e\u3002<\/p>\n\n\n\n<p>\u66f4\u597d\u7684\u65b9\u5f0f\u5f53\u7136\u662f\u901a\u8fc7\u53cc\u76ee\u76f8\u673a\uff0c\u4ece\u7406\u8bba\u4e0a\u6765\u89e3\u51b3\u6df1\u5ea6\u4f30\u8ba1\u7684\u95ee\u9898\u3002\u4f46\u662f\uff0c\u53cc\u76ee\u76f8\u673a\u7684\u89c6\u91ce\u548c\u8ddd\u79bb\u8303\u56f4\u90fd\u53d7\u5230\u5f88\u5927\u7684\u9650\u5236\uff0c\u4e00\u822c\u6765\u8bf4\u53ea\u80fd\u5bf9\u8f66\u8f86\u524d\u65b9\u4e2d\u8fd1\u8ddd\u7684\u533a\u57df\u8fdb\u884c\u63a2\u6d4b\uff0c\u6240\u4ee5\u5e38\u7528\u4e8eL2\u7ea7\u522b\u7684\u5e94\u7528\uff0c\u6bd4\u5982ACC\uff0cAEB\u3002\u5bf9\u4e8e\u9ad8\u9636\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6765\u8bf4\uff0c\u611f\u77e5\u7684\u8303\u56f4\u8981\u66f4\u5927\uff0c\u8981\u80fd\u63a2\u6d4b\u8f66\u8eab\u56db\u5468360\u00b0\u8303\u56f4\u5185\u7684\u76ee\u6807\u548c\u969c\u788d\u7269\u3002\u53cc\u76ee\u7cfb\u7edf\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\u80fd\u8d77\u5230\u7684\u4f5c\u7528\u5c31\u975e\u5e38\u6709\u9650\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"758\" height=\"143\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-3.webp\" alt=\"\" class=\"wp-image-6994\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-3.webp 758w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-3-300x57.webp 300w\" sizes=\"(max-width: 758px) 100vw, 758px\" \/><figcaption class=\"wp-element-caption\">3D\u89c6\u89c9\u611f\u77e5<\/figcaption><\/figure>\n\n\n\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/441046933\">\u89c6\u89c9\u4f20\u611f\u5668\uff1a\u591a\u76ee\u611f\u77e5<\/a><\/p>\n\n\n\n<p>\u591a\u76ee\u7cfb\u7edf\u662f\u53cc\u76ee\u7cfb\u7edf\u7684\u6269\u5c55\uff0c\u8fd9\u79cd\u6269\u5c55\u4e3b\u8981\u4f53\u73b0\u5728\u4e24\u4e2a\u65b9\u9762\uff1a\u4e00\u662f\u901a\u8fc7\u589e\u52a0\u4e0d\u540c\u7c7b\u522b\u7684\u4f20\u611f\u5668\uff0c\u6bd4\u5982\u7ea2\u5916\u6444\u50cf\u5934\uff0c\u6765\u63d0\u9ad8\u5bf9\u5404\u79cd\u73af\u5883\u6761\u4ef6\u7684\u9002\u5e94\u6027\uff1b\u4e8c\u662f\u901a\u8fc7\u589e\u52a0\u4e0d\u540c\u671d\u5411\uff0c\u4e0d\u540c\u7126\u8ddd\u7684\u6444\u50cf\u5934\u6765\u6269\u5c55\u7cfb\u7edf\u7684\u89c6\u91ce\u8303\u56f4\u3002Tesla\u7684\u7eaf\u89c6\u89c9\u7cfb\u7edf\uff0c\u5c31\u662f\u901a\u8fc7\u5b89\u88c5\u5728\u8f66\u8eab\u56db\u5468\u7684\u591a\u4e2a\u6444\u50cf\u5934\u6765\u8986\u76d6360\u00b0\u7684\u89c6\u91ce\u8303\u56f4\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\u6765\u5b8c\u6210\u611f\u77e5\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e2a\u7cfb\u7edf<strong>\u7b2c\u4e00\u6b21\u63d0\u51fa\u4e86BEV\u611f\u77e5\u7684\u6982\u5ff5<\/strong>\uff0c\u4e5f\u5c31\u662f\u5c06\u6765\u81ea\u591a\u4e2a\u6444\u50cf\u5934\u7684\u56fe\u50cf\u4ece\u900f\u89c6\u89c6\u56fe\u8f6c\u6362\u5230\u9e1f\u77b0\u89c6\u56fe\uff08Bird&#8217;s Eye View, BEV\uff09\u3002BEV\u89c6\u56fe\u5305\u542b\u4e86\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6765\u8bf4\u6700\u91cd\u8981\u7684\u8ddd\u79bb\u548c\u65b9\u4f4d\u4fe1\u606f\uff08\u9ad8\u5ea6\u4fe1\u606f\u5219\u9690\u542b\u5728BEV\u7279\u5f81\u91cc\uff09\uff0c\u56e0\u6b64BEV\u611f\u77e5\u7684\u7ed3\u679c\u53ef\u4ee5\u76f4\u63a5\u7528\u4e8e\u4e0b\u6e38\u7684\u5404\u79cd\u4efb\u52a1\uff0c\u800c\u65e0\u987b\u518d\u8fdb\u884c\u989d\u5916\u7684\u8f6c\u6362\u3002\u5f53\u7136\uff0c2D\u52303D\u7684\u8f6c\u6362\u8fc7\u7a0b\u662f\u65e0\u8bba\u5982\u4f55\u7ed5\u4e0d\u5f00\u7684\uff0c\u8fd9\u4e5f\u662fBEV\u611f\u77e5\u7684\u7814\u7a76\u91cd\u70b9\u4e4b\u4e00\uff0c\u540e\u9762\u6211\u4eec\u4f1a\u91cd\u70b9\u4ecb\u7ecd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"401\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-1.webp\" alt=\"\" class=\"wp-image-6993\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-1.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-1-300x167.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">\u591a\u76ee\u89c6\u89c9\u611f\u77e5<\/figcaption><\/figure>\n\n\n\n<p><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/618954600\">\u73af\u5883\u611f\u77e5\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff08\u4e09\uff09\uff1aBEV\u611f\u77e5\u548c\u4ea4\u53c9\u6ce8\u610f\u529b<\/a><\/p>\n\n\n\n<p>\u8fd9\u7bc7\u6587\u7ae0\u4e2d\u6240\u4ecb\u7ecd\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u548c\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\uff0c\u662fBEV\u611f\u77e5\u4e2d\u89c6\u56fe\u8f6c\u6362\u7684\u4e24\u4e2a\u5e38\u7528\u65b9\u6cd5\uff0c\u4ee3\u8868\u6027\u7684\u65b9\u6cd5\u5206\u522b\u662fBEVFormer\u548cBEVDet\u3002\u9664\u4e86\u89c6\u56fe\u8f6c\u6362\u4ee5\u5916\uff0cBEV\u611f\u77e5\u4e2d\u8fd8\u6709\u5176\u5b83\u7684\u95ee\u9898\u9700\u8981\u7814\u7a76\uff0c\u6bd4\u5982\u65f6\u5e8f\u878d\u5408\uff0c\u591a\u4efb\u52a1\u5b66\u4e60\uff0c\u63d0\u9ad8\u6cdb\u5316\u80fd\u529b\uff0c\u591a\u6a21\u6001\u76d1\u7763\u7b49\u7b49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"323\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-2.webp\" alt=\"\" class=\"wp-image-6991\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-2.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-2-300x135.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEV\u611f\u77e5<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_2\">1.2 \u672c\u7bc7\u6587\u7ae0\u5185\u5bb9<\/h3>\n\n\n\n<p>\u672c\u4e13\u680f\u4e4b\u524d\u5728\u591a\u76ee\u611f\u77e5\u7684\u6587\u7ae0\u4e2d\u7b2c\u4e00\u6b21\u4ecb\u7ecd\u4e86BEV\u611f\u77e5\u7684\u6982\u5ff5\uff0c\u5e76\u5728\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u6587\u7ae0\u4e2d\u4ee5\u89c6\u56fe\u8f6c\u6362\u4e3a\u7ebf\u7d22\u5c55\u5f00\u4ecb\u7ecd\u4e86BEV\u611f\u77e5\u7684\u4e00\u4e9b\u5178\u578b\u65b9\u6cd5\u3002\u4ee5\u6b64\u4e3a\u57fa\u7840\uff0c\u672c\u6587\u4f1a\u5bf9BEV\u611f\u77e5\u7684\u57fa\u7840\u6982\u5ff5\u548c\u53d1\u5c55\u73b0\u72b6\u8fdb\u884c\u66f4\u4e3a\u7cfb\u7edf\u7684\u4ecb\u7ecd\uff0c\u5305\u62ec<strong>BEV\u611f\u77e5\u7684\u4efb\u52a1\u4ee5\u53ca\u5e38\u7528\u7684\u6570\u636e\u96c6\u548c\u8bc4\u6d4b\u6307\u6807<\/strong>\uff0c<strong>BEV\u611f\u77e5\u7684\u53d1\u5c55\u5386\u7a0b\u4ee5\u53ca\u73b0\u9636\u6bb5\u7814\u7a76\u7684\u91cd\u70b9<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_654311603_3\">2 BEV\u89c6\u89c9\u611f\u77e5\u4efb\u52a1<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_4\">2.1 BEV\u611f\u77e5\u7684\u6982\u5ff5<\/h3>\n\n\n\n<p>\u4ece\u8f93\u51fa\u7684\u89d2\u5ea6\u6765\u8bf4\uff0cBEV\u611f\u77e5\u4efb\u52a1\u7684\u7279\u70b9\u662f\u7cfb\u7edf\u76f4\u63a5\u8f93\u51faBEV\u5750\u6807\uff08\u7b80\u5355\u8d77\u89c1\uff0c\u8fd9\u91cc\u6211\u4eec\u4e0d\u518d\u533a\u5206BEV\u548c3D\u5750\u6807\uff09\u4e0b\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u6bd4\u5982\u7269\u4f53\u7684\u4e09\u7ef4\u4f4d\u7f6e\u548c\u5f62\u72b6\uff0c\u8f66\u9053\u7ebf\u7684\u4f4d\u7f6e\uff0c\u5360\u636e\u6805\u683c\u7b49\u7b49\u3002\u4ece\u5e7f\u4e49\u4e0a\u6765\u8bb2\uff0c\u53ea\u8981\u7cfb\u7edf\u8f93\u51fa\u662f\u5728BEV\u5750\u6807\u800c\u4e0d\u662f\u56fe\u50cf\u5750\u6807\u4e0b\u7684\uff0c\u5c31\u53ef\u4ee5\u8ba4\u4e3a\u662fBEV\u611f\u77e5\u7cfb\u7edf\u3002\u4ece\u8fd9\u4e2a\u89d2\u5ea6\u4e0a\u6765\u8bb2\uff0c\u6211\u4eec\u5728\u89c6\u89c93D\u611f\u77e5\u7684\u6587\u7ae0\u4e2d\u4ecb\u7ecd\u7684\u65b9\u6cd5\uff0c\u6bd4\u5982FCOS3D\uff0c\u4e5f\u53ef\u4ee5\u8ba4\u4e3a\u662fBEV\u611f\u77e5\u7b97\u6cd5\u3002<\/p>\n\n\n\n<p>\u4f46\u662f\uff0c\u4e00\u822c\u6211\u4eec\u6240\u8bf4\u7684BEV\u611f\u77e5\u7b97\u6cd5\u4f1a\u5305\u542b\u4e00\u4e2a\u4ece\u900f\u89c6\u89c6\u56fe\u5230BEV\u89c6\u56fe\u7684\u8f6c\u6362\u8fc7\u7a0b\u3002\u6709\u7684\u65b9\u6cd5\u5305\u542b\u4e00\u4e2a\u663e\u5f0f\u7684\u8f6c\u6362\u8fc7\u7a0b\uff0c\u751f\u6210\u7a20\u5bc6\u7684BEV\u89c6\u56fe\u4e0b\u7684\u7279\u5f81\uff0c\u540e\u7eed\u53ef\u4ee5\u652f\u6301\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\uff0c\u6bd4\u5982BEVDet\u548cBEVFormer\u3002\u6709\u7684\u65b9\u6cd5\u5219\u662f\u9488\u5bf9\u5177\u4f53\u7684\u4efb\u52a1\uff0c\u6bd4\u59823D\u7269\u4f53\u68c0\u6d4b\uff0c\u76f4\u63a5\u751f\u6210\u7a00\u758f\u7684BEV\u89c6\u56fe\u4e0b\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u6bd4\u5982DETR3D\u548cPETR\u3002<\/p>\n\n\n\n<p>\u4ece\u8f93\u5165\u7684\u89d2\u5ea6\u6765\u8bf4\uff0c\u57fa\u4e8e\u5355\u76ee\u6216\u8005\u53cc\u76ee\u56fe\u50cf\u76843D\u7269\u4f53\u68c0\u6d4b\u4e5f\u5c5e\u4e8eBEV\u611f\u77e5\u7684\u8303\u7574\u3002\u4f46\u662f\uff0c\u4e00\u822c\u6211\u4eec\u6240\u8bf4\u7684BEV\u611f\u77e5\u5176\u8f93\u5165\u662f\u6765\u81ea\u4e0d\u540c\u76f8\u673a\u7684\u591a\u5f20\u56fe\u50cf\uff0c\u56e0\u6b64\u662f\u591a\u76ee\u611f\u77e5\u7684\u4e00\u79cd\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u7efc\u4e0a\u6240\u8ff0\uff0c\u6211\u4eec\u6765\u603b\u7ed3\u4e00\u4e0b\u901a\u5e38\u6240\u8bf4\u7684<strong>BEV\u611f\u77e5\u7cfb\u7edf\u7684\u4e3b\u8981\u7279\u70b9<\/strong>\u3002<\/p>\n\n\n\n<p>\u8f93\u5165\uff1a\u6765\u81ea\u4e0d\u540c\u89d2\u5ea6\u76f8\u673a\u7684\u591a\u5f20\u56fe\u50cf\uff0c\u8986\u76d6360\u00b0\u89c6\u91ce\u8303\u56f4\u3002<\/p>\n\n\n\n<p>\u8f93\u51fa\uff1aBEV\u89c6\u56fe\u4e0b\u7684\u5404\u79cd\u611f\u77e5\u7ed3\u679c\uff0c\u6bd4\u5982\u7269\u4f53\uff0c\u9053\u8def\uff0c\u8f66\u9053\u7ebf\uff0c\u8bed\u4e49\u6805\u683c\u7b49\u3002<\/p>\n\n\n\n<p>\u7b97\u6cd5\uff1a\u56fe\u50cf\u5230BEV\u89c6\u56fe\u8f6c\u6362\uff0c\u5305\u62ec\u7a20\u5bc6\u548c\u7a00\u758f\u4e24\u79cd\u65b9\u5f0f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_5\">2.2 BEV\u611f\u77e5\u7684\u57fa\u51c6\u6d4b\u8bd5<\/h3>\n\n\n\n<p>\u4efb\u4f55\u611f\u77e5\u7b97\u6cd5\u7684\u53d1\u5c55\u90fd\u79bb\u4e0d\u5f00\u4e00\u4e2a\u597d\u7684\u57fa\u51c6\u6d4b\u8bd5\u6570\u636e\u96c6\uff0c\u5c31\u50cf\u56fe\u50cf\u5206\u7c7b\u9886\u57df\u7684ImageNet\uff0c\u901a\u7528\u7269\u4f53\u68c0\u6d4b\u9886\u57df\u7684COCO\uff0c\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u9886\u57df\u7684KITTI\u7b49\u7b49\u3002\u5bf9\u4e8eBEV\u611f\u77e5\u6765\u8bf4\uff0c\u76ee\u524d\u6bd4\u8f83\u5e38\u7528\u7684\u6570\u636e\u96c6\u662f<strong>nuScenes<\/strong>\uff0c\u51e0\u4e4e\u6240\u6709BEV\u611f\u77e5\u7684\u7814\u7a76\u8bba\u6587\u90fd\u4f1a\u7ed9\u51fanuScenes\u4e0a\u7684\u57fa\u51c6\u6d4b\u8bd5\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>nuScenes\u7684\u6570\u636e\u662f\u5728\u65b0\u52a0\u5761\u548c\u6ce2\u58eb\u987f\u4e24\u4e2a\u57ce\u5e02\u7684\u771f\u5b9e\u4ea4\u901a\u73af\u5883\u4e0b\u91c7\u96c6\u7684\uff0c\u5305\u542b1000\u4e2a\u5e8f\u5217\uff0c\u6bcf\u4e2a\u5e8f\u5217\u957f\u5ea6\u4e3a20\u79d2\u3002\u91c7\u96c6\u7684\u6570\u636e\u7c7b\u578b\u5305\u62ec\u53ef\u89c1\u5149\u56fe\u50cf\uff0c\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u70b9\u4e91\u548c\u5730\u56fe\u3002\u5176\u4e2d\u53ef\u89c1\u5149\u56fe\u50cf\u6765\u81ea\u4e8e\u5b89\u88c5\u5728\u8f66\u8eab\u56db\u5468\u4e0d\u540c\u671d\u5411\u76846\u4e2a\u6444\u50cf\u5934\uff0c\u56e0\u6b64\u6bcf\u5e27\u6570\u636e\u90fd\u5305\u542b6\u5e45\u56fe\u50cf\uff0c\u8986\u76d6360\u00b0\u7684\u89c6\u91ce\u8303\u56f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-6.webp\" alt=\"\" class=\"wp-image-6997\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-6.