{"id":7063,"date":"2023-12-22T15:45:25","date_gmt":"2023-12-22T07:45:25","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7063"},"modified":"2023-12-22T15:45:25","modified_gmt":"2023-12-22T07:45:25","slug":"2023-12-22-2023-robo3d-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%84%9f%e7%9f%a5%e6%a8%a1%e5%9e%8b%e9%b2%81%e6%a3%92%e6%80%a7%e8%af%84%e6%b5%8b%e5%9f%ba%e7%ba%bf","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/12\/22\/7063\/","title":{"rendered":"2023-12-22 2023 | Robo3D: \u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u6a21\u578b\u9c81\u68d2\u6027\u8bc4\u6d4b\u57fa\u7ebf"},"content":{"rendered":"\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898\uff1a<\/strong>Robo3D: Towards Robust and Reliable 3D Perception against Corruptions<\/li>\n\n\n\n<li><strong>\u673a\u6784\uff1a<\/strong>\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u3001\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\u3001\u9999\u6e2f\u5927\u5b66\u3001\u65b0\u52a0\u5761\u5357\u6d0b\u7406\u5de5\u5927\u5b66\u7b49<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2303.17597\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2303.17597<\/a><\/li>\n\n\n\n<li><strong>\u8bba\u6587\u6536\u5f55\uff1a<\/strong>ICCV 2023<\/li>\n\n\n\n<li><strong>\u5f00\u6e90\u4ee3\u7801\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/ldkong1205\/Robo3D\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/ldkong1205\/Robo3D<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_0\">\u4e00\u53e5\u8bdd\u603b\u7ed3<\/h2>\n\n\n\n<p><strong>Robo3D<\/strong> \u662f\u9996\u4e2a\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 <strong>3D \u611f\u77e5\u4efb\u52a1<\/strong>\u6240\u8bbe\u8ba1\u7684<strong>\u9c81\u68d2\u6027<\/strong> (robustness) \u6d4b\u8bd5\u57fa\u7ebf\uff0c\u8be5\u57fa\u7ebf\u65e8\u5728\u63a2\u8ba8 <strong>3D \u7269\u4f53\u68c0\u6d4b<\/strong>\u548c <strong>3D \u8bed\u4e49\u5206\u5272<\/strong>\u6a21\u578b\u5728<strong>\u5206\u5e03\u5916<\/strong> (out-of-distribution) \u573a\u666f\u4e0b\u9488\u5bf9\u73b0\u5b9e\u73af\u5883\u4e2d\u53d1\u751f\u7684<strong>\u81ea\u7136\u635f\u574f<\/strong> (corruption) \u7684\u9c81\u68d2\u6027\u3002\u5177\u4f53\u5730\uff0c\u6211\u4eec\u8003\u8651\u4e86\u7531\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u3001\u5916\u90e8\u5e72\u6270\u548c\u5185\u90e8\u4f20\u611f\u5668\u6545\u969c\u5f15\u8d77\u7684\u591a\u79cd\u635f\u574f\u7c7b\u578b\u3002 \u6211\u4eec\u53d1\u73b0\uff0c\u5c3d\u7ba1\u73b0\u6709\u7684 3D \u611f\u77e5\u6a21\u578b\u5728<strong>\u6807\u51c6\u57fa\u7ebf<\/strong>\u4e0a\u5df2\u9010\u6b65\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u7ed3\u679c\uff0c\u5176\u4ecd\u7136\u9762\u4e34\u7740\u5728\u635f\u574f\u60c5\u5f62\u4e0b\u4e22\u5931\u9c81\u68d2\u6027\u7684\u98ce\u9669\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_1\">\u7814\u7a76\u80cc\u666f<\/h2>\n\n\n\n<p><strong>\u300c\u5b89\u5168\u6027\u300d<\/strong>\u4e0e<strong>\u300c\u53ef\u9760\u6027\u300d<\/strong>\u662f\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7cfb\u7edf\u6210\u529f\u8fd0\u884c\u7684\u524d\u63d0\u3002\u73b0\u6709\u7684\u5927\u89c4\u6a21 3D \u611f\u77e5\u6570\u636e\u96c6\u4e2d\u5305\u542b\u7684\u6570\u636e\u901a\u5e38\u7ecf\u8fc7\u4e86\u7cbe\u5fc3\u5730\u6e05\u7406 (cleaned)\u3002 \u7136\u800c\uff0c\u8fd9\u6837\u7684\u914d\u7f6e\u65e0\u6cd5\u53cd\u6620 3D \u611f\u77e5\u6a21\u578b\u5728<strong>\u5b9e\u9645\u90e8\u7f72\u9636\u6bb5<\/strong>\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u7684\u81ea\u52a8\u9a7e\u9a76 3D \u611f\u77e5\u4efb\u52a1\u65e5\u8d8b\u6210\u719f\uff0c\u6db5\u76d6\u4e86\u5305\u62ec <strong>3D \u7269\u4f53\u68c0\u6d4b<\/strong>\u3001<strong>3D \u8bed\u4e49\u5206\u5272<\/strong>\u3001<strong>3D \u5168\u666f\u5206\u5272<\/strong>\u3001<strong>3D \u573a\u666f\u8865\u5168<\/strong>\u7b49\u4e3b\u6d41\u573a\u666f\u611f\u77e5\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u7c7b\u578b\u4e30\u5bcc\u591a\u6837\u7684 3D \u611f\u77e5\u6a21\u578b\u4e8e\u8fd1\u5e74\u88ab\u4e0d\u65ad\u63d0\u51fa\uff0c\u5e76\u5df2\u5728\u4e3b\u6d41\u7684\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u6570\u636e\u96c6\uff0c\u5982 <strong>nuScenes<\/strong><sup><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_1\">[1]<\/a><\/sup>\u3001<strong>SemanticKITTI<\/strong><sup><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_2\">[2]<\/a><\/sup> \u548c <strong>Waymo Open<\/strong><sup><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_3\">[3]<\/a><\/sup> \u7b49\uff0c\u53d6\u5f97\u4e86\u4ee4\u4eba\u632f\u594b\u7684\u611f\u77e5\u6027\u80fd\u3002\u7136\u800c\uff0c\u8fd9\u4e9b 3D \u611f\u77e5\u6a21\u578b\u5728\u53d7<strong>\u81ea\u7136\u635f\u574f<\/strong> (corruption) \u60c5\u5f62\u4e0b\u7684<strong>\u9c81\u68d2\u6027<\/strong> (robustness) \u548c<strong>\u53ef\u9760\u6027<\/strong> (reliability) \u4ecd\u7136\u672a\u77e5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_2\">Robo3D\u57fa\u7ebf<\/h2>\n\n\n\n<p>\u672c\u5de5\u4f5c\u65e8\u5728\u4e3a\u5404\u79cd 3D \u611f\u77e5\u6a21\u578b\u63d0\u4f9b\u53ef\u9760\u7684<strong>\u9c81\u68d2\u6027<\/strong>\u6d4b\u8bd5\u57fa\u7ebf\u3002\u5177\u4f53\u5730\uff0c\u6211\u4eec\u4e3b\u8981\u8003\u8651\u4ee5\u4e0b<strong>\u4e09\u79cd<\/strong>\u5e38\u89c1\u7684\u635f\u574f\u7c7b\u578b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7531<strong>\u6076\u52a3\u5929\u6c14\u6761\u4ef6<\/strong> (adverse weather condition) \u6240\u5f15\u8d77\u7684\u635f\u574f\uff1b<\/li>\n\n\n\n<li>\u7531<strong>\u5916\u90e8\u5e72\u6270<\/strong> (external disturbance) \u6240\u5f15\u8d77\u7684\u635f\u574f\uff1b<\/li>\n\n\n\n<li>\u7531<strong>\u5185\u90e8\u4f20\u611f\u5668\u6545\u969c<\/strong> (internal sensor failure) \u6240\u5f15\u8d77\u7684\u635f\u574f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6211\u4eec\u57fa\u4e8e\u4e3b\u6d41\u81ea\u52a8\u9a7e\u9a76 3D \u611f\u77e5\u6570\u636e\u96c6\u751f\u6210\u4e86\u4e0e\u4e4b\u5bf9\u5e94\u7684\u201c\u635f\u574f\u8bc4\u6d4b\u96c6\u201d\uff0c\u5e76\u5efa\u7acb\u4e86 <strong>Robo3D<\/strong> \u57fa\u7ebf<sup><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_4\">[4]<\/a><\/sup>\u3002\u8be5\u57fa\u7ebf\u4e2d\u5171\u5305\u542b\u4e86\u5982\u4e0b<strong>\u516b\u4e2a\u7c7b\u578b<\/strong>\u7684\u635f\u574f\u6570\u636e\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><th>\u5e8f\u53f7<\/th><th>\u7c7b\u578b<\/th><th>Type<\/th><\/tr><tr><td>1<\/td><td>\u96fe\u5929<\/td><td>fog<\/td><\/tr><tr><td>2<\/td><td>\u6f6e\u6e7f\u5730\u9762<\/td><td>wet ground<\/td><\/tr><tr><td>3<\/td><td>\u96ea\u5929<\/td><td>snow<\/td><\/tr><tr><td>4<\/td><td>\u8fd0\u52a8\u6a21\u7cca<\/td><td>motion