{"id":7095,"date":"2023-12-25T15:23:37","date_gmt":"2023-12-25T07:23:37","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7095"},"modified":"2023-12-25T15:23:37","modified_gmt":"2023-12-25T07:23:37","slug":"2023-12-25-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%84%9f%e7%9f%a5%e8%9e%8d%e5%90%88%e5%8e%9f%e7%90%86%e6%b5%85%e6%9e%90-bevformer","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/12\/25\/7095\/","title":{"rendered":"2023-12-25 \u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u878d\u5408\u539f\u7406\u6d45\u6790-BEVFormer"},"content":{"rendered":"\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"385\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-39.webp\" alt=\"\" class=\"wp-image-7102\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-39.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-39-300x160.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>BEVFormer\uff0c\u57fa\u4e8eTransformer\u53ca\u53ef\u53d8\u6ce8\u610f\u529b\u673a\u5236(Deformable Attention)\u7b49\uff0c\u5229\u7528\u591a\u76f8\u673a\u56fe\u50cf\u7684\u7a7a\u65f6\u57df(SpatioTemporal)\u4fe1\u606f\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5468\u8fb9\u573a\u666f\u8fdb\u884c\u7edf\u4e00\u9e1f\u77b0\u56fe(BEV\uff0cBird&#8217;s-Eye-View)\u8868\u793a\uff0c\u4ee5\u652f\u6301\u4e09\u7ef4\u68c0\u6d4b\u3001\u5730\u56fe\u5206\u5272\u7b49\u4e09\u7ef4\u89c6\u89c9\u611f\u77e5\u4efb\u52a1\u53ca\u89c4\u5212\u7684BEV\u751f\u6210\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"354\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-33.webp\" alt=\"\" class=\"wp-image-7096\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-33.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-33-300x148.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p><strong>BEVFormer<\/strong><\/p>\n\n\n\n<p><strong>\u4e00\u3001\u6a21\u578b\u6846\u67b6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"303\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-35.webp\" alt=\"\" class=\"wp-image-7098\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-35.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-35-300x126.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>BEVFormer\u6846\u67b6\u4e3b\u8981\u5305\u62ec6\u4e2a\u7f16\u7801\u5668\u5c42(Encoder Layers)\uff0c\u6bcf\u4e2a\u7f16\u7801\u5668\u57fa\u4e8eTransformer\u6807\u51c6\u5b9a\u4e49\u589e\u52a0\u9e1f\u77b0\u56fe\u67e5\u8be2(BEV Queries)\u3001\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b(Spatial Cross-Attention)\u53ca\u65f6\u57df\u81ea\u6ce8\u610f\u529b(Temporal Self-Attention)\u6a21\u5757\u3002<\/p>\n\n\n\n<p>BEV\u67e5\u8be2(BEV Queries)\u7279\u5f81\u4fe1\u606f\u91cf\uff0c\u901a\u8fc7\u6ce8\u610f\u529b\u673a\u5236\u4ece\u591a\u4e2a\u76f8\u673a\u7684\u89c6\u56fe\u67e5\u8be2BEV\u7a7a\u95f4\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b(Spatial