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-6-300x105.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">nuScenes\u6570\u636e\u91c7\u96c6\u8f66\u7684\u4f20\u611f\u5668\u5e03\u5c40\u548c\u591a\u6a21\u6001\u6570\u636e\u793a\u4f8b<\/figcaption><\/figure>\n\n\n\n<p>nuScenes\u6570\u636e\u5e93\u53d1\u5e03\u4e86\u591a\u4e2a\u6d4b\u8bd5\u4efb\u52a1\uff0c\u5305\u62ec\u7269\u4f53\u68c0\u6d4b\u548c\u8ddf\u8e2a\uff0c\u8fd0\u52a8\u8f68\u8ff9\u9884\u6d4b\uff0c\u70b9\u4e91\u5168\u666f\u5206\u5272\u4ee5\u53ca\u8def\u5f84\u89c4\u5212\u3002\u672c\u6587\u4e4b\u540e\u4f1a\u4ecb\u7ecd\uff0cBEV\u611f\u77e5\u53ef\u4ee5\u652f\u6301\u591a\u4efb\u52a1\u5904\u7406\uff0c\u4e0d\u8fc7\u76ee\u524d\u6700\u5e38\u89c1\u7684\u4efb\u52a1\u8fd8\u662f3D\u76ee\u6807\u68c0\u6d4b\u3002\u5bf9\u4e8e\u8be5\u4efb\u52a1\u6765\u8bf4\uff0c\u6807\u6ce8\u7684\u771f\u503c\u5305\u62ec3D\u7269\u4f53\u6846\uff0c23\u4e2a\u7269\u4f53\u7c7b\u522b\u4ee5\u53ca8\u4e2a\u5c5e\u6027\u7c7b\u522b\u3002<\/p>\n\n\n\n<p>3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u7684\u6027\u80fd\u6307\u6807\u4e3b\u8981\u6709\u4e24\u4e2a\uff1a<strong>mAP\u548cNDS<\/strong>\u3002<\/p>\n\n\n\n<p>mAP\uff08mean Average Precision\uff09\u662f\u76ee\u6807\u68c0\u6d4b\u4e2d\u5e38\u7528\u7684\u6027\u80fd\u6307\u6807\uff0c\u5b83\u5bf9Precision-Recall\uff08P-R\uff09\u66f2\u7ebf\u8fdb\u884c\u91c7\u6837\uff0c\u8ba1\u7b97\u6bcf\u4e2a\u7c7b\u522b\u51fa\u5e73\u5747\u7684Precision\u3002\u5728\u8ba1\u7b97P-R\u66f2\u7ebf\u65f6\uff0c\u9700\u8981\u5339\u914d\u7b97\u6cd5\u9884\u6d4b\u7684\u7269\u4f53\u6846\u548c\u6807\u6ce8\u7684\u771f\u503c\u7269\u4f53\u6846\u3002nuScenes\u4e2d\u91c7\u7528BEV\u89c6\u56fe\u4e0b\u7269\u4f53\u6846\u76842D\u4e2d\u5fc3\u70b9\u8ddd\u79bb\u6765\u8fdb\u884c\u5339\u914d\uff0c\u800c\u4e0d\u662f\u4f20\u7edf\u7684Intersection-of-Union\uff08IoU\uff09\uff0c\u8fd9\u6837\u53ef\u4ee5\u63d0\u9ad8\u5c0f\u7269\u4f53\u7684\u5339\u914d\u7387\u3002<\/p>\n\n\n\n<p>NDS\uff08nuScenes Detection Score\uff09\u5728mAP\u7684\u57fa\u7840\u4e0a\uff0c\u589e\u52a0\u4e86\u7269\u4f53\u6846\u9884\u6d4b\u8d28\u91cf\u7684\u6307\u6807\u3002\u8fd9\u4e9b\u6307\u6807\u5305\u62ec\u7269\u4f53\u6846\u7684\u4f4d\u7f6e\uff0c\u5927\u5c0f\uff0c\u671d\u5411\uff0c\u901f\u5ea6\u4ee5\u53ca\u5176\u5b83\u5c5e\u6027\u3002\u4e0emAP\u76f8\u6bd4\uff0cNDS\u53ef\u4ee5\u66f4\u5168\u9762\u7684\u8bc4\u4ef73D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u7684\u4f18\u52a3\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_654311603_6\">3 BEV\u611f\u77e5\u7684Baseline\u5de5\u4f5c<\/h2>\n\n\n\n<p>\u81ea2021\u5e74\u4ee5\u6765\uff0c\u9488\u5bf9BEV\u611f\u77e5\u7684\u76f8\u5173\u7814\u7a76\u8d8a\u6765\u8d8a\u591a\uff0c\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u90fd\u51fa\u73b0\u4e86\u4e0d\u5c11\u5f88\u6709\u7279\u8272\u7684\u5de5\u4f5c\u3002\u4e3a\u4e86\u66f4\u6e05\u6670\u7684\u68b3\u7406\u8fd9\u4e9b\u7814\u7a76\u5de5\u4f5c\u7684\u8109\u7edc\uff0c\u8fd9\u4e00\u5c0f\u8282\u9996\u5148\u4ecb\u7ecdBEV\u611f\u77e5\u7684\u51e0\u4e2abaseline\u7b97\u6cd5\uff0c\u8fd9\u4e9b\u7b97\u6cd5\u4e5f\u5206\u522b\u5bf9\u5e94\u4e86\u4e0d\u540c\u7684\u8bbe\u8ba1\u601d\u8def\u3002\u4e0b\u4e00\u5c0f\u8282\u4e2d\u6211\u4eec\u518d\u6765\u4ecb\u7ecd\u8fd9\u4e9bbaseline\u7684\u7b97\u6cd5\u4e2d\u5b58\u5728\u7684\u95ee\u9898\uff0c\u4ee5\u53ca\u6539\u8fdb\u7684\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u4e0b\u9762\u6211\u4eec\u4ee5\u89c6\u56fe\u53d8\u6362\u4e3a\u7ebf\u7d22\u6765\u4ecb\u7ecdBEV\u611f\u77e5\u7684\u51e0\u4e2a\u5178\u578b\u65b9\u6cd5\u3002\u5176\u4e2d\u6709\u4e9b\u5df2\u7ecf\u5728\u4e13\u680f\u7684\u5176\u5b83\u6587\u7ae0\u91cc\u63d0\u5230\u8fc7\u4e86\uff0c\u4f46\u662f\u4e3a\u4e86\u672c\u6587\u7684\u5b8c\u6574\u6027\uff0c\u8fd9\u91cc\u6211\u4eec\u8fd8\u4f1a\u518d\u5217\u4e3e\u4e00\u4e0b\u5176\u4e3b\u8981\u7684\u8bbe\u8ba1\u601d\u8def\u3002<\/p>\n\n\n\n<p>\u89c6\u89c9BEV\u611f\u77e5\u7684\u6838\u5fc3\u5728\u4e8e\u5c06\u900f\u89c6\u89c6\u56fe\u4e0b\u7684\u56fe\u50cf\u4fe1\u606f\u53d8\u6362\u5230BEV\u89c6\u56fe\u3002\u8fd9\u662f\u4e00\u4e2a\u7406\u8bba\u4e0a\u7684\u75c5\u6001\u95ee\u9898\uff0c\u56e0\u4e3a\u4e00\u4e2a\u56fe\u50cf\u50cf\u7d20\u4f1a\u5bf9\u5e943D\u7a7a\u95f4\u4e2d\u7684\u591a\u4e2a\u4f4d\u7f6e\u3002\u8fd9\u79cd\u4e00\u5bf9\u591a\u7684\u6b67\u4e49\u6027\u662f\u56e0\u4e3a\u6211\u4eec\u4e0d\u77e5\u9053\u50cf\u7d20\u57283D\u7a7a\u95f4\u4e2d\u5bf9\u5e94\u7684\u9ad8\u5ea6\u6216\u8005\u6df1\u5ea6\u3002\u8fd9\u4e8c\u8005\u77e5\u5176\u4e00\uff08\u4e0b\u56fe\u4e2d\u7684Oy\u6216\u8005Oz\uff09\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u901a\u8fc7\u76f8\u673a\u7684\u5185\u5916\u53c2\u77e9\u9635\u5c06\u56fe\u50cf\u7684\u6bcf\u4e00\u4e2a\u50cf\u7d20\u90fd\u53d8\u6362\u52303D\u7a7a\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"589\" height=\"459\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-8.webp\" alt=\"\" class=\"wp-image-6999\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-8.webp 589w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-8-300x234.webp 300w\" sizes=\"(max-width: 589px) 100vw, 589px\" \/><\/figure>\n\n\n\n<p>\u56e0\u6b64\uff0c<strong>\u56fe\u50cf\u5230BEV\u7684\u89c6\u56fe\u8f6c\u6362\u4e5f\u5927\u81f4\u6709\u4e24\u79cd\u601d\u8def\uff1a\u4e00\u79cd\u5047\u8bbe\u9ad8\u5ea6\uff08Oy\uff09\u5df2\u77e5\uff0c\u4e00\u79cd\u5047\u8bbe\u6df1\u5ea6\uff08Oz\uff09\u5df2\u77e5<\/strong>\u3002<\/p>\n\n\n\n<p>\u524d\u8005\u7684\u5178\u578b\u601d\u8def\u662f\u5047\u8bbe\u76ee\u6807\u4f4d\u4e8e\u8def\u9762\uff0c\u56e0\u6b64\u9ad8\u5ea6\u4e3a0\uff0c\u8fd9\u6837\u5c31\u53ef\u4ee5\u91c7\u7528Homography\u53d8\u6362\u5c06\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\uff0c\u6bd4\u5982BEV-IPM\u3002\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u8def\u9762\u5e76\u975e\u7edd\u5bf9\u5e73\u5766\uff0c\u800c\u4e14\u9664\u4e86\u8f66\u9053\u7ebf\u4ee5\u5916\uff0c\u5176\u4ed6\u7684\u76ee\u6807\u90fd\u6709\u4e00\u5b9a\u7684\u9ad8\u5ea6\u3002\u5728\u8fd9\u4e9b\u60c5\u51b5\u4e0b\uff0c\u9ad8\u5ea6\u5df2\u77e5\u7684\u5047\u8bbe\u5e76\u4e0d\u6210\u7acb\uff0c\u53d8\u6362\u540e\u7684\u56fe\u50cf\u8bef\u5dee\u4e5f\u5f88\u5927\u3002\u56e0\u6b64\uff0c\u53cd\u53d8\u6362\u7684\u65b9\u6cd5\u5728BEV\u611f\u77e5\u4e2d\u91c7\u7528\u7684\u76f8\u5bf9\u8f83\u5c11\u3002<\/p>\n\n\n\n<p>\u540e\u8005\u901a\u5e38\u4f1a\u4f9d\u8d56\u4e8e\u4e3b\u52a8\u4f20\u611f\u5668\u76f4\u63a5\u83b7\u5f97\u6df1\u5ea6\u4fe1\u606f\uff08\u6bd4\u5982\u6fc0\u5149\u96f7\u8fbe\uff09\u6216\u8005\u4ece\u56fe\u50cf\u4e2d\u901a\u8fc7\u663e\u5f0f\u6216\u8005\u9690\u5f0f\u7684\u65b9\u5f0f\u83b7\u5f97\u6df1\u5ea6\u4fe1\u606f\u3002\u6fc0\u5149\u96f7\u8fbe\u6216\u8005\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4e0e\u89c6\u89c9\u878d\u5408\u540e\uff0c\u4f1a\u63d0\u9ad8\u6df1\u5ea6\u4f30\u8ba1\u7684\u51c6\u786e\u5ea6\u3002\u56e0\u6b64BEV\u878d\u5408\u611f\u77e5\u4e5f\u662f\u975e\u5e38\u5177\u6709\u6f5c\u529b\u7684\u7814\u7a76\u65b9\u5411\uff0c\u6211\u4eec\u4f1a\u5728\u4e13\u680f\u53e6\u5916\u7684\u6587\u7ae0\u4e2d\u4ecb\u7ecd\u3002\u672c\u6587\u5173\u6ce8\u7684\u662f\u7eaf\u89c6\u89c9\u7684BEV\u611f\u77e5\uff0c\u6240\u4ee5\u6211\u4eec\u4e0b\u9762\u4f1a\u91cd\u70b9\u4ecb\u7ecd\u540e\u4e00\u79cd\u65b9\u6cd5\uff0c\u4e5f\u5c31\u662f\u4ece\u56fe\u50cf\u4e2d\u83b7\u5f97\u6df1\u5ea6\u4fe1\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_7\">3.1 \u57fa\u4e8e\u6df1\u5ea6\u4f30\u8ba1\u7684\u65b9\u6cd5<\/h3>\n\n\n\n<p><strong>\u901a\u8fc7\u4f30\u8ba1\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u4fe1\u606f\uff08\u901a\u5e38\u662f\u6982\u7387\u5206\u5e03\uff09\u5c06\u5176\u53d8\u6362\u5230BEV\u89c6\u56fe<\/strong>\uff0c\u8fd9\u662f\u4e00\u79cd\u6bd4\u8f83\u76f4\u89c2\u7684\u89c6\u56fe\u53d8\u6362\u65b9\u5f0f\u3002\u4e0b\u9762\u8981\u4ecb\u7ecd\u7684<strong>LSS<\/strong>\u548c<strong>BEVDet<\/strong>\u90fd\u5c5e\u4e8e\u8fd9\u79cd\u65b9\u5f0f\u3002<\/p>\n\n\n\n<p><strong>LSS\uff08Lift\uff0cSplat\uff0cShoot\uff09<\/strong><\/p>\n\n\n\n<p>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\u6570\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"232\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-9.webp\" alt=\"\" class=\"wp-image-7000\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-9.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-9-300x97.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">LSS\u65b9\u6cd5\u793a\u610f\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\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<strong>\u4f30\u8ba1\u7279\u5f81\u56fe\u6bcf\u4e2a\u50cf\u7d20\u5904\u7684\u6df1\u5ea6\u5206\u5e03<\/strong>\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 \uff09\u4ee5\u53ca\u8be5\u50cf\u7d20\u5904\u7684\u4e0a\u4e0b\u6587\u7279\u5f81<strong>c\uff08<\/strong>\u7ef4\u5ea6\u662fC\uff09\u3002\u7528<\/p>\n\n\n\n<p>\u5bf9<strong>c<\/strong>\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\u9884\u6d4b\u6df1\u5ea6\u662f\u6709\u6b67\u4e49\u7684\u3002<\/p>\n\n\n\n<p>\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\u6570\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"233\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-13.webp\" alt=\"\" class=\"wp-image-7004\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-13.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-13-300x97.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">LSS\u4e2d\u7684\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\u548c\u7279\u5f81\u52a0\u6743<\/figcaption><\/figure>\n\n\n\n<p><strong>BEVDet<\/strong><\/p>\n\n\n\n<p>BEVDet\u4ee5LSS\u4e2d\u7684\u89c6\u56fe\u8f6c\u6362\u4e3a\u57fa\u7840\uff0c\u4f46\u662f<strong>\u5728BEV\u89c6\u56fe\u4e0b\u91c7\u7528\u4e86\u989d\u5916\u7684\u7f51\u7edc\u6765\u8fdb\u4e00\u6b65\u63d0\u53d6\u7279\u5f81<\/strong>\uff0c\u5e76\u5728\u6b64BEV\u7279\u5f81\u7684\u57fa\u7840\u4e0a\u8fdb\u884c3D\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\n\n\n<p>BEVDet\u4e3b\u8981\u5305\u62ec\u56db\u4e2a\u90e8\u5206\u3002\u9996\u5148\u662f\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"301\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-12.webp\" alt=\"\" class=\"wp-image-7003\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-12.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-12-300x125.