blur<\/td><\/tr><tr><td>5<\/td><td>\u5c04\u7ebf\u4e22\u5931<\/td><td>beam missing<\/td><\/tr><tr><td>6<\/td><td>\u4f20\u611f\u5668\u4ea4\u6270<\/td><td>crosstalk<\/td><\/tr><tr><td>7<\/td><td>\u4f20\u611f\u5668\u65ad\u4f20<\/td><td>incomplete echo<\/td><\/tr><tr><td>8<\/td><td>\u8de8\u4f20\u611f\u5668\u7c7b\u578b<\/td><td>cross sensor<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u5404\u7c7b\u578b\u635f\u574f\u6570\u636e\u7684\u53ef\u89c6\u5316\u6548\u679c\u56fe\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"290\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-30.webp\" alt=\"\" class=\"wp-image-7067\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-30.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-30-300x121.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u6bcf\u4e00\u79cd\u635f\u574f\u7c7b\u578b\uff0c\u6211\u4eec\u90fd\u6309\u7167 <strong>&#8220;\u8f7b&#8221;<\/strong> (easy)\u3001<strong>&#8220;\u4e2d&#8221;<\/strong> (moderate)\u3001<strong>&#8220;\u91cd&#8221;<\/strong> (heavy) \u4e09\u4e2a\u7b49\u7ea7\u751f\u6210\u4e86\u5bf9\u5e94\u7684\u8bc4\u6d4b\u6570\u636e\u96c6\uff0c\u4ee5\u66f4\u597d\u5730\u5bf9 3D \u611f\u77e5\u6a21\u578b\u7684\u9c81\u68d2\u6027\u8fdb\u884c\u5206\u6790\u3002<\/p>\n\n\n\n<p>\u6709\u5173\u4e0a\u8ff0\u516b\u79cd\u7c7b\u578b\u635f\u574f\u6570\u636e\u7684<strong>\u7269\u7406\u5efa\u6a21<\/strong>\u4ee5\u53ca<strong>\u4eff\u771f\u7ec6\u8282<\/strong>\uff0c\u53ef\u53c2\u9605\u8bba\u6587\u7684<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2303.17597\" target=\"_blank\" rel=\"noreferrer noopener\">\u8865\u5145\u6750\u6599<\/a>\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u6240\u6784\u5efa\u7684 <strong>Robo3D<\/strong> \u8bc4\u6d4b\u96c6\uff0c\u901a\u8fc7\u5bf9\u5404\u7c7b 3D \u611f\u77e5\u6a21\u578b\u7684\u5206\u6790\uff0c\u6211\u4eec\u53d1\u73b0\uff0c\u5c3d\u7ba1\u73b0\u6709\u611f\u77e5\u6a21\u578b\u5728<strong>\u6807\u51c6\u57fa\u7ebf<\/strong>\u4e0a\u5df2\u7ecf\u9010\u6b65\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u7ed3\u679c\uff0c\u5176\u4ecd\u7136\u9762\u4e34\u7740\u5728\u635f\u574f\u60c5\u5f62\u4e0b\u4e22\u5931\u9c81\u68d2\u6027\u7684\u98ce\u9669\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_3\">\u8bc4\u6d4b\u6307\u6807<\/h2>\n\n\n\n<p>\u4e3a\u4e86\u66f4\u597d\u5730\u8bc4\u6d4b 3D \u611f\u77e5\u6a21\u578b\u5728\u635f\u574f\u60c5\u5f62\u4e0b\u7684\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u5b9a\u4e49\u4e86\u5982\u4e0b\u4e24\u79cd\u9c81\u68d2\u6027\u6307\u6807\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_672935761_4\">\u5e73\u5747\u635f\u574f\u8bef\u5dee (mCE)<\/h3>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528 <strong>&#8220;\u5e73\u5747\u635f\u574f\u8bef\u5dee&#8221;<\/strong> (mCE) \u4f5c\u4e3a\u8861\u91cf 3D \u611f\u77e5\u6a21\u578b\u9c81\u68d2\u6027\u7684\u4e3b\u8981\u6307\u6807\u3002\u5177\u4f53\u5730\uff0c\u67d0 3D \u611f\u77e5\u6a21\u578b\u5728\u7b2c<\/p>\n\n\n\n<p>i \u7c7b\u635f\u574f\u7c7b\u578b\u4e0b\u7684<strong>\u635f\u574f\u8bef\u5dee<\/strong> (corruption error, CE) \u53ef\u7531\u5982\u4e0b\u516c\u5f0f\u8ba1\u7b97\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2d\uff0c \u8868\u793a\u635f\u574f\u7c7b\u578b\u7684\u7b49\u7ea7\uff0c \u8868\u793a 3D \u611f\u77e5\u6a21\u578b\u7684\u8bc6\u522b\u51c6\u786e\u7387 (\u5982 