Cross-Attention)\u6a21\u5757\uff0cBEV\u67e5\u8be2\u7279\u5f81\u4fe1\u606f\u91cf\u53ef\u7528\u8be5\u6a21\u5757\u4ece\u591a\u4e2a\u76f8\u673a\u7684\u89c6\u56fe\u4e2d\u67e5\u8be2\u3001\u805a\u5408\u4e0eBEV\u76f8\u5173\u7684\u7a7a\u95f4\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u65f6\u57df\u81ea\u6ce8\u610f\u529b(Temporal Self-Attention)\u6a21\u5757\uff0cBEV\u67e5\u8be2\u7279\u5f81\u4fe1\u606f\u91cf\uff0c\u53ef\u7528\u8be5\u6a21\u5757\u4ece\u5386\u53f2BEV\u7279\u5f81\u4fe1\u606f\u4e2d\u67e5\u8be2\u3001\u805a\u5408\u4e0eBEV\u76f8\u5173\u7684\u65f6\u57df\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u63a8\u7406\u6d41\u7a0b\u3002<\/p>\n\n\n\n<p>\u5728t\u65f6\u523b\uff0c\u591a\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u901a\u8fc7ResNet-101\u7b49\u9aa8\u5e72\u7f51\u7edc(Backbone Network)\u83b7\u5f97\u4e0d\u540c\u76f8\u673a\u89c6\u56fe\u50cf\u7684\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u7f16\u7801\u5668\u5c42(Encoder Layer)\u57fa\u4e8e\u65f6\u57df\u81ea\u6ce8\u610f\u529b(Temporal Self-Attention)\u6a21\u5757\uff0c\u5229\u7528BEV\u67e5\u8be2(BEV Queries)\u7279\u5f81\u4fe1\u606f\u91cf\u4ece\u5386\u53f2BEV\u7279\u5f81\u4fe1\u606f\u4e2d\u67e5\u8be2\u76f8\u5173\u7684\u65f6\u57df\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u7f16\u7801\u5668\u5c42\u57fa\u4e8e\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b(Spatial Cross-Attention)\u6a21\u5757\uff0c\u5229\u7528BEV\u67e5\u8be2(BEV Queries)\u7279\u5f81\u4fe1\u606f\u91cf\u4ece\u591a\u4e2a\u76f8\u673a\u7684\u7279\u5f81\u56fe\u4e2d\u83b7\u53d6\u76f8\u5173\u7684\u7a7a\u57df\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u7f16\u7801\u5668\u5c42\u6267\u884c\u524d\u9988\u7f51\u7edc\u8ba1\u7b97\uff0c\u8f93\u51fa\u65f6\u57df\u53ca\u7a7a\u57df\u6ce8\u610f\u529b\u7b49BEV\u7279\u5f81\u4fe1\u606f\uff0c\u4f5c\u4e3a\u4e0b\u4e00\u7f16\u7801\u5668\u5c42\u7684\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u7f16\u7801\u5668\u6808\u751f\u6210t\u65f6\u523b\u7684BEV\u7279\u5f81\u540e\uff0c\u5206\u522b\u57fa\u4e8e\u4e09\u7ef4\u68c0\u6d4bHead\u3001\u5730\u56fe\u5206\u5272Head\u9884\u6d4b\u4e09\u7ef4\u76ee\u6807\u8fb9\u6846\u53ca\u8bed\u4e49\u5730\u56fe\u3002<\/p>\n\n\n\n<p><strong>\u4e8c\u3001BEV\u67e5\u8be2\u7279\u5f81\u91cf(BEV Queries)<\/strong><\/p>\n\n\n\n<p>BEVFormer\u67e5\u8be2\u7279\u5f81\u4fe1\u606f\u91cfQ\uff0c\u5bf9\u5e94\u9884\u5b9a\u4e49\u7684\u4e00\u7ec4\u7f51\u683c\u72b6\u53ef\u5b66\u4e60\u53c2\u6570(Grid-Shaped Learnable Parameters)\u3002\u7279\u5f81\u91cf\u5f62\u72b6\uff0cH*W*C\uff0cH\u3001W\u5bf9\u5e94BEV\u5e73\u9762\u7a7a\u95f4\u9ad8\u3001\u5bbd\uff0cC\u8868\u793a\u7279\u5f81\u7ef4\u5ea6\u3002<\/p>\n\n\n\n<p>\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf\uff0cQp\uff0c\u4f4d\u4e8eBEV\u67e5\u8be2\u7279\u5f81\u91cf\u7684p(x,y)\u4f4d\u7f6e\uff0c\u5bf9\u5e94\u4e8eBEV\u5e73\u9762\u7a7a\u95f4\u7684\u7f51\u683c\u5355\u5143\u533a\u57df(Grid Cell