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEVDet\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_8\">3.2 \u57fa\u4e8e3D\u7f51\u683c\u7684\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u9664\u4e86LSS\u548cBEVDet\u4e2d\u91c7\u7528\u7684\u663e\u5f0f\u6df1\u5ea6\u5206\u5e03\u4f30\u8ba1\uff0c\u8fd8\u6709\u4e00\u7c7b\u65b9\u6cd5<strong>\u901a\u8fc7\u5b9a\u4e493D\u7f51\u683c\u6765\u5efa\u7acbBEV\u89c6\u56fe\u548c\u56fe\u50cf\u89c6\u56fe\u7684\u8054\u7cfb\uff0c\u6bd4\u5982OFT\u548cBEVFormer<\/strong>\u3002\u8fd9\u7c7b\u65b9\u6cd5\u901a\u8fc73D\u52302D\u7684\u6620\u5c04\uff0c\u5c063D\u7f51\u683c\u4e0a\u7684\u6df1\u5ea6\u4fe1\u606f\u9690\u542b\u7684\u9644\u52a0\u5230\u56fe\u50cf\u50cf\u7d20\u4e4b\u4e0a\u3002<\/p>\n\n\n\n<p><strong>Orthographic Feature Transform\uff08OFT\uff09<\/strong><\/p>\n\n\n\n<p>OFT\u7684\u6838\u5fc3\u662f\u6784\u5efaBEV\u89c6\u56fe\u4e0b\u76843D\u7f51\u683c\uff0c\u6bcf\u4e2a\u7f51\u683c\u901a\u8fc7\u900f\u89c6\u53d8\u6362\u5bf9\u5e94\u56fe\u50cf\u4e0a\u7684\u4e00\u5757\u533a\u57df\uff0c<strong>\u8fd9\u4e2a\u533a\u57df\u5185\u56fe\u50cf\u7279\u5f81\u7684\u5747\u503c\u65e2\u662f\u8be5\u7f51\u683c\u7684\u7279\u5f81<\/strong>\u3002\u4e3a\u4e86\u51cf\u5c0f\u8ba1\u7b97\u91cf\uff0c3D\u7f51\u683c\u7279\u5f81\u5728\u9ad8\u5ea6\u8fd9\u4e00\u7ef4\u4e0a\u8fdb\u884c\u538b\u7f29\uff08\u52a0\u6743\u5e73\u5747\uff09\uff0c\u5f97\u5230BEV\u7f51\u683c\u7279\u5f81\u30023D\u7f51\u683c\u52302D\u56fe\u50cf\u7684\u6295\u5f71\u5e76\u4e0d\u662f\u4e00\u4e00\u5bf9\u5e94\u7684\uff0c\u591a\u4e2a\u7f51\u683c\u4f1a\u5bf9\u5e94\u90bb\u8fd1\u7684\u56fe\u50cf\u533a\u57df\uff0c\u5bfc\u81f4\u7f51\u683c\u7279\u5f81\u51fa\u73b0\u6b67\u4e49\u6027\u3002\u6240\u4ee5OFT\u4e5f\u5047\u8bbe\u5f85\u68c0\u6d4b\u7684\u7269\u4f53\u90fd\u5728\u8def\u9762\u4e0a\uff0c\u9ad8\u5ea6\u7684\u8303\u56f4\u5f88\u7a84\uff08\u6587\u4e2d\u5b9e\u9a8c\u91c7\u7528\u4e86\u76843D\u7f51\u683c\u9ad8\u5ea6\u53ea\u67094\u7c73\uff09\u3002<\/p>\n\n\n\n<p>OFT\u6ca1\u6709\u663e\u5f0f\u7684\u4f30\u8ba1\u6bcf\u4e2a\u56fe\u50cf\u4f4d\u7f6e\u7684\u6df1\u5ea6\uff0c\u800c\u662f\u5efa\u7acb\u4e863D\u7f51\u683c\u52302D\u56fe\u50cf\u7684\u5bf9\u5e94\u3002\u591a\u4e2a3D\u7f51\u683c\u4f1a\u5bf9\u5e94\u90bb\u8fd1\u7684\u56fe\u50cf\u533a\u57df\uff0c\u56e0\u6b64\u8fd9\u91cc<strong>\u9690\u542b\u7684\u5047\u8bbe\u5c31\u662f\u50cf\u7d20\u7684\u6df1\u5ea6\u5206\u5e03\u662f\u5747\u5300\u7684<\/strong>\uff0c\u56fe\u50cf\u7279\u5f81\u88ab\u5747\u5300\u7684\u5206\u5e03\u5230\u4ee5\u76f8\u673a\u4e2d\u5fc3\u4e3a\u8d77\u70b9\u7684\u5c04\u7ebf\u4e0a\uff08\u53c2\u89c1\u4e0b\u56fe\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"709\" height=\"406\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-10.webp\" alt=\"\" class=\"wp-image-7001\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-10.webp 709w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-10-300x172.webp 300w\" sizes=\"(max-width: 709px) 100vw, 709px\" \/><figcaption class=\"wp-element-caption\">Orthographic Feature Transform<\/figcaption><\/figure>\n\n\n\n<p><strong>BEVFormer<\/strong><\/p>\n\n\n\n<p>BEVFormer\u91c7\u7528\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u8fdb\u884c\u56fe\u50cf\u5230BEV\u7684\u89c6\u56fe\u8f6c\u6362\uff0c\u5176\u4e2d<strong>query\u6765\u81ea\u4e8eBEV\u89c6\u56fe\uff0c\u800ckey\u548cvalue\u5219\u6765\u81ea\u4e8e\u56fe\u50cf\u89c6\u56fe<\/strong>\u3002query\u88ab\u5b9a\u4e49\u4e3a\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\u4e3a\u4e86\u63d0\u53d63D\u7279\u5f81\uff0cBEV query\u4e0a\u7684\u6bcf\u4e00\u4e2a\u7f51\u683c \u90fd\u88ab\u6269\u5c55\u4e3a\u9ad8\u5ea6\u4e0d\u540c\u7684<\/p>\n\n\n\n<p>\u4e2a\u4e09\u7ef4\u70b9\uff0c\u4e5f\u5c31\u662f\u4e0b\u56fe\uff08b\uff09\u4e2d\u7ea2\u8272\u7684\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-14.webp\" alt=\"\" class=\"wp-image-7005\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-14.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-14-300x113.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEVFormer\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u4e0eOFT\u4e2d\u4e0d\u540c\u9ad8\u5ea6\u7684\u591a\u4e2a\u7f51\u683c\u4e00\u6837\uff0c\u8fd9\u4e9b\u70b9\u4e5f\u662f\u4e3a\u4e86\u63d0\u4f9b\u9ad8\u5ea6\u4fe1\u606f\uff0c\u4ece\u800c\u8fdb\u884c3D\u52302D\u7684\u6620\u5c04\u3002\u6709\u4e86\u5bf9\u5e94\u5173\u7cfb\u4ee5\u540e\uff0c<strong>BEVFormer\u91c7\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u800c\u4e0d\u662fOFT\u4e2d\u91c7\u7528\u7684\u5747\u503c\u64cd\u4f5c\u6765\u8ba1\u7b97\u6bcf\u4e2a3D\u70b9\u7684\u7279\u5f81<\/strong>\u3002\u6ce8\u610f\u529b\u8ba1\u7b97\u662f\u4e00\u79cd\u6570\u636e\u9a71\u52a8\u7684\u52a8\u6001\u7684\u65b9\u5f0f\uff0c\u56e0\u6b64\u6bd4\u5747\u503c\u64cd\u4f5c\u5177\u6709\u66f4\u5927\u7684\u7075\u6d3b\u6027\uff0c\u53ef\u4ee5\u8fdb\u884c\u7aef\u5bf9\u7aef\u5b66\u4e60\u3002\u5177\u4f53\u7684\u8ba1\u7b97\u8fc7\u7a0b\u53ef\u4ee5\u53c2\u8003\u4e4b\u524d\u6587\u7ae0\u4e2d\u7684\u4ecb\u7ecd\uff08<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/618954600\">\u73af\u5883\u611f\u77e5\u4e2d\u7684\u6ce8\u610f\u529b\u673a\u5236\uff08\u4e09\uff09\uff1aBEV\u611f\u77e5\u548c\u4ea4\u53c9\u6ce8\u610f\u529b<\/a>\uff09\u3002BEVFormer\u4e2d\u8fd8\u5305\u62ec\u7684\u65f6\u5e8f\u878d\u5408\u7684\u90e8\u5206\uff0c\u8fd9\u4e2a\u6211\u4eec\u5728\u4e0b\u4e00\u8282\u91cc\u518d\u8be6\u7ec6\u6765\u8bb2\u3002<\/p>\n\n\n\n<p>\u5bf9\u6bd4\u4e00\u4e0b\uff0cLSS\u548cBEVDet\u91c7\u7528\u663e\u5f0f\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u7ed9\u6bcf\u4e2a\u50cf\u7d20\u9644\u52a0\u591a\u4e2a\u6df1\u5ea6\u503c\uff0c\u4ece\u800c\u628a\u4e00\u4e2a\u50cf\u7d20\u7684\u56fe\u50cf\u7279\u5f81\u201c\u63a8\u201d\u5230BEV\u89c6\u56fe\u4e0b\u7684\u591a\u4e2a\u7f51\u683c\u4e2d\u3002\u800cOFT\u548cBEVFormer\u5efa\u7acb\u4e863D\u7f51\u683c\u52302D\u56fe\u50cf\u7684\u6620\u5c04\uff0c\u6bcf\u4e2a\u4e09\u7ef4\u7f51\u683c\u5c06\u5bf9\u5e94\u7684\u56fe\u50cf\u5c40\u90e8\u533a\u57df\u5185\u7684\u7279\u5f81\u201c\u62c9\u201d\u52303D\u89c6\u56fe\uff0c\u5e76\u901a\u8fc7\u538b\u7f29\u9ad8\u5ea6\u7ef4\u5ea6\u5f97\u5230BEV\u7279\u5f81\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_9\">3.3 \u57fa\u4e8e2D\u89c6\u56fe\u7684\u65b9\u6cd5<\/h3>\n\n\n\n<p>\u65e0\u8bba\u662f\u201c\u63a8\u201d\u8fd8\u662f\u201c\u62c9\u201d\u7684\u65b9\u5f0f\uff0c\u4e0a\u8ff0\u65b9\u6cd5\u90fd\u663e\u5f0f\u7684\u5efa\u7acbBEV\u7279\u5f81\u56fe\uff0c\u5e76\u4ee5\u6b64\u4e3a\u57fa\u7840\u5b8c\u6210\u540e\u7eed\u7684BEV\u611f\u77e5\u4efb\u52a1\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u8fd8\u6709\u4e00\u7c7b\u65b9\u6cd5\u76f4\u63a5\u57282D\u56fe\u50cf\u89c6\u56fe\u4e0b\u8fdb\u884c\u64cd\u4f5c\uff0c\u8df3\u8fc7\u751f\u6210BEV\u7279\u5f81\u7684\u6b65\u9aa4\uff0c\u76f4\u63a5\u8f93\u51faBEV\u4e0b\u7684\u611f\u77e5\u7ed3\u679c\u3002\u4e0b\u9762\u6211\u4eec\u6765\u4ecb\u7ecd\u8fd9\u7c7b\u65b9\u6cd5\u4e2d\u4e24\u4e2a\u5178\u578b\u7684\u4f8b\u5b50\uff0cFCOS3D\u548cPETR\u3002<\/p>\n\n\n\n<p><strong>FCOS3D<\/strong><\/p>\n\n\n\n<p>FCOS3D\u7684\u7279\u5f81\u63d0\u53d6\u5b8c\u5168\u57282D\u56fe\u50cf\u4e0a\u8fdb\u884c\uff0c\u53ea\u662f\u5728<strong>\u6700\u540e\u8bbe\u8ba1\u635f\u5931\u51fd\u6570\u7684\u65f6\u5019\u624d\u5f15\u5165\u4e863D\u4fe1\u606f<\/strong>\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c3D\u7269\u4f53\u6846\u7684\u4e2d\u5fc3\u6295\u5f71\u52302D\u56fe\u50cf\uff0c\u5f97\u52302.5D\u4e2d\u5fc3\uff08X\uff0cY\uff0cDepth\uff09\uff0c\u4ee5\u6b64\u4f5c\u4e3a\u56de\u5f52\u7684\u76ee\u6807\u4e4b\u4e00\u3002\u6b64\u5916\uff0c\u56de\u5f52\u7684\u76ee\u6807\u8fd8\u67093D\u5927\u5c0f\u548c\u671d\u5411\u3002\u9664\u4e86\u635f\u5931\u51fd\u6570\uff0cFCOS3D\u6ca1\u6709\u663e\u5f0f\u7684\u5f15\u5165\u4efb\u4f553D\u4fe1\u606f\uff0c\u5b8c\u5168\u9760\u795e\u7ecf\u7f51\u7edc\u4ece\u6570\u636e\u4e2d\u8fdb\u884c\u5b66\u4e60\u3002\u4e0d\u8fc7\uff0c\u4ece\u5b9e\u9a8c\u7684\u6548\u679c\u6765\u770b\uff0c\u795e\u7ecf\u7f51\u7edc\u5f88\u96be\u901a\u8fc7\u7aef\u5bf9\u7aef\u7684\u65b9\u5f0f\u6765\u5b66\u4e60\u590d\u6742\u7684\u51e0\u4f55\u5bf9\u5e94\u5173\u7cfb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"298\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-5.webp\" alt=\"\" class=\"wp-image-6996\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-5.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-5-300x124.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">FCOS3D\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p><strong>PETR<\/strong><\/p>\n\n\n\n<p>PETR\u7684\u7279\u5f81\u63d0\u53d6\u4e5f\u662f\u57282D\u56fe\u50cf\u4e0a\u8fdb\u884c\uff0c\u4f46\u662f<strong>\u5728\u56fe\u50cf\u7279\u5f81\u4e0a\u9644\u52a03D\u7a7a\u95f4\u4fe1\u606f\u7684\u7f16\u7801<\/strong>\u3002\u76ee\u6807\u68c0\u6d4b\u8fd8\u662f\u662f\u57282D\u56fe\u50cf\u7a7a\u95f4\u4e0a\u5b8c\u6210\uff0c\u53ea\u4e0d\u8fc7\u8fd9\u91cc\u7684\u7279\u5f81\u5df2\u7ecf\u5305\u542b\u4e863D\u4fe1\u606f\uff0c\u53ef\u4ee5\u770b\u4f5c\u662f\u4e00\u4e2a\u52a0\u5f3a\u7248\u7684\u56fe\u50cf\u7279\u5f81\u3002\u6240\u8c133D\u7279\u5f81\u7f16\u7801\uff0c\u5176\u5b9e\u5c31\u662f\u7ed9\u56fe\u50cf\u7279\u5f81\u7684\u6bcf\u4e00\u4e2a\u50cf\u7d20\u9644\u52a0\u591a\u4e2a\u53ef\u80fd\u7684\u6df1\u5ea6\u3002\u8fd9\u4e9b3D\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\u62103D\u70b9\u4e91\uff0c\u800c\u662f\u76f4\u63a5\u628a3D\u5750\u6807\u4f5c\u4e3a\u7279\u5f81\u6765\u4f7f\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-21.webp\" alt=\"\" class=\"wp-image-7014\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-21.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-21-300x137.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">PETR\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>PETR\u7684\u8fd9\u79cd\u9644\u52a03D\u7279\u5f81\u7684\u65b9\u5f0f\u907f\u514d\u4e86\u663e\u5f0f\u7684\u751f\u6210BEV\u7279\u5f81\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u8ba1\u7b97\u91cf\u3002\u4f46\u662f\u56e0\u4e3a\u6ca1\u6709BEV\u7279\u5f81\u56fe\uff0cPETR\u65e0\u6cd5\u652f\u6301\u7a20\u5bc6\u7684BEV\u611f\u77e5\u8f93\u51fa\uff0c\u6bd4\u5982\u8bed\u4e49\u6805\u683c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_10\"><strong>3.4 \u65b9\u6cd5\u5bf9\u6bd4<\/strong><\/h3>\n\n\n\n<p>\u4ee5\u4e0a\u4ecb\u7ecd\u7684\u8fd9\u4e9bbaseline\u65b9\u6cd5\uff0c\u57fa\u672c\u6db5\u76d6\u4e86BEV\u611f\u77e5\u7684\u4e0d\u540c\u8bbe\u8ba1\u601d\u8def\uff0c\u540e\u7eed\u5927\u591a\u6570\u7684\u5de5\u4f5c\u4e5f\u90fd\u662f\u8fd9\u4e9b\u57fa\u7840\u4e4b\u4e0a\u8fdb\u884c\u6539\u8fdb\u6216\u8005\u6269\u5c55\u3002\u4e0b\u9762\u6211\u4eec\u91c7\u7528nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u76843D\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1\u6765\u5b9a\u91cf\u7684\u5bf9\u6bd4\u4e00\u4e0b\u8fd9\u4e9bbaseline\u65b9\u6cd5\u3002\u4e3a\u4e86\u5bf9\u6bd4\u516c\u5e73\uff0c\u4e0b\u8868\u91cc\u7684BEVFormer\u662f\u6ca1\u6709\u65f6\u5e8f\u878d\u5408\u548c\u6df1\u5ea6\u9884\u8bad\u7ec3\u7684\u7248\u672c\uff08BEVFormer-S\uff09\u3002\u5728\u672c\u6587\u4e2d\uff0c\u9664\u975e\u7279\u522b\u4e4b\u5904\uff0c\u6027\u80fd\u5bf9\u6bd4\u4e2d\u7ed9\u51fa\u7684\u90fd\u662fnuScenes test set\u4e0a\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><th>\u65b9\u6cd5<\/th><th>\u53d1\u8868\u5e74\u4efd<\/th><th>\u4e3b\u8981\u7279\u70b9<\/th><th>mAP<\/th><th>NDS<\/th><th>FPS<\/th><\/tr><tr><td>OFT<\/td><td>2019<\/td><td>3D\u7f51\u683c<\/td><td>12.6%<\/td><td>21.2%<\/td><td>&#8211;<\/td><\/tr><tr><td>FCOS3D<\/td><td>2020<\/td><td>2D\u89c6\u56fe<\/td><td>35.8%<\/td><td>42.8%<\/td><td>&#8211;<\/td><\/tr><tr><td>BEVDet<\/td><td>2022<\/td><td>\u6df1\u5ea6\u4f30\u8ba1<\/td><td>42.4%<\/td><td>48.8%<\/td><td>4.2 (on 3090)<\/td><\/tr><tr><td>BEVFormer-S<\/td><td>2022<\/td><td>3D\u7f51\u683c<\/td><td>40.9%<\/td><td>46.2%<\/td><td>1.7 (on V100)<\/td><\/tr><tr><td>PETR<\/td><td>2022<\/td><td>2D\u89c6\u56fe<\/td><td>44.1%<\/td><td>50.4%<\/td><td>1.7 (on V100)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u4ece\u4e0a\u9762\u7684\u5bf9\u6bd4\u4e2d\u53ef\u4ee5\uff0c\u65e9\u671f\u7684OFT\u548cFCOS3D\u65b9\u6cd5\u51c6\u786e\u7387\u6bd4\u8f83\u4f4e\u3002\u540e\u7eed\u7684BEVDet\uff0cBEVFormer\u548cPETR\u867d\u7136\u5728\u601d\u8def\u4e0a\u4e5f\u662f\u7c7b\u4f3c\u7684\uff0c\u4f46\u662f\u5728\u7279\u5f81\u63d0\u53d6\u65b9\u9762\u91c7\u7528\u4e86\u66f4\u5927\u89c4\u6a21\u7684\u4e3b\u5e72\u7f51\u7edc\u6216\u8005Transformer\u7ed3\u6784\uff0c\u56e0\u6b64\u51c6\u786e\u7387\u5f97\u5230\u4e86\u5f88\u5927\u7684\u63d0\u5347\u3002\u540e\u9762\u6211\u4eec\u4f1a\u4ee5\u8fd9\u4e09\u4e2a\u65b9\u6cd5\u4e3a\u57fa\u7840\uff0c\u4ecb\u7ecd\u5404\u79cd\u6539\u8fdb\u548c\u6269\u5c55\u7684\u601d\u8def\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_654311603_11\">4 BEV\u611f\u77e5\u7684\u6539\u8fdb\u548c\u6269\u5c55<\/h2>\n\n\n\n<p>\u4e0a\u4e00\u8282\u4e2d\u6211\u4eec\u4ecb\u7ecd\u4e86BEV\u611f\u77e5\u7684\u4e00\u4e9b\u57fa\u672c\u601d\u8def\u548c\u5178\u578b\u65b9\u6cd5\u3002\u540e\u7eed\u7684\u5de5\u4f5c\u4ece\u5404\u79cd\u4e0d\u540c\u7684\u89d2\u5ea6\u5bf9\u8fd9\u4e9b\u601d\u8def\u8fdb\u884c\u548c\u6539\u8fdb\u548c\u6269\u5c55\uff0c\u6bd4\u5982\u63d0\u9ad8\u89c6\u56fe\u53d8\u6362\u7684\u51c6\u786e\u7387\uff0c\u5145\u5206\u5229\u7528\u65f6\u5e8f\u4fe1\u606f\uff0c\u652f\u6301\u4e0d\u540c\u7684\u4e0b\u6e38\u4efb\u52a1\u7b49\u7b49\u3002\u4e0b\u9762\u6211\u4eec\u5c31\u4ee5\u8fd9\u4e9b\u65b9\u5411\u4e3a\u7ebf\u7d22\uff0c\u4ecb\u7ecdBEV\u611f\u77e5\u6700\u65b0\u7684\u8fdb\u5c55\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_12\"><strong>4.1 \u89c6\u56fe\u53d8\u6362<\/strong><\/h3>\n\n\n\n<p>BEV\u611f\u77e5\u7684\u6838\u5fc3\u662f2D\u52303D\u7684\u89c6\u56fe\u53d8\u6362\u3002\u8fd9\u662f\u4e00\u4e2a\u75c5\u6001\u95ee\u9898\uff0c\u800c\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u7684\u4e3b\u8981\u65b9\u6cd5\u4e4b\u4e00\u5c31\u662f\u4ece\u56fe\u50cf\u4e2d\u4f30\u8ba1\u6df1\u5ea6\u4fe1\u606f\u3002\u6211\u4eec\u524d\u9762\u4ecb\u7ecd\u7684\u51e0\u4e2a\u5178\u578b\u7684BEV\u611f\u77e5\u7b97\u6cd5\uff0c\u90fd\u662f\u6839\u636e\u4e0b\u6e38\u4efb\u52a1\uff08\u6bd4\u59823D\u76ee\u6807\u68c0\u6d4b\uff09\u8fdb\u884c\u7aef\u5bf9\u7aef\u8bad\u7ec3\uff0c\u56e0\u6b64\u5e76\u4e0d\u80fd\u591f\u5145\u5206\u7684\u5b66\u4e60\u5982\u4f55\u4f30\u8ba1\u6df1\u5ea6\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u4e00\u76f4\u4f9d\u8d56\u90fd\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u7814\u7a76\u7684\u70ed\u95e8\u8bfe\u9898\u3002BEV\u611f\u77e5\u7b97\u6cd5\u4e5f\u53ef\u4ee5\u91c7\u7528\u5728\u6df1\u5ea6\u4f30\u8ba1\u4efb\u52a1\u4e0a\u8fdb\u884c\u9884\u8bad\u7ec3\u7684\u4e3b\u5e72\u7f51\u7edc\u6765\u589e\u5f3a\u6df1\u5ea6\u4fe1\u606f\u63d0\u53d6\u7684\u80fd\u529b\u3002\u6bd4\u5982\uff0cBEVFormer\u4e2d\u91c7\u7528\u4e86\u5728\u6df1\u5ea6\u4f30\u8ba1\u4efb\u52a1\u7684\u9884\u8bad\u7ec3\u7684VoVNet-99\u4e3b\u5e72\u7f51\u7edc\uff0cNDS\u53ef\u4ee5\u63d0\u9ad83\u4e2a\u767e\u5206\u70b9\u5de6\u53f3\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u91c7\u7528\u9884\u8bad\u7ec3\u7684\u4e3b\u5e72\u7f51\u7edc\uff0c\u66f4\u76f4\u63a5\u7684\u65b9\u6cd5\u5219\u662f\u5728\u8bad\u7ec3\u4e2d\u52a0\u5165\u989d\u5916\u7684\u6df1\u5ea6\u4fe1\u606f\u76d1\u7763\uff0c\u4e5f\u5c31\u662f\u589e\u52a0\u4e00\u4e2a\u989d\u5916\u7684\u6df1\u5ea6\u4f30\u8ba1\u4efb\u52a1\uff0c\u4f46\u662f\u53ea\u7528\u4e8e\u8f85\u52a9\u8bad\u7ec3\u4e3b\u5e72\u7f51\u7edc\uff0c\u5e76\u4e0d\u53c2\u4e0e\u63a8\u7406\u7684\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p><strong>BEVDepth<\/strong><\/p>\n\n\n\n<p>\u867d\u7136\u6df1\u5ea6\u4f30\u8ba1\u5bf9\u4e8eBEV\u611f\u77e5\u975e\u5e38\u91cd\u8981\uff0c\u4f46\u5728LSS\u548cBEVDet\u8fd9\u7c7b\u7b97\u6cd5\u4e2d\uff0c\u6df1\u5ea6\u4f30\u8ba1\u7684\u51c6\u786e\u7387\u5374\u8fdc\u4e0d\u80fd\u8ba9\u4eba\u6ee1\u610f\u3002\u4e3a\u4e86\u8bc1\u660e\u8fd9\u4e00\u70b9\uff0c\u4f5c\u8005\u5728LSS\u4e2d\u91c7\u7528\u968f\u673a\u7684\u6df1\u5ea6\u503c\uff0c\u7ed3\u679c3D\u7269\u4f53\u68c0\u6d4b\u7684mAP\u53ea\u964d\u4f4e\u4e863.7%\uff08\u4ece28.2%\u964d\u4f4e\u523024.5%\uff09\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u7528\u4e0d\u7528\u6df1\u5ea6\u4f30\u8ba1\u5bf9\u7b97\u6cd5\u6027\u80fd\u7684\u5f71\u54cd\u975e\u5e38\u6709\u9650\u3002<\/p>\n\n\n\n<p>\u5bfc\u81f4\u6df1\u5ea6\u4f30\u8ba1\u8d28\u91cf\u8f83\u5dee\u7684\u539f\u56e0\u662f\uff0c\u795e\u7ecf\u7f51\u7edc\u6a21\u578b\u5728\u8bad\u7ec3\u7684\u8fc7\u7a0b\u4e2d\u53ea\u5173\u6ce8\u76ee\u6807\u51fa\u73b0\u7684\u4f4d\u7f6e\uff0c\u56e0\u6b64\u6df1\u5ea6\u4fe1\u606f\u53ea\u80fd\u4ece\u6709\u9650\u7684\u56fe\u50cf\u533a\u57df\u83b7\u53d6\u3002\u5728\u4e0b\u56fe\u7684\u4f8b\u5b50\u4e2d\uff0cLSS\u7684\u6df1\u5ea6\u4f30\u8ba1\u53ea\u5728\u865a\u7ebf\u6846\u4f4d\u7f6e\u5904\u76f8\u5bf9\u51c6\u786e\uff0c\u5176\u4f59\u4f4d\u7f6e\u6548\u679c\u90fd\u5f88\u5dee\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-17.webp\" alt=\"\" class=\"wp-image-7008\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-17.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-17-300x83.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">LSS\u548cBEVDepth\u6df1\u5ea6\u4f30\u8ba1\u6548\u679c\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c<strong>BEVDepth\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u52a0\u5165\u989d\u5916\u7684\u6df1\u5ea6\u4fe1\u606f\u76d1\u7763<\/strong>\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u70b9\u4e91\u88ab\u6295\u5f71\u5230\u56fe\u50cf\u4e0a\uff0c\u4e3aDepthNet\u7684\u5b66\u4e60\u63d0\u4f9b\u76d1\u7763\u4fe1\u606f\u3002\u4ee5\u5916\uff0cBEVDepth\u8fd8\u589e\u52a0\u4e86\u4e00\u4e2aDepth Refinement\u7684\u6a21\u5757\u3002\u8fd9\u4e2a\u6a21\u5757\u5728Depth\u548cBEV\u7279\u5f81\u7684Width\u7ef4\u5ea6\u8fdb\u884c\u591a\u6b213&#215;3\u5377\u79ef\uff0c\u4ece\u800c\u53ef\u4ee5\u964d\u4f4e\u7531\u4e8e\u6df1\u5ea6\u4f30\u8ba1\u9519\u8bef\u5e26\u6765\u7684\u4e0d\u826f\u5f71\u54cd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"654\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-15.webp\" alt=\"\" class=\"wp-image-7006\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-15.webp 654w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-15-300x172.webp 300w\" sizes=\"(max-width: 654px) 100vw, 654px\" \/><figcaption class=\"wp-element-caption\">BEVDepth\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4ee5\u4e0a\u6539\u8fdb\uff0cBEVDepth\u7684NDS\u6307\u6807\u53ef\u4ee5\u63d0\u53474%\u3002\u5982\u679c\u52a0\u4e0a\u65f6\u5e8f\u878d\u5408\u6a21\u5757\uff0cBEVDepth\u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u7684NDS\u53ef\u4ee5\u8fbe\u523060.9%\uff0c\u8fd9\u4e0e\u6fc0\u5149\u96f7\u8fbe\u7684Baseline\u7b97\u6cd5CenterPoint\u5df2\u7ecf\u6bd4\u8f83\u63a5\u8fd1\uff0864.8%\uff09\u3002<\/p>\n\n\n\n<p><strong>BEVDistill<\/strong><\/p>\n\n\n\n<p>\u8be5\u7b97\u6cd5\u540c\u6837\u91c7\u7528\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6765\u63d0\u4f9b\u51c6\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u4f46\u5e76\u6ca1\u6709\u663e\u5f0f\u7684\u8bad\u7ec3\u4e00\u4e2a\u6df1\u5ea6\u4f30\u8ba1\u6a21\u5757\uff0c\u800c\u662f\u628a<strong>\u6df1\u5ea6\u4fe1\u606f\u7684\u76d1\u7763\u5f62\u5f0f\u5316\u4e3a\u4e00\u4e2a\u77e5\u8bc6\u84b8\u998f\u6a21\u578b<\/strong>\u3002\u5728\u8fd9\u4e2a\u6a21\u578b\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u5206\u652f\u4f5c\u4e3a\u201c\u6559\u5e08\u201d\uff0c\u800c\u56fe\u50cf\u5206\u652f\u5219\u4f5c\u4e3a\u201c\u5b66\u751f\u201d\u3002\u56e0\u4e3a\u63a8\u7406\u8fc7\u7a0b\u4e2d\u4e0d\u9700\u8981\u6559\u5e08\u5206\u652f\uff0c\u56e0\u6b64\u5e76\u6ca1\u6709\u589e\u52a0\u989d\u5916\u7684\u8ba1\u7b97\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"514\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-18.webp\" alt=\"\" class=\"wp-image-7010\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-18.webp 514w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-18-300x161.webp 300w\" sizes=\"(max-width: 514px) 100vw, 514px\" \/><figcaption class=\"wp-element-caption\">BEVDistill\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u77e5\u8bc6\u84b8\u998f\u5728\u7a20\u5bc6\u7684BEV\u7279\u5f81\u548c\u7a00\u758f\u7684Instance\uff08\u4e5f\u5c31\u662fDETR\u4e2d\u7684query\uff09\u4e24\u4e2a\u5c42\u9762\u8fdb\u884c\u3002\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u56fe\u50cf\u8fd9\u4e24\u79cd\u6a21\u6001\u7684\u6570\u636e\u4e4b\u95f4\u5b58\u5728\u5f88\u5927\u5dee\u5f02\uff0c\u84b8\u998f\u7684\u65b9\u5f0f\u4e5f\u9700\u8981\u8fdb\u884c\u4e00\u4e9b\u7279\u522b\u7684\u8bbe\u8ba1\u3002\u5177\u4f53\u7684\u7ec6\u8282\u8bf7\u53c2\u8003\u8bba\u6587\uff0c\u8fd9\u91cc\u5c31\u4e0d\u4f5c\u4ecb\u7ecd\u4e86\u3002<\/p>\n\n\n\n<p>\u5f53\u91c7\u7528BEVFormer\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\u65f6\uff0c\u8de8\u6a21\u6001\u84b8\u998f\u53ef\u4ee5\u5c06NDS\u6307\u6807\u63d0\u53473.4%\u3002\u524d\u9762\u4ecb\u7ecd\u7684BEVDepth\u4e5f\u53ef\u4ee5\u7528\u6765\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\uff0c\u4e5f\u5c31\u662f\u8bf4\u6df1\u5ea6\u4f30\u8ba1\u901a\u8fc7\u589e\u52a0\u663e\u5f0f\u7684\u76d1\u7763\u548c\u8de8\u6a21\u6001\u84b8\u998f\u5f97\u5230\u4e86\u53cc\u91cd\u52a0\u5f3a\uff0c\u56e0\u6b64NDS\u8fd8\u53ef\u4ee5\u518d\u5f97\u52300.5%\u7684\u63d0\u5347\u3002<\/p>\n\n\n\n<p><strong>BEVFormerV2<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u6ca1\u6709\u7528\u989d\u5916\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6765\u63d0\u4f9b\u6df1\u5ea6\u4fe1\u606f\u76d1\u7763\uff0c\u800c\u662f<strong>\u7ed9\u4e3b\u5e72\u7f51\u7edc\u589e\u52a0\u4e00\u4e2a\u989d\u5916\u76843D\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1\uff08<\/strong>\u4e0b\u56fe\u4e2d\u7eff\u6846\u7684\u90e8\u5206\uff09\u3002\u8fd9\u662f\u4e00\u4e2a\u8f85\u52a9\u4efb\u52a1\uff0c\u53ef\u4ee5\u5e2e\u52a9\u4e3b\u5e72\u7f51\u7edc\u66f4\u597d\u7684\u63d0\u53d63D\u4fe1\u606f\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\u4e0e\u6ca1\u6709\u989d\u5916\u4efb\u52a1\u7684\u57fa\u7840\u7ed3\u6784\u76f8\u6bd4\uff0cNDS\u53ef\u4ee5\u63d0\u53472.5%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-20.webp\" alt=\"\" class=\"wp-image-7012\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-20.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-20-300x157.