mIoU\u3001mAP\u3001NDS \u7b49\u7b49)\uff0c<\/p>\n\n\n\n<p>\u8868\u793a\u57fa\u51c6\u6a21\u578b\u5728\u76f8\u540c\u635f\u574f\u7c7b\u578b\u548c\u7b49\u7ea7\u4e0b\u7684\u8bc6\u522b\u51c6\u786e\u7387\u3002<\/p>\n\n\n\n<p><strong>\u5e73\u5747\u635f\u574f\u8bef\u5dee<\/strong>\uff0c\u4e5f\u5373 mCE\uff0c\u53ef\u7531\u5982\u4e0b\u516c\u5f0f\u8ba1\u7b97\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"717\" height=\"727\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/1.png\" alt=\"\" class=\"wp-image-7064\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/1.png 717w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/1-296x300.png 296w\" sizes=\"(max-width: 717px) 100vw, 717px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_6\">\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n\n\n\n<p>\u57fa\u4e8e\u6240\u63d0\u51fa\u7684 <strong>Robo3D<\/strong> \u8bc4\u6d4b\u57fa\u7ebf\u53ca\u6307\u6807\uff0c\u6211\u4eec\u5bf9\u6db5\u76d6\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u8bed\u4e49\u5206\u5272\u548c 3D \u7269\u4f53\u68c0\u6d4b\u7684\u5171 <strong>34<\/strong> \u79cd 3D \u611f\u77e5\u6a21\u578b\u8fdb\u884c\u4e86\u8be6\u7ec6\u7684\u6d4b\u8bd5\u4e0e\u5206\u6790\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u89c2\u5bdf\u5230\u4e00\u7cfb\u5217\u4e0e\u81ea\u7136\u635f\u574f\u4e0b\u9c81\u68d2\u6027\u5bc6\u5207\u76f8\u5173\u7684<strong>\u6a21\u578b\u914d\u7f6e<\/strong>\uff0c\u5305\u62ec\uff1a\u4f20\u611f\u5668\u53c2\u6570\u7684\u8bbe\u7f6e\u3001\u70b9\u4e91\u8868\u5f81\u7684\u9009\u53d6\u3001\u68c0\u6d4b\u5668\u4e0e\u5206\u5272\u5668\u7684\u654f\u611f\u5ea6\u5dee\u5f02\u4ee5\u53ca\u5206\u5e03\u5916\u6570\u636e\u589e\u5f3a\u7684\u4f7f\u7528\u7b49\u7b49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"280\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-31.webp\" alt=\"\" class=\"wp-image-7068\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-31.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-31-300x117.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u5730\uff0c\u6211\u4eec\u5c06\u5bf9 3D \u611f\u77e5\u6a21\u578b\u9c81\u68d2\u6027\u7684\u5206\u6790\u603b\u7ed3\u4e3a\u4ee5\u4e0b<strong>\u4e94\u70b9<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u73b0\u6709\u7684 LiDAR \u70b9\u4e91\u8bed\u4e49\u5206\u5272\u548c 3D \u7269\u4f53\u68c0\u6d4b\u6a21\u578b<strong>\u5f88\u5bb9\u6613<\/strong>\u53d7\u5230\u73b0\u5b9e\u4e16\u754c\u635f\u574f\u60c5\u5f62\u7684\u5f71\u54cd\uff0c\u4e0e\u5728\u6807\u51c6\u57fa\u7ebf\u4e0a\u7684\u6d4b\u8bd5\u7ed3\u679c\u76f8\u6bd4\uff0c\u5176\u5728\u5404\u7c7b\u635f\u574f\u7c7b\u578b\u4e0b\u8868\u73b0\u51fa<strong>\u7a0b\u5ea6\u4e0d\u4e00<\/strong>\u7684<strong>\u6027\u80fd\u9000\u5316<\/strong>\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528<strong>\u4e0d\u540c\u578b\u53f7<\/strong>\u7684 LiDAR \u4f20\u611f\u5668 (\u598232\u7ebf\u548c64\u7ebf) \u6570\u636e\u6240\u8bad\u7ec3\u5f97\u5230\u7684 3D \u611f\u77e5\u6a21\u578b\uff0c\u5f80\u5f80\u5bf9\u5404\u7c7b\u635f\u574f\u60c5\u5f62\u8868\u73b0\u51fa\u4e0d\u4e00\u81f4\u7684<strong>\u654f\u611f\u6027<\/strong>\u3002<\/li>\n\n\n\n<li>\u5c06 LiDAR \u6570\u636e\u8868\u793a\u4e3a<strong>\u70b9<\/strong> (raw point)\u3001<strong>\u7a00\u758f\u4f53\u7d20<\/strong> (sparse voxel) \u6216\u5b83\u4eec\u7684<strong>\u878d\u5408<\/strong> (fusion) \u6765\u8fdb\u884c 