Region)\u3002\u6bcf\u4e2a\u7f51\u683c\u5355\u5143\u5bf9\u5e94\u73b0\u5b9e\u7a7a\u95f4s\u7c73\u3002BEV\u67e5\u8be2\u7279\u5f81\u91cf\u7684\u4e2d\u5fc3\u5bf9\u5e94\u73b0\u5b9e\u7a7a\u95f4\u7684\u8f66\u8f86\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p><strong>\u4e09\u3001\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b(SCA\uff0cSpatial Cross-Attention)<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u6a21\u5757\u5b9a\u4e49<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u53ef\u53d8\u6ce8\u610f\u529b(Deformable Attention)\u6a21\u5757\u6539\u8fdb\u7684\u53ef\u7528\u4e8e\u4e09\u7ef4\u573a\u666f\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5229\u7528\u6bcf\u4e2aBEV\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf(Qp)\u4e0e\u76f8\u673a\u89c6\u56fe\u4e2d\u7684\u5174\u8da3\u533a\u57df\u8fdb\u884c\u6ce8\u610f\u529b\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p>\u5c06BEV\u67e5\u8be2\u7279\u5f81\u91cf\u5e73\u9762\u7684\u6bcf\u4e2a\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf\u63d0\u5347(Lift)\u4e3a\u67f1\u72b6\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf(Pillar-Like Query)\uff0c\u4ece\u67f1\u72b6\u5355\u5143\u91c7\u6837\u4e09\u7ef4\u53c2\u8003\u70b9\uff0c\u6295\u5f71\u5230\u4e8c\u7ef4\u89c6\u56fe\uff0c\u5f62\u6210\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf(Qp)\u7684\u4e8c\u7ef4\u53c2\u8003\u70b9\u3002<\/p>\n\n\n\n<p>\u6295\u5f71\u540e\u7684\u4e8c\u7ef4\u70b9\u6240\u5728\u7684\u89c6\u56fe\u4e2d\uff0c\u56f4\u7ed5\u8fd9\u4e9b\u4e8c\u7ef4\u53c2\u8003\u70b9\u8fdb\u884c\u7279\u5f81\u91c7\u6837\u3002<\/p>\n\n\n\n<p>\u5bf9\u91c7\u6837\u7684\u7279\u5f81\u8fdb\u884c\u52a0\u6743\u548c\u8ba1\u7b97\uff0c\u5f97\u5230\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b\u3002<\/p>\n\n\n\n<p>\u7a7a\u57df\u4ea4\u53c9\u6ce8\u610f\u529b\u5b9a\u4e49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"752\" height=\"131\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-38.webp\" alt=\"\" class=\"wp-image-7101\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-38.webp 752w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-38-300x52.webp 300w\" sizes=\"(max-width: 752px) 100vw, 752px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>DeformAttn\uff0c\u53ef\u53d8\u6ce8\u610f\u529b\u673a\u5236\uff0c\u7528\u4e8e\u8ba1\u7b97BEV\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf\u4e0e\u76f8\u673a\u89c6\u56fe\u53c2\u8003\u70b9\u7684\u5173\u8054\u5ea6\u3002<\/p>\n\n\n\n<p>P(p,i,j)\uff0c\u6295\u5f71\u51fd\u6570\uff0c\u7528\u4e8e\u8ba1\u7b97\u7b2ci\u4e2a\u76f8\u673a\u89c6\u56fe\u7684\u7b2cj\u4e2a\u53c2\u8003\u70b9\u3002<\/p>\n\n\n\n<p>Ft\uff0ct\u65f6\u523b\u7684\u76f8\u673a\u89c6\u56fe\u7279\u5f81\u3002\u4e0a\u6807i\u8868\u793a\u7b2ci\u4e2a\u76f8\u673at\u65f6\u523b\u7684\u89c6\u56fe\u7279\u5f81\u3002<\/p>\n\n\n\n<p>Nref\uff0c\u6bcf\u4e2aBEV\u5355\u5143\u67f1\u67e5\u8be2\u7279\u5f81\u91cf\u5bf9\u5e94\u7684\u4e09\u7ef4\u53c2\u8003\u70b9\u6570\u91cf\u3002<\/p>\n\n\n\n<p>Vhit\u3002BEV\u5355\u5143\u67f1\u67e5\u8be2\u7279\u5f81\u91cf\u5bf9\u5e94\u7684\u4e09\u7ef4\u53