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEVFormerV2\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p><strong>HeightFormer<\/strong><\/p>\n\n\n\n<p>\u7b2c3\u8282\u5f00\u59cb\u7684\u90e8\u5206\u63cf\u8ff0\u4e862D\u52303D\u6620\u5c04\u8fd9\u4e2a\u75c5\u6001\u95ee\u9898\uff0c\u5e76\u6307\u51fa\u6df1\u5ea6\u548c\u9ad8\u5ea6\u4e8c\u8005\u77e5\u5176\u4e00\u5c31\u53ef\u4ee5\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u56e0\u6b64\uff0c\u9664\u4e86\u5728\u6df1\u5ea6\u65b9\u9762\u505a\u6587\u7ae0\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u5229\u7528\u9ad8\u5ea6\u4fe1\u606f\u3002\u6bd4\u5982\uff0cOFT\u548cBEVFormer\u6784\u5efa\u4e863D\u7f51\u683c\u5e76\u56e0\u6b64\u5047\u8bbe\u9ad8\u5ea6\u5df2\u77e5\uff0cBEVHeight\u4f30\u8ba1\u6bcf\u4e2a\u50cf\u7d20\u7684\u9ad8\u5ea6\u503c\u3002<\/p>\n\n\n\n<p>HeightFormer\u8fd9\u7bc7\u6587\u7ae0\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u5229\u7528\u6df1\u5ea6\u548c\u9ad8\u5ea6\u4fe1\u606f\u7684\u7b49\u4ef7\u6027\u3002\u4f46\u662f\uff0c\u91c7\u7528\u9ad8\u5ea6\u4fe1\u606f\u66f4\u5177\u6709\u4f18\u52bf\uff0c\u56e0\u4e3a\u9ad8\u5ea6\u4fe1\u606f\u5904\u7406\u4e0d\u9700\u8981\u5229\u7528\u76f8\u673a\u53c2\u6570\u548c\u989d\u5916\u7684\u6df1\u5ea6\u76d1\u7763\u4fe1\u53f7\uff0c\u5177\u6709\u66f4\u5927\u7684\u9c81\u68d2\u6027\u548c\u7075\u6d3b\u6027\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u4ee5\u4e0a\u5206\u6790\uff0cHeightFormer\u91c7\u7528\u4e0eBEVFormer\u7c7b\u4f3c\u7684\u7ed3\u6784\u3002\u4f46\u662f\uff0cBEVFormer\u4e2d\u91c7\u7528\u76843D\u7f51\u683c\u662f\u9884\u5148\u5b9a\u4e49\u7684\uff0c\u795e\u7ecf\u7f51\u7edc\u4f1a\u7ed9\u6bcf\u4e2a\u7f51\u683c\u9884\u6d4b\u4e00\u4e2a\u6743\u91cd\u3002\u9ad8\u5ea6\u4fe1\u606f\u5219\u9690\u542b\u5728\u8fd9\u4e2a\u6743\u91cd\u4e2d\uff0c\u6743\u91cd\u7684\u5206\u5e03\u5bf9\u5e94\u4e86\u8be5\u7f51\u683c\u5904\u9ad8\u5ea6\u7684\u5206\u5e03\u3002<strong>HeightFormer\u5219\u63d0\u51fa\u663e\u5f0f\u7684\u9884\u6d4b\u6bcf\u4e2aBEV\u7f51\u683c\u5904\u7684\u9ad8\u5ea6\u4fe1\u606f<\/strong>\uff0c\u4e5f\u5c31\u662f\u4e0b\u56fe\u4e2d\u7269\u4f53\u4e2d\u5fc3\u9ad8\u5ea6 \u4ee5\u53ca\u7269\u4f53\u81ea\u8eab\u9ad8\u5ea6<\/p>\n\n\n\n<p>\u3002\u6839\u636e\u8fd9\u4e24\u4e2a\u9884\u6d4b\u503c\uff0c\u5c31\u53ef\u4ee5\u91c7\u68373D\u7f51\u683c\u70b9\uff0c\u540e\u7eed\u7684\u5904\u7406\u6b65\u9aa4\u4e0eBEVFormer\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"514\" height=\"275\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-18.webp\" alt=\"\" class=\"wp-image-7009\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-18.webp 514w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-18-300x161.webp 300w\" sizes=\"(max-width: 514px) 100vw, 514px\" \/><figcaption class=\"wp-element-caption\">\u6839\u636e\u9ad8\u5ea6\u9884\u6d4b\u52a8\u6001\u91c7\u6837\u76843D\u7f51\u683c\u70b9<\/figcaption><\/figure>\n\n\n\n<p>HeightFormer\u7684NDS\u6307\u6807\u53ea\u6bd4BEVFormer\u9ad8\u4e860.4%\uff0c\u6240\u4ee5\u8fd9\u4e24\u79cd\u9ad8\u5ea6\u4fe1\u606f\u5904\u7406\u7684\u7b56\u7565\uff0c\u5728\u7b97\u6cd5\u6027\u80fd\u4e0a\u53ef\u4ee5\u8bf4\u5e76\u6ca1\u6709\u592a\u5927\u533a\u522b\u3002<\/p>\n\n\n\n<p><strong>\u6027\u80fd\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><th>\u65b9\u6cd5<\/th><th>\u53d1\u8868\u5e74\u4efd<\/th><th>\u4e3b\u8981\u7279\u70b9<\/th><th>mAP<\/th><th>NDS<\/th><th>FPS<\/th><\/tr><tr><td>BEVDet<\/td><td>2022<\/td><td>\u6df1\u5ea6\u9884\u6d4b<\/td><td>42.4%<\/td><td>48.8%<\/td><td>4.2 (on 3090)<\/td><\/tr><tr><td>BEVFormer<\/td><td>2022<\/td><td>3D\u7f51\u683c<\/td><td>48.1%<\/td><td>56.9%<\/td><td>1.7 (on V100)<\/td><\/tr><tr><td>BEVFormerV2<\/td><td>2022<\/td><td>OD\u4efb\u52a1\u76d1\u7763<\/td><td>54.0%<\/td><td>62.0%<\/td><td>&#8211;<\/td><\/tr><tr><td>BEVDepth<\/td><td>2022<\/td><td>LiDAR\u6df1\u5ea6\u76d1\u7763<\/td><td>50.3%<\/td><td>60.0%<\/td><td>&#8211;<\/td><\/tr><tr><td>BEVDistill<\/td><td>2022<\/td><td>\u77e5\u8bc6\u84b8\u998f\u76d1\u7763<\/td><td>49.8%<\/td><td>59.4%<\/td><td>&#8211;<\/td><\/tr><tr><td>HeightFormer<\/td><td>2023<\/td><td>\u9ad8\u5ea6\u9884\u6d4b<\/td><td>48.1%<\/td><td>57.3%<\/td><td>&#8211;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><em>*\u4e0a\u8868\u4e2d\u9664\u4e86BEVDet\u4ee5\u5916\uff0c\u5176\u4ed6\u65b9\u6cd5\u90fd\u91c7\u7528\u4e86\u4e0d\u540c\u65b9\u5f0f\u7684\u65f6\u5e8f\u878d\u5408\u3002<\/em><\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_13\">4.2 \u7a00\u758fQuery<\/h3>\n\n\n\n<p>\u4e4b\u524d\u4ecb\u7ecd\u7684BEVDet\u548cBEVFormer\u8fd9\u7c7b\u65b9\u6cd5\uff0c\u90fd\u663e\u5f0f\u7684\u751f\u6210\u4e86BEV\u4e0b\u7684\u7279\u5f81\u56fe\u3002\u5176\u4e2dBEVDet\u4f30\u8ba1\u4e86\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u5206\u5e03\uff0c\u800cBEVFormer\u91c7\u75283D\u7f51\u683c\u6765\u505aquery\u3002\u8fd9\u4e24\u79cd\u65b9\u6cd5\u90fd\u53ef\u4ee5\u770b\u4f5c\u662f\u201c\u7a20\u5bc6\u201d\u7684\u89c6\u56fe\u53d8\u6362\uff0c\u56e0\u4e3a\u65e0\u8bba\u662f\u50cf\u7d20\u8fd8\u662f3D\u7f51\u683c\uff0c\u5728\u7a7a\u95f4\u4e0a\u90fd\u662f\u7a20\u5bc6\u7684\u3002\u8fd9\u79cd\u505a\u6cd5\u7684\u4f18\u70b9\u662f\u6240\u751f\u6210\u7684BEV\u7279\u5f81\u56fe\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\u3002\u4f46\u662f\uff0c\u5982\u679c\u4e0b\u6e38\u4efb\u52a1\u53ea\u505a\u76ee\u6807\u68c0\u6d4b\uff0c\u90a3\u4e48\u7406\u8bba\u4e0a\u8bb2\u53ea\u9700\u8981\u751f\u6210\u76ee\u6807\u7684BEV\u7279\u5f81\u5373\u53ef\u3002\u8fd9\u6837\u505a\u4e00\u65b9\u9762\u53ef\u4ee5\u51cf\u5c11\u8ba1\u7b97\u91cf\uff0c\u53e6\u4e00\u65b9\u9762\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\u3002<\/p>\n\n\n\n<p><strong>DETR3D<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u91c7\u7528<strong>\u91c7\u7528\u7a00\u758f\u7684\u76ee\u6807\u7ea7\u522b\u7684query\uff0c\u6bcf\u4e2aquery\u5bf9\u5e94\u4e00\u4e2a\u76ee\u6807\u76843D\u4e2d\u5fc3\u70b9<\/strong>\u3002\u8fd9\u4e9b3D\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\u89c6\u89c9\u7279\u5f81\uff0c\u901a\u8fc7\u8fd9\u4e2a\u7279\u5f81\u6765\u8fdb\u4e00\u6b65\u9884\u6d4b\u76ee\u6807\u76843D\u4fe1\u606f\u3002\u8fd9\u4e9b\u4fe1\u606f\u53ef\u4ee5\u7528\u6765\u66f4\u65b0\u76ee\u6807query\uff0c\u4ece\u800c\u518d\u4ece\u56fe\u50cf\u4e0a\u63d0\u53d6\u7279\u5f81\uff0c\u56e0\u6b64\u8fd9\u662f\u4e00\u4e2a\u8fed\u4ee3\u7684\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"259\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-4.webp\" alt=\"\" class=\"wp-image-6995\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-4.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-4-300x108.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">DETR3D\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>DETR3D\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<strong>\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-19.webp\" alt=\"\" class=\"wp-image-7011\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-19.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-19-300x80.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">\u4e0d\u540c\u7684query\u751f\u6210\u65b9\u6cd5\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p>\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<strong>\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\u4e2a3D\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\uff0c3D\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\n\n\n<p><strong>PETR<\/strong><\/p>\n\n\n\n<p>\u4e4b\u524d\u6211\u4eec\u4ecb\u7ecd\u7684PETR\u65b9\u6cd5\uff0c\u4e5f\u662f\u91c7\u7528\u4e86\u7a00\u758f\u7684\u76ee\u6807\u7ea7query\u3002PETR\u7684query\u867d\u7136\u4e5f\u662f\u57283D\u7a7a\u95f4\u4e2d\u5b9a\u4e49\u7684\uff0c\u4f46\u662f\u4e0eDETR3D\u4e0d\u540c\uff0c\u8fd9\u4e9bquery\u5e76\u6ca1\u6709\u901a\u8fc73D\u52302D\u7684\u6620\u5c04\u4e0e\u56fe\u50cf\u7279\u5f81\u5efa\u7acb\u8054\u7cfb\u3002\u8fd9\u4e2a\u8054\u7cfb\u662f\u901a\u8fc7\u5728\u56fe\u50cf\u7279\u5f81\u4e0a\u9644\u52a0\u76843D\u7a7a\u95f4\u4fe1\u606f\u7f16\u7801\u6765\u5efa\u7acb\u7684\u3002\u8fd9\u79cd\u65b9\u5f0f\u7684\u4f18\u70b9\u662f\u53ef\u4ee5\u907f\u514d3D\u52302D\u7684\u6620\u5c04\u548c\u76f8\u5e94\u7684\u56fe\u50cf\u7279\u5f81\u91c7\u6837\uff0c\u800c\u7f3a\u70b9\u662f\u5fc5\u987b\u8981\u8ba1\u7b97query\u548c\u56fe\u50cf\u7279\u5f81\u4e4b\u95f4\u7684\u5168\u5c40\u6ce8\u610f\u529b\uff0c\u56e0\u4e3aquery\u65e0\u6cd5\u76f4\u63a5\u7684\u4e0e\u56fe\u50cf\u5c40\u90e8\u533a\u57df\u5efa\u7acb\u8054\u7cfb\u3002\u5168\u5c40\u6ce8\u610f\u529b\u7684\u8ba1\u7b97\u91cf\u975e\u5e38\u5927\uff0c\u56e0\u6b64PETR\u867d\u7136\u91c7\u7528\u7a00\u758f\u7684query\uff0c\u4f46\u662f\u901f\u5ea6\u4e0a\u5e76\u6ca1\u6709\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-21.webp\" alt=\"\" class=\"wp-image-7013\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-21.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-21-300x137.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">\u4e0d\u540c\u7684\u7a00\u758fquery\u8bbe\u8ba1\u65b9\u5f0f<\/figcaption><\/figure>\n\n\n\n<p>\u5173\u4e8equery\u7684\u521d\u59cb\u5316\uff0cPETR\u4e5f\u53ef\u4ee5\u505a\u4e0eDETR4D\u4e2d\u7c7b\u4f3c\u7684\u6269\u5c55\uff0c\u4e5f\u5c31\u662f\u5229\u7528\u989d\u5916\u7684\u76ee\u6807\u68c0\u6d4b\u5668\u6765\u786e\u5b9aquery\u7684\u521d\u59cb\u503c\u3002\u7531\u4e8ePETR\u7684\u7279\u5f81\u63d0\u53d6\u662f\u5728\u56fe\u50cf\u89c6\u56fe\u4e0b\u8fdb\u884c\u7684\uff0c\u56e0\u6b64\u53ea\u80fd\u91c7\u75282D\u7269\u4f53\u68c0\u6d4b\u5668\uff0c\u6bd4\u5982Focal-PETR\u4e2d\u7684\u505a\u6cd5\u3002<\/p>\n\n\n\n<p><strong>SparseBEV<\/strong><\/p>\n\n\n\n<p>SparseBEV\u91c7\u7528\u4e0eDETR3D\u76f8\u4f3c\u7684\u6d41\u7a0b\uff0c\u907f\u514d\u4e86\u5168\u5c40\u6ce8\u610f\u529b\uff0c\u56e0\u6b64\u901f\u5ea6\u4e0a\u76f8\u5bf9\u8f83\u5feb\uff0c\u53ef\u4ee5\u8fbe\u523023.5FPS\u3002\u6b64\u5916\uff0c\u4e0eDETR4D\u7684\u60f3\u6cd5\u7c7b\u4f3c\uff0cSparseBEV\u4e5f\u5bf9\u7269\u4f53\u7684\u4e2d\u5fc3\u70b9\u8fdb\u884c\u4e86\u6269\u5c55\u3002\u901a\u8fc7\u5bf9\u6bcf\u4e2a\u4e2d\u5fc3\u70b9\u9884\u6d4b\u4e00\u7ec4offset\uff0c\u4e00\u4e2a\u4e2d\u5fc3\u70b9\u53ef\u4ee5\u88ab\u6269\u5c55\u6210\u591a\u4e2a\u91c7\u6837\u70b9\u3002\u9664\u4e86\u7a7a\u95f4\u4e0a\u7684\u91c7\u6837\uff0cSparseBEV\u4e5f\u5728\u65f6\u5e8f\u4e0a\u8fdb\u884c\u4e86\u91c7\u6837\uff0c\u4ee5\u8fbe\u5230\u65f6\u5e8f\u878d\u5408\u7684\u6548\u679c\u3002<\/p>\n\n\n\n<p>SparseBEV\u4e2d\u8fd8\u6709\u4e00\u4e9b\u7279\u6b8a\u7684\u64cd\u4f5c\uff0c\u53ef\u4ee5\u5e26\u6765\u6027\u80fd\u7684\u63d0\u5347\u3002\u6bd4\u5982\u5728\u8ba1\u7b97query\u4e4b\u95f4\u7684\u81ea\u6ce8\u610f\u529b\u65f6\uff0c\u9664\u4e86query\u7684\u7279\u5f81\u76f8\u4f3c\u5ea6\uff0cquery\u4e4b\u95f4\u7684\u8ddd\u79bb\u4e5f\u88ab\u8003\u8651\u8fdb\u6765\uff0c\u800c\u8ddd\u79bb\u7684\u6743\u91cd\u5219\u662f\u81ea\u9002\u5e94\u5b66\u4e60\u5f97\u5230\u7684\u3002\u8fd9\u4e2a\u64cd\u4f5c\u88ab\u7528\u6765\u66ff\u4ee3\u7a20\u5bc6query\u4e2dBEV\u7279\u5f81\u7f16\u7801\u5668\u7684\u4f5c\u7528\u3002\u6b64\u5916\uff0c\u5728\u89e3\u7801\u9636\u6bb5\uff0cMLP-Mixer\u88ab\u7528\u6765\u5bf9\u91c7\u6837\u70b9\u548c\u7279\u5f81\u901a\u9053\u8fdb\u884c\u5904\u7406\uff08\u5bf9\u6bd4DETR3D\u4e2d\u91c7\u7528\u6ce8\u610f\u529b\u7684\u65b9\u5f0f\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"339\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-24.webp\" alt=\"\" class=\"wp-image-7017\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-24.