3D \u6a21\u578b\u7684\u8bad\u7ec3\uff0c\u5728\u666e\u904d\u610f\u4e49\u4e0a\u8868\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li>3D \u7269\u4f53\u68c0\u6d4b\u6a21\u578b\u548c LiDAR \u70b9\u4e91\u8bed\u4e49\u5206\u5272\u6a21\u578b\u5bf9\u5404\u7c7b\u635f\u574f\u60c5\u5f62\u8868\u73b0\u51fa\u4e0d\u540c\u7684<strong>\u654f\u611f\u5ea6<\/strong> (sensitivity)\u3002<\/li>\n\n\n\n<li>\u8fd1\u671f\u63d0\u51fa\u7684 <strong>3D \u6570\u636e\u589e\u5f3a<\/strong>\u65b9\u6cd5\uff0c\u5982 <strong>LaserMix<\/strong><sup><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_5\">[5]<\/a><\/sup>\uff0c\u53ef\u4ee5\u5927\u5e45\u63d0\u9ad8\u5404\u7c7b 3D \u611f\u77e5\u6a21\u578b\u5728\u635f\u574f\u60c5\u5f62\u4e0b\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"304\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-29.webp\" alt=\"\" class=\"wp-image-7066\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-29.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-29-300x127.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>\u66f4\u591a\u6709\u5173\u5bf9 3D \u611f\u77e5\u6a21\u578b\u5728\u5404\u7c7b\u635f\u574f\u60c5\u5f62\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u7684\u5206\u6790\uff0c\u53ef\u53c2\u9605\u8bba\u6587\u7684<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2303.17597\" target=\"_blank\" rel=\"noreferrer noopener\">\u5b9e\u9a8c\u7ed3\u679c<\/a>\u90e8\u5206\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_7\">\u603b\u7ed3<\/h2>\n\n\n\n<p>\u5728\u8fd9\u4e2a\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86 <strong>Robo3D<\/strong>\uff0c\u5176\u4f5c\u4e3a\u9996\u4e2a\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 <strong>3D \u611f\u77e5\u4efb\u52a1<\/strong>\u6240\u8bbe\u8ba1\u7684<strong>\u9c81\u68d2\u6027<\/strong>\u6d4b\u8bd5\u57fa\u7ebf\uff0c\u65e8\u5728\u63a2\u8ba8 <strong>3D \u7269\u4f53\u68c0\u6d4b<\/strong>\u548c <strong>3D \u8bed\u4e49\u5206\u5272<\/strong>\u6a21\u578b\u5728<strong>\u5206\u5e03\u5916<\/strong>\u573a\u666f\u4e0b\u9488\u5bf9\u73b0\u5b9e\u73af\u5883\u4e2d\u53d1\u751f\u7684<strong>\u81ea\u7136\u635f\u574f<\/strong>\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u5bf9 <strong>34<\/strong> \u79cd 3D \u611f\u77e5\u6a21\u578b\u5728\u5404\u7c7b\u635f\u574f\u60c5\u5f62\u4e0b\u9c81\u68d2\u6027\u7684\u5206\u6790\uff0c\u6211\u4eec\u5f97\u4ee5\u603b\u7ed3\u51fa\u4e00\u7cfb\u5217\u63d0\u5347\u6a21\u578b\u5bf9\u6297\u771f\u5b9e\u4e16\u754c\u4e2d\u53ef\u80fd\u53d1\u751f\u7684\u635f\u574f\u60c5\u5f62\u7684\u8bbe\u8ba1\u601d\u8def\u3002\u5e0c\u671b\u8be5\u5de5\u4f5c\u53ef\u4ee5\u542f\u53d1\u540e\u7eed\u5de5\u4f5c\uff0c\u4ee5\u4e0d\u65ad\u63d0\u5347\u81ea\u52a8\u9a7e\u9a76 3D \u611f\u77e5\u6a21\u578b\u7684\u5b9e\u7528\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_672935761_8\">\u5f00\u6e90\u8d44\u6599<\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"464\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-32.webp\" alt=\"\" class=\"wp-image-7069\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-32.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-32-300x193.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n\n\n\n<p>L. Kong, Y. Liu, X. Li, R. Chen, W. Zhang, J. Ren, L. Pan, K. Chen, and Z. Liu. &#8220;<strong>Robo3D: Towards Robust and Reliable 3D Perception against Corruptions<\/strong>,&#8221; ICCV, 2023.