c2\u8003\u70b9\u6295\u5f71\u5230\u7684\u76f8\u673a\u7684\u4e8c\u7ef4\u89c6\u56fe\u3002<\/p>\n\n\n\n<p><strong>2\u3001\u53c2\u8003\u70b9\u8ba1\u7b97<\/strong><\/p>\n\n\n\n<p>\u8ba1\u7b97\u4ee5\u8f66\u8f86\u4f4d\u7f6e\u4e3a\u5750\u6807\u539f\u70b9\uff0c\u4f4d\u4e8eBEV\u67e5\u8be2\u7279\u5f81\u91cfp(x\uff0cy)\u4f4d\u7f6e\u7684BEV\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf(Qp)\u5728\u73b0\u5b9e\u7a7a\u95f4\u4e2d\u7684\u4f4d\u7f6e(Real World Location)\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"477\" height=\"116\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-34.webp\" alt=\"\" class=\"wp-image-7097\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-34.webp 477w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-34-300x73.webp 300w\" sizes=\"(max-width: 477px) 100vw, 477px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>\u5728BEV\u67e5\u8be2\u7279\u5f81\u91cf\u7684z\u8f74\u5782\u76f4\u65b9\u5411\u9009Nref\u4e2az\u5750\u6807(z&#8217;)\uff0c\u5f62\u6210Nref\u4e2a\u4e09\u7ef4\u53c2\u8003\u70b9(x&#8217;\uff0cy&#8217;\uff0cz&#8217;)\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u76f8\u673a\u7684\u6295\u5f71\u77e9\u9635\u5c06Nref\u4e2a\u4e09\u7ef4\u53c2\u8003\u70b9(x&#8217;\uff0cy&#8217;\uff0cz&#8217;)\u6295\u5f71\u5230\u4e8c\u7ef4\u89c6\u56fe\uff0c\u5f97\u5230\u6295\u5f71\u540e\u7684\u4e8c\u7ef4\u53c2\u8003\u70b9\u5750\u6807\u3002<\/p>\n\n\n\n<p><strong>\u56db\u3001\u65f6\u57df\u81ea\u6ce8\u610f\u529b(TSA\uff0cTemporal Self-Attention)<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u53ef\u53d8\u6ce8\u610f\u529b(Deformable Attention)\u6a21\u5757\u53ca\u5386\u53f2BEV\u7279\u5f81\u4fe1\u606f\u53ef\u8868\u793a\u5f53\u524d\u73af\u5883\u7684\u6ce8\u610f\u529b\u673a\u5236\u3002<\/p>\n\n\n\n<p>\u65f6\u57df\u81ea\u6ce8\u610f\u529b\u5b9a\u4e49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"802\" height=\"141\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-40.webp\" alt=\"\" class=\"wp-image-7104\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40.webp 802w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40-300x53.webp 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40-768x135.webp 768w\" sizes=\"(max-width: 802px) 100vw, 802px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>DeformAttn\uff0c\u53ef\u53d8\u6ce8\u610f\u529b\u673a\u5236\uff0c\u7528\u4e8e\u8ba1\u7b97BEV\u5355\u5143\u67e5\u8be2\u7279\u5f81\u91cf\u4e0eBEV\u67e5\u8be2\u7279\u5f81\u91cf\u3001\u5bf9\u9f50\u540e\u7684\u5386\u53f2\u67e5\u8be2\u7279\u5f81\u91cf\u7684\u5173\u8054\u5ea6\u3002<\/p>\n\n\n\n<p>Q\uff0ct\u65f6\u523b\u7684BEV\u67e5\u8be2\u7279\u5f81\u91cf\u3002<\/p>\n\n\n\n<p>Bt-1\uff0ct-1\u65f6\u523b\u7684BEV\u7279\u5f81\u91cf\u3002<\/p>\n\n\n\n<p>B&#8217;\uff0c\u57fa\u4e8e\u6c7d\u8f66\u8fd0\u52a8\u5bf9Bt-1\u4e0eQ\u8fdb\u884c\u5bf9\u9f50\u540e\u7684\u7279\u5f81\u91cf\u3002\u5bf9\u9f50\u7684\u76ee\u7684\u5728\u4e8e\u4f7f\u540c\u4e00\u7f51\u683c\u7684\u7279\u5f81\u5bf9\u5e94\u73b0\u5b9e\u7a7a\u95f4\u4e2d\u7684\u76f8\u540c\u7684\u4f4d\u7f6e\u3002<\/p>\n\n\n\n<p>\u2206p\uff0c\u65f6\u57df\u81ea\u6ce8\u610f\u529b\u504f\u79fb\uff0c\u53ef\u901a\u8fc7Q\u53ca\u5bf9\u9f50\u540e\u7684BEV\u7279\u5f81\u91cf(B&#8217;)\u9884\u6d4b\u3002<\/p>\n\n\n\n<p><strong>\u4e94\u3001\u4efb\u52a1\u7aef(Task