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-24-300x141.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">SparseBEV\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0a\u8ff0\u6539\u8fdb\u90fd\u53ef\u4ee5\u5e26\u6765\u6027\u80fd\u7684\u63d0\u9ad8\u3002\u5176\u4e2d\uff0c\u65f6\u5e8f\u878d\u5408\u8d77\u5230\u7684\u4f5c\u7528\u6700\u5927\uff0cNDS\u7684\u63d0\u5347\u53ef\u4ee5\u8d85\u8fc710\u4e2a\u767e\u5206\u70b9\u3002\u5176\u6b21\uff0c\u81ea\u9002\u5e94\u7684Mixing\u4e5f\u53ef\u4ee5\u5c06NDS\u63d0\u9ad86\u4e2a\u767e\u5206\u70b9\u5de6\u53f3\u3002\u6700\u540e\uff0cquery\u7684\u81ea\u9002\u5e94\u81ea\u6ce8\u610f\u529b\u4e5f\u53ef\u4ee5\u5c06NDS\u63d0\u9ad82\u4e2a\u767e\u5206\u70b9\u3002<\/p>\n\n\n\n<p><strong>Far3D<\/strong><\/p>\n\n\n\n<p>\u4e0eFocal-PETR\u7c7b\u4f3c\uff0c<strong>Far3D\u4e5f\u91c7\u7528\u4e862D\u76ee\u6807\u68c0\u6d4b\u6765\u63d0\u4f9b\u521d\u59cb\u7684query<\/strong>\u3002\u8fd9\u6837\u505a\u4e00\u65b9\u9762\u907f\u514d\u968f\u673a\u521d\u59cb\u5316\u5e26\u6765\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u53e6\u4e00\u65b9\u9762\u4e5f\u53ef\u4ee5\u63d0\u9ad8\u8fdc\u8ddd\u79bb\u76ee\u6807\u7684\u53ec\u56de\u7387\uff08recall\uff09\u3002\u76ee\u524d\u4e3b\u6d41\u7684\u89c6\u89c93D\u76ee\u6807\u68c0\u6d4b\uff0c\u5176\u6709\u6548\u68c0\u6d4b\u8ddd\u79bb\u90fd\u6bd4\u8f83\u6709\u9650\uff0850\u7c73\u5de6\u53f3\uff09\uff0c\u5728\u8fdc\u8ddd\u79bb\u533a\u57df\u76ee\u6807\u7684\u53ec\u56de\u7387\u6bd4\u8f83\u4f4e\uff08\u4e3b\u8981\u7531\u4e8e\u6df1\u5ea6\u4fe1\u606f\u4f30\u8ba1\u7684\u4e0d\u51c6\u786e\uff09\u3002\u4e0e\u6b64\u76f8\u6bd4\uff0c2D\u76ee\u6807\u68c0\u6d4b\u5728\u8fdc\u8ddd\u79bb\u533a\u57df\u5177\u6709\u66f4\u597d\u7684\u53ec\u56de\u7387\uff0c\u56e0\u6b64\u91c7\u75282D\u76ee\u6807\u68c0\u6d4b\uff08\u548c\u6df1\u5ea6\u4f30\u8ba1\uff09\u6765\u63d0\u4f9b\u521d\u59cb\u7684query\uff0c\u53ef\u4ee5\u6709\u6548\u7684\u51cf\u5c11\u8fdc\u8ddd\u79bb\u76ee\u6807\u7684\u4e22\u5931\u3002\u8fd9\u4e9b\u57fa\u4e8e2D\u76ee\u6807\u68c0\u6d4b\u7684query\u4f1a\u548c\u968f\u673a\u7684\uff08\u6216\u8005\u5168\u5c40\u56fa\u5b9a\u7684\uff09query\u8fdb\u884c\u7ec4\u5408\uff0c\u4ece\u800c\u6700\u5927\u7a0b\u5ea6\u4e0a\u4fdd\u8bc1\u76ee\u6807\u68c0\u6d4b\u7684\u53ec\u56de\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"272\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-22.webp\" alt=\"\" class=\"wp-image-7015\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-22.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-22-300x113.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">Far3D\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u5305\u542b\u8fdc\u8ddd\u79bb\u76ee\u6807\uff08150\u7c73\uff09\u7684Argoverse2\u6570\u636e\u96c6\u4e0a\uff0cFar3D\u6bd4\u5176\u4ed6\u6240\u6709\u5bf9\u6bd4\u65b9\u6cd5\u7684mAP\u90fd\u9ad8\u51fa\u81f3\u5c114\u4e2a\u767e\u5206\u70b9\u3002\u540c\u65f6\uff0c\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0cFar3D\u8fbe\u5230\u4e86SOTA\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u6027\u80fd\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><th>\u65b9\u6cd5<\/th><th>\u53d1\u8868\u5e74\u4efd<\/th><th>Query<\/th><th>mAP<\/th><th>NDS<\/th><th>FPS<\/th><\/tr><tr><td>BEVFormer<\/td><td>2022<\/td><td>\u7a20\u5bc6<\/td><td>48.1%<\/td><td>56.9%<\/td><td>1.7 (V100)<\/td><\/tr><tr><td>BEVFormerV2*<\/td><td>2022<\/td><td>\u7a20\u5bc6<\/td><td>54.0%<\/td><td>62.0%<\/td><td>&#8211;<\/td><\/tr><tr><td>DETR3D<\/td><td>2021<\/td><td>\u7a00\u758f<\/td><td>41.2%<\/td><td>47.9%<\/td><td>&#8211;<\/td><\/tr><tr><td>DETR4D*<\/td><td>2022<\/td><td>\u7a00\u758f<\/td><td>45.2%<\/td><td>53.0%<\/td><td>~1.7 (V100)<\/td><\/tr><tr><td>PETR<\/td><td>2022<\/td><td>\u7a00\u758f<\/td><td>44.1%<\/td><td>50.4%<\/td><td>1.7 (V100)<\/td><\/tr><tr><td>PETRv2*<\/td><td>2022<\/td><td>\u7a00\u758f<\/td><td>50.8%<\/td><td>59.1%<\/td><td>&#8211;<\/td><\/tr><tr><td>SparseBEV*<\/td><td>2023<\/td><td>\u7a00\u758f<\/td><td>55.6%<\/td><td>63.6%<\/td><td>23.5** (3090)<\/td><\/tr><tr><td>Far3D*<\/td><td>2023<\/td><td>\u7a00\u758f<\/td><td>63.5%<\/td><td>68.7%<\/td><td>&#8211;<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><em>*\u8868\u793a\u91c7\u7528\u4e86\u65f6\u5e8f\u878d\u5408\u3002<\/em><\/p>\n\n\n\n<p><em>**SparseBEV\u5728FPS=23.5\u65f6\u91c7\u7528\u4e86\u8f83\u5c0f\u7684\u4e3b\u5e72\u7f51\u7edc\uff08ResNet-50\uff09\u548c\u56fe\u50cf\u5927\u5c0f\uff08704&#215;256\uff09\u3002\u4f5c\u4e3a\u53c2\u8003\uff0cPETRv2\u5728\u540c\u6837\u914d\u7f6e\u4e0b\u7684FPS\u662f15\u5de6\u53f3\u3002<\/em><\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_14\">4.3 \u65f6\u5e8f\u878d\u5408<\/h3>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u8f93\u5165\u7684\u662f\u65f6\u95f4\u4e0a\u8fde\u7eed\u7684\u6570\u636e\uff0c\u6bd4\u5982\u89c6\u9891\u6d41\u3002\u56e0\u6b64\uff0c\u5982\u4f55\u5145\u5206\u5229\u7528\u65f6\u5e8f\u4e0a\u7684\u4fe1\u606f\uff0c\u4e00\u76f4\u4ee5\u6765\u90fd\u662f\u611f\u77e5\u65b9\u5411\u7684\u7814\u7a76\u70ed\u70b9\u3002\u5bf9\u4e8e2D\u56fe\u50cf\u5e8f\u5217\uff08\u4e5f\u5c31\u662f\u89c6\u9891\u6d41\uff09\u6765\u8bf4\uff0c\u76f8\u673a\u7684\u8fd0\u52a8\u4f1a\u5bfc\u81f4\u6bcf\u5e27\u56fe\u50cf\u90fd\u4f4d\u4e8e\u4e0d\u540c\u7684\u900f\u89c6\u5750\u6807\u7cfb\u4e4b\u4e0b\u3002\u65f6\u5e8f\u878d\u5408\u7684\u6838\u5fc3\u662f\u8981\u627e\u5230\u4e0d\u540c\u5e27\u6570\u636e\u4e4b\u95f4\u7684\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\uff0c\u8fd9\u79cd\u5bf9\u5e94\u5173\u7cfb\u5728\u900f\u89c6\u5750\u6807\u7cfb\u4e0b\u96be\u4ee5\u8fdb\u884c\u6709\u6548\u7684\u5efa\u6a21\uff0c\u5bf9\u5e94\u7684\u89c6\u89c9\u7279\u5f81\u4e5f\u5f88\u96be\u8fdb\u884c\u878d\u5408\u3002\u56e0\u6b64\uff0c\u57282D\u89c6\u89c9\u611f\u77e5\u4e2d\uff0c\u65f6\u5e8f\u878d\u5408\u901a\u5e38\u4f1a\u5728\u51b3\u7b56\u5c42\u8fdb\u884c\uff0c\u6bd4\u5982\u5728\u5355\u5e27\u76ee\u6807\u68c0\u6d4b\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\u76ee\u6807\u8ddf\u8e2a\uff0c\u6216\u8005\u91c7\u7528OpticalFlow\u6765\u5efa\u6a21\u591a\u5e27\u4e4b\u95f4\u7684\u5173\u7cfb\u3002<\/p>\n\n\n\n<p>\u4e0e\u900f\u89c6\u89c6\u56fe\u4e0d\u540c\uff0c<strong>\u5728BEV\u89c6\u56fe\u4e0b\u8fdb\u884c\u65f6\u5e8f\u878d\u5408\u6709\u7740\u5929\u7136\u7684\u4f18\u52bf<\/strong>\u3002\u8fd9\u662f\u56e0\u4e3a\u76f8\u673a\u548c\u76ee\u6807\u7684\u8fd0\u52a8\u5728BEV\u5750\u6807\u4e0b\u90fd\u662fHomogenous\u7684\u3002\u4e3e\u4f8b\u6765\u8bf4\uff0c\u5047\u8bbe\u4e00\u4e2a\u76ee\u6807\u5728\u4e24\u5e27\u4e4b\u95f4\u79fb\u52a8\u4e861\u7c73\u7684\u8ddd\u79bb\uff0c\u90a3\u4e48\u65e0\u8bba\u8fd9\u4e2a\u76ee\u6807\u5728BEV\u5750\u6807\u4e0b\u7684\u4ec0\u4e48\u4f4d\u7f6e\uff0c\u8fd9\u4e2a\u8ddd\u79bb\u90fd\u662f1\u7c73\u3002\u800c\u5728\u56fe\u50cf\u5750\u6807\u4e0b\uff0c\u8fd9\u4e2a\u8ddd\u79bb\uff08\u4e5f\u5c31\u662f\u50cf\u7d20\u8ddd\u79bb\uff09\u5219\u4f9d\u8d56\u4e8e\u76ee\u6807\u5728\u56fe\u50cf\u7684\u5177\u4f53\u4f4d\u7f6e\uff1a\u8fd1\u5904\u8ddd\u79bb\u5927\uff0c\u8fdc\u5904\u8ddd\u79bb\u5c0f\u3002<\/p>\n\n\n\n<p>\u5728BEV\u5750\u6807\u4e0b\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u7b80\u5355\u7684\u5e73\u79fb\u548c\u65cb\u8f6c\uff08\u6839\u636e\u81ea\u8f66\u8fd0\u52a8\u4fe1\u606f\uff09\u6765\u5bf9\u9f50\u4e0d\u540c\u5e27\u7684BEV\u5750\u6807\u7cfb\uff0c\u8fd9\u5c31\u7ed9\u7279\u5f81\u5c42\u7684\u65f6\u5e8f\u878d\u5408\u6253\u5f00\u4e86\u65b9\u4fbf\u4e4b\u95e8\u3002\u6b64\u5916\uff0c\u5728BEV\u5750\u6807\u4e0b\uff0c\u76ee\u6807\u7684\u8fd0\u52a8\u5efa\u6a21\u4e5f\u975e\u5e38\u76f4\u89c2\uff0c\u56e0\u6b64\u76ee\u6807\u7ea7\u522b\u7684\u878d\u5408\u76f8\u5bf9\u6bd4\u8f83\u5bb9\u6613\uff0c\u6bd4\u5982\u57fa\u4e8e\u5361\u5c14\u66fc\u6ee4\u6ce2\u6216\u8005\u57fa\u4e8e\u7a00\u758fquery\u7684\u76ee\u6807\u8ddf\u8e2a\u3002\u4ece\u524d\u9762\u51e0\u8282\u7684\u6027\u80fd\u5bf9\u6bd4\u4e2d\uff0c\u6211\u4eec\u4e5f\u80fd\u770b\u5230\uff0c<strong>\u65f6\u5e8f\u878d\u5408\u5bf9\u7b97\u6cd5\u7684\u63d0\u5347\u662f\u975e\u5e38\u663e\u8457\u7684<\/strong>\u3002\u4e0b\u9762\u6211\u4eec\u5c31\u6765\u5177\u4f53\u4ecb\u7ecd\u4e00\u4e0b\u76f8\u5173\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><strong>BEVDet4D<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u662fBEVDet\u5728\u65f6\u5e8f\u878d\u5408\u4e0a\u7684\u6269\u5c55\uff0c\u5176\u4e2d\u5355\u5e27\u6570\u636e\u7684\u5904\u7406\u91c7\u7528\u4e0eBEVDet\u4e2d\u540c\u6837\u7684\u65b9\u6cd5\uff0c\u5c06\u56fe\u50cf\u8f6c\u6362\u5230BEV\u89c6\u56fe\u4e0b\uff0c\u5e76\u63d0\u53d6\u7279\u5f81\u3002BEVDet4D\u4e2d\u5bf9\u591a\u5e27\u7279\u5f81\u7684\u5904\u7406\u65b9\u6cd5\u975e\u5e38\u7b80\u5355\uff0c\u5c31\u662f<strong>\u5c06T-1\u548cT\u65f6\u523b\u7684BEV\u7279\u5f81\u8fdb\u884c\u7a7a\u95f4\u5bf9\u9f50<\/strong>\u3002<\/p>\n\n\n\n<p>\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-7.webp\" alt=\"\" class=\"wp-image-6998\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-7.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-7-300x160.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEVDet4D\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p>\u6839\u636e\u81ea\u8f66\u8fd0\u52a8\u4fe1\u606f\u6765\u5bf9\u9f50\u591a\u5e27\u7684\u5750\u6807\u7cfb\uff0c\u8fd9\u662f\u65f6\u5e8f\u878d\u5408\u7684\u5fc5\u5907\u6b65\u9aa4\u3002\u4ee5\u6b64\u4e3a\u57fa\u7840\uff0c\u540e\u9762\u6211\u4eec\u4f1a\u518d\u4ecb\u7ecd\u66f4\u4e3a\u590d\u6742\u7684\u878d\u5408\u65b9\u5f0f\u3002<\/p>\n\n\n\n<p><strong>BEVFormer<\/strong><\/p>\n\n\n\n<p>\u65f6\u5e8f\u878d\u5408\u90e8\u5206\u91c7\u7528\u7684\u662f\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u56e0\u4e3aquery\u548ckey\/value\u90fd\u6765\u81eaBEV\u7279\u5f81\u3002\u5728\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0cquery\uff08 \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<\/p>\n\n\n\n<p>\uff09\u3002<\/p>\n\n\n\n<p>\u9996\u5148\uff0c \u9700\u8981\u5bf9\u9f50\u5230 \u65f6\u523b\u7684\u5750\u6807\u7cfb\uff0c\u8bb0\u4e3a<\/p>\n\n\n\n<p>\u3002\u524d\u9762\u4ecb\u7ecd\u7684BEVDet4D\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\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"467\" height=\"66\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-8.png\" alt=\"\" class=\"wp-image-7018\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-8.png 467w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-8-300x42.png 300w\" sizes=\"(max-width: 467px) 100vw, 467px\" \/><\/figure>\n\n\n\n<p>\u5728\u65f6\u5e8f\u878d\u5408\u7684\u516c\u5f0f\u4e2d\uff0cquery \u5206\u522b\u548c \u81ea\u8eab\u4ee5\u53ca\u5bf9\u9f50\u540e\u7684<\/p>\n\n\n\n<p>\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\n\n\n<p>\u4ece\u4e0a\u9762\u7684\u4ecb\u7ecd\u4e2d\u6211\u4eec\u53ef\u4ee5\u770b\u5230<strong>BEV\u65f6\u5e8f\u878d\u5408\u7684\u57fa\u672c\u601d\u8def<\/strong>\uff1a\u9996\u5148\u7528\u81ea\u8f66\u8fd0\u52a8\u8865\u507f\u6765\u5bf9\u9f50\u4e0d\u540c\u65f6\u523b\u7684\u5750\u6807\uff08\u9759\u6001\u76ee\u6807\u57fa\u672c\u5bf9\u9f50\uff09\uff0c\u7136\u540e\u7528\u6ce8\u610f\u529b\u673a\u5236\u6765\u5904\u7406\u8fd0\u52a8\u76ee\u6807\u5e76\u5bf9\u9759\u6b62\u76ee\u6807\u8fdb\u884c\u4fee\u6b63\uff0c\u6700\u540e\u7528\u9012\u5f52\uff08recursive\uff09\u7684\u673a\u5236\u6765\u66f4\u65b0\u5f53\u524d\u65f6\u523b\u7684\u878d\u5408\u7279\u5f81\u5e76\u4f5c\u4e3a\u4e0b\u4e00\u65f6\u523b\u7684\u8f93\u5165\uff08\u907f\u514d\u6bcf\u6b21\u90fd\u5904\u7406\u591a\u5e27\u4fe1\u606f\uff09\u3002<\/p>\n\n\n\n<p><strong>SOLOFusion<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u8be6\u7ec6\u5206\u6790\u4e86\u878d\u5408\u7684\u5e27\u6570\u548c\u56fe\u50cf\u5206\u8fa8\u7387\u5bf9BEV\u611f\u77e5\u7684\u5f71\u54cd\u3002\u6587\u7ae0\u901a\u8fc7\u7406\u8bba\u5206\u6790\u8bc1\u660e\uff0c<strong>\u957f\u65f6\u878d\u5408\u548c\u9ad8\u5206\u8fa8\u7387\u90fd\u53ef\u4ee5\u63d0\u9ad8BEV\u611f\u77e5\u7684\u80fd\u529b<\/strong>\u3002\u5177\u4f53\u7684\u5206\u6790\u6bd4\u8f83\u957f\uff0c\u53ef\u4ee5\u53c2\u8003\u539f\u6587\uff0c\u8fd9\u91cc\u6211\u4eec\u53ea\u4ece\u76f4\u89c9\u4e0a\u6765\u7b80\u5355\u89e3\u91ca\u4e00\u4e0b\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8eBEV\u611f\u77e5\u4efb\u52a1\u6765\u8bf4\uff0c\u6700\u91cd\u8981\u7684\u5c31\u662f\u83b7\u5f97\u5177\u6709\u533a\u5206\u80fd\u529b\u7684BEV\u7279\u5f81\uff08\u533a\u5206\u5f53\u524d\u4f4d\u7f6e\u6709\u6ca1\u6709\u611f\u5174\u8da3\u7684\u76ee\u6807\uff09\uff0c\u4e0d\u7ba1\u5b83\u662f\u7a00\u758f\u7684\u8fd8\u662f\u7a20\u5bc6\u7684\u3002BEV\u7279\u5f81\u6765\u6e90\u4e8e\u591a\u4e2a\u89c6\u89d2\u76842D\u56fe\u50cf\uff0c\u90a3\u4e48\u4e5f\u5c31\u662f\u8bf4\u6211\u4eec\u9700\u8981\u4ece\u56fe\u50cf\u4e0a\u83b7\u53d6\u6709\u533a\u5206\u80fd\u529b\u7684\u7279\u5f81\u3002\u5982\u679cBEV\u89c6\u56fe\u4e0b\u4e24\u4e2a\u90bb\u8fd1\u7684\u4f4d\u7f6e\u6620\u5c04\u5230\u56fe\u50cf\u4e0a\u7684\u540c\u4e00\u4e2a\u50cf\u7d20\uff0c\u90a3\u4e48\u6211\u4eec\u5c31\u65e0\u6cd5\u533a\u5206\u8fd9\u4e24\u4e2aBEV\u4f4d\u7f6e\u3002\u6362\u53e5\u8bdd\u8bf4\uff0c\u6211\u4eec\u9700\u8981\u8fd9\u4e24\u4e2a\u4f4d\u7f6e\u5728\u56fe\u50cf\u4e0a\u7684\u7279\u5f81\u533a\u5206\u5ea6\u8db3\u591f\u5927\u3002\u63d0\u9ad8\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u53ef\u4ee5\u4f7f\u8fd9\u4e24\u4e2a\u4f4d\u7f6e\u5bf9\u5e94\u7684\u56fe\u50cf\u50cf\u7d20\u79bb\u7684\u66f4\u8fdc\uff0c\u4ece\u800c\u4f7f\u7279\u5f81\u7684\u533a\u5206\u5ea6\u53d8\u5927\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u5bf9\u4e8e\u56fe\u50cf\u5e8f\u5217\u6765\u8bf4\uff0c\u5e8f\u5217\u8d8a\u957f\uff0c\u4e0d\u540c\u5e27\u4e4b\u95f4\u7684\u5dee\u5f02\u8d8a\u5927\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u83b7\u5f97\u533a\u5206\u5ea6\u8f83\u5927\u7684\u56fe\u50cf\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u6839\u636e\u7406\u8bba\u5206\u6790\u7684\u7ed3\u679c\uff0c\u4f5c\u8005\u63d0\u51fa<strong>\u5bf9\u878d\u5408\u957f\u5ea6\u548c\u56fe\u50cf\u5206\u8fa8\u7387\u8fdb\u884c\u6298\u4e2d\uff0c\u8bbe\u8ba1\u4e86\u4e24\u4e2a\u5206\u652f<\/strong>\u3002\u4e00\u4e2a\u5206\u652f\u91c7\u7528\u957f\u65f6\u878d\u5408\uff0816\u5e27\uff09\u548c\u4f4e\u5206\u8fa8\u7387\u7279\u5f81\uff081\/16\uff09\uff0c\u53e6\u4e00\u4e2a\u5206\u652f\u91c7\u7528\u77ed\u65f6\u878d\u5408\uff082\u5e27\uff09\u548c\u9ad8\u5206\u8fa8\u7387\u7279\u5f81\uff081\/4\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"333\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-23.webp\" alt=\"\" class=\"wp-image-7016\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-23.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-23-300x139.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">SOLOFusion\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u4e0e\u5176\u5b83\u65f6\u5e8f\u878d\u5408\u65b9\u6cd5\u76f8\u6bd4\uff0cSOLOFusion\u5728\u65f6\u5e8f\u878d\u5408\u4e2d\u91c7\u7528\u7684\u5e27\u6570\u8f83\u591a\uff0c\u9700\u8981\u8fdb\u884c\u591a\u6b21wrap\u64cd\u4f5c\u3002\u4f46\u662f\u5b83\u901a\u8fc7\u91c7\u7528\u4f4e\u5206\u8fa8\u7387\u7279\u5f81\u7279\u5f81\u964d\u4f4e\u4e86\u8ba1\u7b97\u91cf\u3002BEVFormer\u5176\u5b9e\u662f\u5229\u7528\u4e86\u9012\u5f52\u7684\u65b9\u5f0f\uff0c\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u7406\u8bba\u4e0a\u662f\u53ef\u4ee5\u5229\u7528\u6240\u6709\u5386\u53f2\u5e27\u3002\u9012\u5f52\u7684\u65b9\u5f0f\u867d\u7136\u4e0d\u7528\u6bcf\u6b21\u90fd\u878d\u5408\u591a\u5e27\uff0c\u4f46\u662f\u5982\u4f55\u6709\u6548\u7684\u4fdd\u7559\u5386\u53f2\u4fe1\u606f\u5219\u975e\u5e38\u5177\u6709\u6311\u6218\u6027\uff0c\u5176\u6027\u80fd\u4e5f\u4f1a\u53d7\u5230\u4e00\u5b9a\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p><strong>PETRv2<\/strong><\/p>\n\n\n\n<p>PETR\u7684\u7279\u5f81\u63d0\u53d6\u662f\u57282D\u89c6\u56fe\u4e0a\u8fdb\u884c\u7684\uff0c2D\u548c3D\u89c6\u56fe\u7684\u5173\u7cfb\u662f\u901a\u8fc73D\u7a7a\u95f4\u4f4d\u7f6e\u7f16\u7801\u5efa\u7acb\u7684\u30022D\u56fe\u50cf\u7279\u5f81\u5f88\u96be\u8fdb\u884c\u5750\u6807\u5bf9\u9f50\uff0c\u56e0\u6b64<strong>PETR\u7684\u65f6\u5e8f\u878d\u5408\u662f\u57283D\u7a7a\u95f4\u4f4d\u7f6e\u7f16\u7801\u4e0a\u6765\u8fdb\u884c\u7684<\/strong>\u3002\u7b80\u5355\u6765\u8bf4\uff0c\u5c31\u662f\u628aT-1\u65f6\u523b\u7684\u4f4d\u7f6e\u7f16\u7801\u6839\u636e\u81ea\u8f66\u8fd0\u52a8\u4fe1\u606f\u53d8\u6362\u5230T\u65f6\u523b\u7684\u5750\u6807\u4e0b\uff0c\u518d\u4e0eT\u65f6\u523b\u7684\u4f4d\u7f6e\u7f16\u7801\u8fdb\u884c\u62fc\u63a5\u3002\u6b64\u5916\uff0cT-1\u548cT\u65f6\u523b\u76842D\u56fe\u50cf\u7279\u5f81\u4e5f\u76f4\u63a5\u8fdb\u884c\u62fc\u63a5\u3002\u6700\u540e\uff0c\u65f6\u5e8f\u878d\u5408\u540e\u76843D\u4f4d\u7f6e\u7f16\u7801\u548c2D\u56fe\u50cf\u7279\u5f81\u88ab\u9001\u5165\u5230encoder\u6a21\u5757\u8fdb\u884c\u540e\u7eed\u7684\u5904\u7406\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"705\" height=\"388\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-25.webp\" alt=\"\" class=\"wp-image-7020\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-25.webp 705w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-25-300x165.webp 300w\" sizes=\"(max-width: 705px) 100vw, 705px\" \/><figcaption class=\"wp-element-caption\">PETRv2\u4e2d\u7684\u65f6\u5e8f\u878d\u5408\u6a21\u5757<\/figcaption><\/figure>\n\n\n\n<p><strong>DETR4D<\/strong><\/p>\n\n\n\n<p>DETR\u7cfb\u5217\u7684\u65b9\u6cd5\u91c7\u7528\u7684\u662f\u7a00\u758fquery\uff0c\u56e0\u6b64\u65f6\u5e8f\u878d\u5408\u4e5f\u5728\u76ee\u6807\u7ea7\u7684\u7a00\u758fquery\u4e0a\u8fdb\u884c\u3002\u9664\u4e86query\uff0c\u56fe\u50cf\u7279\u5f81\u4e5f\u8fdb\u884c\u4e86\u65f6\u5e8f\u878d\u5408\u3002\u56e0\u6b64\uff0cDETR4D\u5728<strong>query\u548c\u56fe\u50cf\u7279\u5f81\u4e24\u90e8\u5206\u90fd\u5229\u7528\u524d\u4e00\u5e27\u7684\u5386\u53f2\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\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u56fe\u50cf\u7279\u5f81\u53ea\u662f\u5728query\u4e0a\u8fdb\u884c\u4e86\u878d\u5408\u5904\u7406\uff0c\u672c\u8eab\u5e76\u6ca1\u6709\u57282D\u900f\u89c6\u89c6\u56fe\u4e0b\u8fdb\u884c\u878d\u5408\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"276\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-28.webp\" alt=\"\" class=\"wp-image-7023\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-28.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-28-300x115.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">DETR4D\u7f51\u7edc\u7ed3\u6784\u56fe<\/figcaption><\/figure>\n\n\n\n<p><strong>SparseBEV<\/strong><\/p>\n\n\n\n<p>\u524d\u4e00\u5c0f\u8282\u4e2d\u4ecb\u7ecd\u4e86\uff0c\u8be5\u65b9\u6cd5\u4e0eDETR4D\u7c7b\u4f3c\uff0c\u90fd\u662f\u91c7\u7528\u7a00\u758f\u7684query\uff0c\u6bcf\u4e2aquery\u6709\u591a\u4e2a\u91c7\u6837\u70b9\u3002\u4f46\u662f\u8fd9\u4e24\u4e2a\u65b9\u6cd5\u91c7\u7528\u4e86\u4e0d\u540c\u7684\u65f6\u5e8f\u878d\u5408\u65b9\u5f0f\u3002SparseBEV<strong>\u901a\u8fc7\u81ea\u8f66\u8fd0\u52a8\u4ee5\u53caquery\u7684\u8fd0\u52a8\uff08\u9884\u6d4b\u503c\uff09\u5c06\u6bcf\u4e2aquery\u7684\u91c7\u6837\u70b9\u6620\u5c04\u56de\u4e4b\u524d\u7684\u591a\u5e27\u7279\u5f81\u4e4b\u4e0a<\/strong>\uff0c\u8fd9\u6837\u6bcf\u4e2aquery\u5c31\u53ef\u4ee5\u5305\u542b\u591a\u5e27\u7684\u5386\u53f2\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e0eDETR4D\u4e2d\u7684\u65f6\u5e8f\u878d\u5408\u65b9\u5f0f\u4e3b\u8981\u6709\u4e24\u70b9\u4e0d\u540c\u3002\u9996\u5148\uff0cDETR4D\u662f\u91c7\u7528\u9012\u5f52\u7684\u65b9\u5f0f\uff0c\u6bcf\u5e27\u90fd\u66f4\u65b0query\uff0c\u4f5c\u4e3a\u4e0b\u4e00\u5e27\u7684\u8f93\u5165\uff0c\u800cSparseBEV\u91c7\u7528\u7684\u662f\u591a\u5e27\u7684\u65b9\u5f0f\uff0c\u6bcf\u6b21\u8ba1\u7b97\u591a\u5e27\u7684\u91c7\u6837\u70b9\u3002\u5176\u6b21\uff0cDETR4D\u91c7\u7528\u6ce8\u610f\u529b\u673a\u5236\u6765\u878d\u5408\u524d\u540e\u5e27query\uff0c\u7136\u540e\u518d\u5206\u522b\u6620\u5c04\u56de\u8fd9\u4e24\u5e27\uff0c\u800cSparseBEV\u5219\u76f4\u63a5\u5c06\u5f53\u524d\u5e27query\u6620\u5c04\u56de\u5386\u53f2\u5e27\u6765\u878d\u5408\u65f6\u5e8f\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>StreamPETR<\/strong><\/p>\n\n\n\n<p>DETR4D\u548cSparseBEV\u4e2d\u5206\u522b\u91c7\u7528\u4e86\u9012\u5f52\u548c\u591a\u5e27\u7684\u65b9\u5f0f\u6765\u8fdb\u884c\u65f6\u5e8f\u878d\u5408\u3002StreamPETR\u4e5f\u662f\u57fa\u4e8e\u7a00\u758f\u7684\u76ee\u6807query\uff0c\u5728<strong>\u65f6\u5e8f\u878d\u5408\u4e0a\u5219\u662f\u7ed3\u5408\u4e86\u9012\u5f52\u548c\u591a\u5e27\u4e24\u5e27\u65b9\u5f0f<\/strong>\u3002\u5177\u4f53\u6765\u8bf4\uff0cStreamPETR\u91c7\u7528\u4e86\u4e00\u4e2a\u5b58\u50a8\u961f\u5217\uff08\u6bd4\u5982\u957f\u5ea6\u4e3a4\u5e27\uff09\uff0c\u5f53\u524d\u5e27\u7684query\u7ecf\u8fc7\u5904\u7406\u4ee5\u540e\u88ab\u63a8\u9001\u5230\u8be5\u961f\u5217\uff0c\u7136\u540e\u961f\u5217\u4e2d\u5bf9\u5e94\u6700\u65e9\u4e00\u5e27\u7684query\u5219\u88ab\u79fb\u9664\u51fa\u53bb\u3002\u6240\u4ee5\u8fd9\u662f\u4e00\u79cd\u5148\u8fdb\u5148\u51fa\u7684\u7b56\u7565\u3002\u591a\u5e27\u7684query\u901a\u8fc7\u81ea\u8f66\u8fd0\u52a8\u8865\u507f\u8fdb\u884c\u5bf9\u9f50\uff0c\u5e76\u4e14\u901a\u8fc7Motion-aware Layer Normalization\u5c42\u5bf9\u76ee\u6807\u7684\u8fd0\u52a8\u8fdb\u884c\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"705\" height=\"388\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-25.webp\" alt=\"\" class=\"wp-image-7019\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-25.webp 705w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-25-300x165.webp 300w\" sizes=\"(max-width: 705px) 100vw, 705px\" \/><figcaption class=\"wp-element-caption\">StreamPETR\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p>\u5f53\u91c7\u7528ViT-L\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\u65f6\uff0cStreamPETR\u7684NDS\u53ef\u4ee5\u8fbe\u523067.6%\uff0c\u662f\u7b2c\u4e00\u4e2a\u8d85\u8fc7\u6fc0\u5149\u96f7\u8fbe\u57fa\u51c6\uff08CenterPoint\uff0c 