<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2303.17597\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2303.17597<\/a><\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/ldkong.com\/Robo3D\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ldkong.com\/Robo3D<\/a><\/li>\n\n\n\n<li>GitHub\u4ee3\u7801\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/github.com\/ldkong1205\/Robo3D\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/github.com\/ldkong1205\/Robo3D<\/a><\/li>\n\n\n\n<li>\u8bba\u6587\u6d77\u62a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/ldkong.com\/posters\/iccv23_robo3d.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/ldkong.com\/posters\/iccv23_robo3d.pdf<\/a><\/li>\n\n\n\n<li>\u89c6\u9891Demo\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/www.youtube.com\/watch%3Fv%3DkM8n-jMg0qw\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.youtube.com\/watch?v=kM8n-jMg0qw<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u53c2\u8003<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_1_0\">^<\/a>H. Caesar, et al. &#8220;nuScenes: A multimodal dataset for autonomous driving,&#8221; CVPR, 2020.&nbsp;<a href=\"https:\/\/www.nuscenes.org\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/www.nuscenes.org<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_2_0\">^<\/a>J. Behley, et al. &#8220;SemanticKITTI: A dataset for semantic scene understanding of LiDAR sequences,&#8221; ICCV, 2019.&nbsp;<a href=\"http:\/\/www.semantic-kitti.org\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/www.semantic-kitti.org<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_3_0\">^<\/a>P. Sun, et al. &#8220;Scalability in perception for autonomous driving: Waymo open dataset,&#8221; CVPR, 2020.&nbsp;<a href=\"http:\/\/ymo.com\/open\/data\/perception\" target=\"_blank\" rel=\"noreferrer noopener\">http:\/\/ymo.com\/open\/data\/perception<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_4_0\">^<\/a>L. Kong, et al. &#8220;Robo3D: Towards robust and reliable 3D perception under corruptions,&#8221; ICCV, 2023.&nbsp;<a href=\"https:\/\/arxiv.org\/abs\/2303.17597\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2303.17597<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/672935761#ref_5_0\">^<\/a>L. Kong, et al. &#8220;LaserMix for semi-supervised LiDAR semantic segmentation,&#8221; CVPR, 2023.&nbsp;<a href=\"https:\/\/arxiv.org\/abs\/2207.00026\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2207.00026<\/a><\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u53e5\u8bdd\u603b\u7ed3 Robo3D \u662f\u9996\u4e2a\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684 [&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-7063","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7063"}],"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=7063"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7063\/revisions"}],"predecessor-version":[{"id":7070,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7063\/revisions\/7070"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=7063"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=7063"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=7063"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}