67.3%\uff09\u7684\u7eaf\u89c6\u89c9\u65b9\u6cd5\u3002\u540c\u65f6\uff0c\u7531\u4e8e\u91c7\u7528\u7a00\u758f\u7684query\u7ed3\u6784\uff0cStreamPETR\u4e5f\u53ef\u4ee5\u4fdd\u8bc1\u975e\u5e38\u5feb\u7684\u8fd0\u7b97\u901f\u5ea6\u3002\u5f53\u91c7\u7528\u8f7b\u91cf\u7684ResNet-50\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\u65f6\uff0cStreamPETR\u7684FPS\u53ef\u4ee5\u8fbe\u523031.7\u3002<\/p>\n\n\n\n<p><strong>\u6027\u80fd\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><th>\u65b9\u6cd5<\/th><th>\u53d1\u8868\u5e74\u4efd<\/th><th>BEV\u7279\u5f81<\/th><th>\u878d\u5408\u65b9\u5f0f<\/th><th>NDS*<\/th><th>FPS**<\/th><\/tr><tr><td>BEVDet4D<\/td><td>2022<\/td><td>\u7a20\u5bc6<\/td><td>\u591a\u5e27<\/td><td>47.6%<\/td><td>15.5<\/td><\/tr><tr><td>BEVFormerV2<\/td><td>2022<\/td><td>\u7a20\u5bc6<\/td><td>\u9012\u5f52<\/td><td>52.9%<\/td><td>&#8211;<\/td><\/tr><tr><td>SOLOFusion<\/td><td>2022<\/td><td>\u7a20\u5bc6<\/td><td>\u591a\u5e27<\/td><td>53.4%<\/td><td>11.4<\/td><\/tr><tr><td>PETRv2<\/td><td>2022<\/td><td>\u7a00\u758f<\/td><td>\u591a\u5e27<\/td><td>45.6%<\/td><td>18.9<\/td><\/tr><tr><td>DETR4D***<\/td><td>2022<\/td><td>\u7a00\u758f<\/td><td>\u9012\u5f52<\/td><td>50.9%<\/td><td>1.7<\/td><\/tr><tr><td>SparseBEV<\/td><td>2023<\/td><td>\u7a00\u758f<\/td><td>\u591a\u5e27<\/td><td>55.8%<\/td><td>23.5<\/td><\/tr><tr><td>StreamPETR<\/td><td>2023<\/td><td>\u7a00\u758f<\/td><td>\u9012\u5f52+\u591a\u5e27<\/td><td>55.0%<\/td><td>31.7<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><em>*nuScenes val set\u4e0a\u7684\u7ed3\u679c\uff0c\u53c2\u6570\u8bbe\u7f6e\u4e0eFPS\u5bf9\u5e94<\/em><\/p>\n\n\n\n<p><em>**\u91c7\u7528\u8f7b\u91cf\u7ea7\u4e3b\u5e72\u7f51\u7edc\u65f6\uff08\u6bd4\u5982SwinT-tiny\u6216\u8005ResNet-50\uff09\u548c\u8f83\u5c0f\u7684\u56fe\u50cf\u5927\u5c0f\uff08704&#215;256\uff09\u7684FPS\uff08\u5728RTX3090\u4e0a\u6d4b\u8bd5\u5f97\u51fa\uff09<\/em><\/p>\n\n\n\n<p><em>***DETR4D\u91c7\u7528\u4e86ResNet-101\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\uff0c\u56fe\u50cf\u5927\u5c0f\u4e3a1600&#215;900<\/em><\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_15\"><strong>4.4 \u591a\u4efb\u52a1\u7f51\u7edc<\/strong><\/h3>\n\n\n\n<p>\u4ee5\u4e0a\u6211\u4eec\u4e3b\u8981\u662f\u4ece3D\u7269\u4f53\u68c0\u6d4b\u7684\u89d2\u5ea6\u6765\u4ecb\u7ecd\u4e0d\u540c\u7684BEV\u611f\u77e5\u65b9\u6cd5\u3002\u9664\u4e86\u7269\u4f53\u68c0\u6d4b\uff0cBEV\u611f\u77e5\u8fd8\u53ef\u4ee5\u652f\u6301\u5f88\u591a\u4e0d\u540c\u7684\u4e0b\u6e38\u4efb\u52a1\uff0c\u6bd4\u5982\u7269\u4f53\u5206\u5272\uff0c\u9053\u8def\u5206\u5272\uff0c\u8f66\u9053\u7ebf\u68c0\u6d4b\uff0c\u8fd0\u52a8\u9884\u6d4b\uff0c\u8def\u5f84\u89c4\u5212\u7b49\u7b49\u3002\u5bf9\u591a\u4efb\u52a1\u7684\u652f\u6301\u5176\u5b9e\u4e5f\u662fBEV\u611f\u77e5\u7684\u4f18\u70b9\u4e4b\u4e00\u3002<\/p>\n\n\n\n<p>\u524d\u6587\u4ecb\u7ecd\u4e86\uff0c\u6709\u4e9bBEV\u611f\u77e5\u65b9\u6cd5\u663e\u5f0f\u7684\u751f\u6210\u4e86BEV\u7279\u5f81\u56fe\uff0c\u6bd4\u5982LSS\uff0cBEVDet\uff0cBEVFormer\u548cBEVerse\u3002\u8fd9\u4e9b\u65b9\u6cd5\u90fd\u53ef\u4ee5\u5728BEV\u7279\u5f81\u4e0a\u8fde\u63a5\u9488\u5bf9\u4e0d\u540c\u4efb\u52a1\u7684Head\uff0c\u591a\u4e2a\u4efb\u52a1\u53ef\u4ee5\u8fdb\u884c\u5e76\u884c\u7684\u5904\u7406\u3002\u8fd9\u4e9b\u4efb\u52a1\u5171\u4eab\u4e86\u56fe\u50cf\u4e3b\u5e72\u7f51\u7edc\u548cBEV\u7279\u5f81\uff0c\u56e0\u6b64\u4f1a\u8282\u7701\u5f88\u591a\u7684\u8ba1\u7b97\u91cf\u3002<\/p>\n\n\n\n<p>\u8fd8\u6709\u4e9b\u65b9\u6cd5\u5e76\u4e0d\u751f\u6210\u7a20\u5bc6BEV\u7279\u5f81\u56fe\uff0c\u800c\u662f\u91c7\u7528\u7a00\u758f\u7684query\u6765\u68c0\u6d4b3D\u76ee\u6807\uff0c\u6bd4\u5982DETR3D\uff0cPETR\u548cSparseBEV\u3002\u8fd9\u4e9b\u65b9\u6cd5\u901a\u8fc7\u91c7\u7528\u4efb\u52a1\u76f8\u5173\u7684query\uff0c\u540c\u6837\u4e5f\u53ef\u4ee5\u652f\u6301\u591a\u4efb\u52a1\u7684\u5b66\u4e60\u548c\u63a8\u7406\u3002<\/p>\n\n\n\n<p><strong>BEVerse<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u751f\u6210\u4e86BEV\u7279\u5f81\u56fe\uff0c\u5e76\u8fde\u63a5\u4e863\u4e2a\u4efb\u52a1\uff1a\u76ee\u6807\u68c0\u6d4b\uff0c\u8bed\u4e49\u5206\u5272\u548c\u8fd0\u52a8\u9884\u6d4b\u3002\u7531\u4e8e\u4e0d\u540c\u4efb\u52a1\u9700\u8981\u7684\u7a7a\u95f4\u5206\u8fa8\u7387\u4e0d\u540c\uff0cBEVerse\u4e2d\u91c7\u7528\u4e86GridSampler\u6765\u751f\u6210\u4e0d\u540c\u5206\u8fa8\u7387\u7684BEV\u7279\u5f81\uff0c\u7136\u540e\u518d\u4e00\u4e2a\u8f7b\u91cf\u7684\u5377\u79ef\u7f51\u7edc\u4f5c\u4e3a\u4efb\u52a1\u7279\u5f81\u7f16\u7801\u5668\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"247\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-26.webp\" alt=\"\" class=\"wp-image-7021\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-26.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-26-300x103.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">BEVerse\u4e2d\u7684\u591a\u4efb\u52a1\u7f51\u7edc\u7ed3\u6784<\/figcaption><\/figure>\n\n\n\n<p><strong>PETRv2<\/strong><\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u53ef\u4ee5\u540c\u65f6\u652f\u63013\u4e2a\u4efb\u52a1\uff1a\u76ee\u6807\u68c0\u6d4b\uff0c\u8bed\u4e49\u5206\u5272\u548c\u8f66\u9053\u7ebf\u68c0\u6d4b\u3002\u6bcf\u4e2a\u4efb\u52a1\u90fd\u6709\u7279\u5b9a\u7684query\uff0c\u5176\u4e2d\u76ee\u6807\u7684query\u662f3D\u70b9\uff0c\u8bed\u4e49\u5206\u5272\u7684query\u662fBEV\u89c6\u56fe\u4e0b\u7684\u56fe\u50cf\u5757\uff08\u6bd4\u598225&#215;25\u5927\u5c0f\uff09\uff0c\u8f66\u9053\u7ebf\u7684query\u5219\u662f\u4e00\u7ec4\u6709\u5e8f\u76843D\u70b9\u3002\u6240\u6709\u7684query\u90fd\u53ef\u4ee5\u901a\u8fc73D\u7a7a\u95f4\u5750\u6807\u7f16\u7801\u4e0e\u56fe\u50cf\u7279\u5f81\u5efa\u7acb\u8054\u7cfb\uff0c\u4ece\u800c\u5b8c\u6210\u5404\u81ea\u7684\u611f\u77e5\u4efb\u52a1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"509\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-11.webp\" alt=\"\" class=\"wp-image-7002\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-11.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-11-300x212.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">PETRv2\u4e2d\u7684\u591a\u4efb\u52a1\u7f51\u7edc\u7ed3\u6784\u548cquery\u8bbe\u8ba1<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_654311603_16\">4.4 \u6a21\u578b\u8f7b\u91cf\u5316<\/h3>\n\n\n\n<p><strong>Fast-BEV<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u63d0\u9ad8\u8ba1\u7b97\u6548\u7387\uff0c\u8be5\u65b9\u6cd5\u63d0\u51fa\u4e86\u4e24\u70b9\u6539\u8fdb\uff1a1\uff09\u91c7\u7528\u5747\u5300\u7684\u6df1\u5ea6\u5206\u5e03\uff0c\u800c\u4e0d\u662fLSS\u4e2d\u7684\u4f30\u8ba1\u6df1\u5ea6\u5206\u5e03\u6216\u8005BEVFormer\u4e2d\u7684Transformer\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\u53ef\u4ee5\u63d0\u524d\u8ba1\u7b97\u597d2D\u52303D\u7684\u6620\u5c04\uff0c\u4ee5LookupTable\u7684\u5f62\u5f0f\u5b58\u50a8\uff0c\u65b9\u4fbf\u5728\u7ebf\u67e5\u8be2\u30022\uff09\u6240\u6709\u56fe\u50cf\u7684\u7279\u5f81\u76f4\u63a5\u6295\u5f71\u5230\u4e00\u4e2aBEV\u7279\u5f81\u56fe\u4e0a\uff0c\u800c\u4e0d\u662f\u6bcf\u4e2a\u56fe\u50cf\u5355\u72ec\u6295\u5f71\u518d\u8fdb\u884c\u6574\u5408\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"255\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-16.webp\" alt=\"\" class=\"wp-image-7007\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-16.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-16-300x106.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">Fast-BEV\u7684\u7f51\u7edc\u7ed3\u6784\u4ee5\u53ca\u6027\u80fd\u8bc4\u6d4b<\/figcaption><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0cFast-BEV\u91c7\u7528\u4e86\u4e24\u4e2a\u5e38\u7528\u7684\u7b56\u7565\u6765\u63d0\u9ad8\u6a21\u578b\u51c6\u786e\u7387\uff1a1\uff09\u540c\u65f6\u5728\u56fe\u50cf\u548cBEV\u4e0a\u505a\u6570\u636e\u589e\u5e7f\u30022\uff09\u57fa\u4e8e\u591a\u5e27\u7279\u5f81\u53e0\u52a0\u7684\u65f6\u5e8f\u878d\u5408\u3002<\/p>\n\n\n\n<p>\u4ece\u51c6\u786e\u7387\u4e0a\u770b\uff0c<strong>\u6570\u636e\u589e\u5e7f\u548c\u65f6\u5e8f\u878d\u5408\u53ef\u4ee5\u5e26\u6765\u975e\u5e38\u660e\u663e\u7684\u63d0\u5347<\/strong>\u3002Fast-BEV\u53ef\u4ee5\u505a\u5230\u4e0eBEVDet4D\u548cBEVFormer\u8fd9\u4e24\u4e2aSOTA\u7684\u7b97\u6cd5\u6301\u5e73\uff0c\u751a\u81f3\u66f4\u597d\u4e00\u4e9b\u3002\u4ece\u8fd0\u884c\u65f6\u95f4\u4e0a\u770b\uff0c<strong>2D\u52303D\u53d8\u6362\u7684\u4f18\u5316\u53ef\u4ee5\u628a\u5e27\u7387\u63d0\u5347\u4e00\u4e2a\u6570\u91cf\u7ea7<\/strong>\u3002Fast-BEV\u7684\u8f7b\u91cf\u6a21\u578b\uff08R18@256\u00d7704\uff09\u5728Tesla T4\u4e0a\u53ef\u4ee5\u8fbe\u523050FPS\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"238\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-27.webp\" alt=\"\" class=\"wp-image-7022\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-27.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-27-300x99.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">CPU\u548cGPU\u4e0a\u7684Latency\u5bf9\u6bd4\uff08S1-S6\u4ee3\u8868\u4e0d\u540c\u7684\u56fe\u50cf\u5927\u5c0f\uff09<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_654311603_17\">4 \u603b\u7ed3<\/h2>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u89c6\u89c9BEV\u611f\u77e5\u4e2d\u5e38\u7528\u7684\u8bbe\u8ba1\u601d\u8def\uff0c\u5178\u578b\u65b9\u6cd5\uff0c\u4ee5\u53ca\u76ee\u524d\u6539\u8fdb\u548c\u6269\u5c55\u7684\u4e3b\u8981\u65b9\u5411\u3002<\/p>\n\n\n\n<p>BEV\u611f\u77e5\u662f\u81ea\u52a8\u9a7e\u9a76\u76ee\u524d\u7684\u70ed\u95e8\u7814\u7a76\u65b9\u5411\uff0c\u76f8\u5173\u7684\u5de5\u4f5c\u53ef\u8c13\u5c42\u51fa\u4e0d\u7a77\u3002\u6709\u5f88\u591a\u65b9\u9762\u672c\u6587\u5e76\u5e76\u6ca1\u6709\u6d89\u53ca\uff0c\u6bd4\u5982\u5982\u4f55\u964d\u4f4e\u8ba1\u7b97\u91cf\uff0c\u5982\u4f55\u964d\u4f4e\u5bf9\u76f8\u673a\u53c2\u6570\u7684\u4f9d\u8d56\uff0c\u5982\u4f55\u8fdb\u884c\u771f\u503c\u6807\u6ce8\uff0c\u5982\u4f55\u8fdb\u884c\u591a\u4f20\u611f\u5668\u878d\u5408\u7b49\u7b49\u3002<\/p>\n\n\n\n<p>\u9664\u4e863D\u76ee\u6807\u68c0\u6d4b\uff0cBEV\u611f\u77e5\u53ef\u4ee5\u652f\u6301\u7684\u4efb\u52a1\u6709\u5f88\u591a\uff0c\u6bd4\u5982\u8f66\u9053\u7ebf\u68c0\u6d4b\uff0c\u76ee\u6807\u8fd0\u52a8\u9884\u6d4b\uff0c\u4ee5\u53ca3D\u5360\u636e\u6805\u683c\u7f51\u7edc\u3002\u672c\u6587\u53ea\u662f\u7b80\u5355\u7684\u4ecb\u7ecd\u4e86\u591a\u4efb\u52a1\u5b66\u4e60\u7684\u6846\u67b6\uff0c\u5e76\u6ca1\u6709\u5177\u4f53\u5230\u6bcf\u4e2a\u4efb\u52a1\u7684\u5b9e\u73b0\u65b9\u6cd5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1 \u524d\u8a00 \u4e13\u680f\u4e4b\u524d\u4ecb\u7ecd\u4e86\u57fa\u4e8e\u89c6\u89c9\u4f20\u611f\u5668\u7684\u4e00\u4e9b\u611f [&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-6990","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6990"}],"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=6990"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6990\/revisions"}],"predecessor-version":[{"id":7094,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/6990\/revisions\/7094"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=6990"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=6990"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=6990"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}