Heads)<\/strong><\/p>\n\n\n\n<p><strong>1\u3001\u68c0\u6d4b\u7aef(Detection Head)<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u4e8c\u7ef4\u53ef\u53d8\u68c0\u6d4b\u5668(Deformable DETR\uff0cDetection Transformer)\u6539\u8fdb\u7684\u4e09\u7ef4\u68c0\u6d4b\u5668\uff0c\u5229\u7528\u5355\u5c3a\u5ea6(Single-Scale)BEV\u7279\u5f81\u4fe1\u606f\u91cf(Bt)\u4f5c\u4e3a\u89e3\u7801\u5668\u8f93\u5165\uff0c\u9884\u6d4b\u4e09\u7ef4\u8fb9\u6846\u53ca\u901f\u5ea6\u3002\u5229\u7528L1\u635f\u5931\u51fd\u6570\u76d1\u7763\u4e09\u7ef4\u76ee\u6807\u8fb9\u6846\u56de\u5f52\uff0c\u4e0d\u9700\u975e\u6700\u5927\u503c\u6291\u5236(NMS\uff0cNon Maximum Suppression)\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p><strong>2\u3001\u5206\u5272\u7aef(Segmentation Head)<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u4e8c\u7ef4\u5168\u666f\u5206\u5272\u5668(Panoptic SegFormer)\u5b9e\u73b0\u5730\u56fe\u5206\u5272\u3002<\/p>\n\n\n\n<p>\u5206\u5272\u7aef\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"501\" height=\"541\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-36.webp\" alt=\"\" class=\"wp-image-7099\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-36.webp 501w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-36-278x300.webp 278w\" sizes=\"(max-width: 501px) 100vw, 501px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p><strong>Deformable DETR<\/strong><\/p>\n\n\n\n<p>\u53ef\u53d8\u68c0\u6d4b\u5668\uff0c\u57fa\u4e8eTransformer\u53ca\u591a\u5c3a\u5ea6(Multi-Scale)\u53ef\u53d8\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u878d\u5408\u53ef\u53d8\u5377\u79ef\u6a21\u5757\u7684\u7a00\u758f\u7a7a\u57df\u91c7\u6837\u7279\u6027\u4ee5\u63d0\u9ad8\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u7684\u68c0\u6d4b\u5668\u6846\u67b6\u3002<\/p>\n\n\n\n<p>\u53ef\u53d8\u6ce8\u610f\u529b\u6a21\u5757\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"407\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-37.webp\" alt=\"\" class=\"wp-image-7100\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-37.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-37-300x170.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>\u6846\u67b6\u56fe\u5de6\u4fa7\uff0c\u76ee\u6807\u5355\u5143\u67e5\u8be2\u7279\u5f81\u4fe1\u606f\u91cfzq\uff0c\u53c2\u8003\u70b9pq\uff0c\u7f16\u7801\u5668\u8f93\u51fa\u7684\u7279\u5f81\u56fe\uff1b\u5c45\u4e2d\uff0c\u591a\u7aef(Head)\u60c5\u51b5\uff0c\u76ee\u6807\u67e5\u8be2\u91cf\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236(\u53bb\u6389Softmax)\u5f97\u5230\u6ce8\u610f\u529b\u70b9\u76f8\u5bf9\u4e8e\u53c2\u8003\u70b9\u7684\u504f\u79fb\u91cf\u2206pmqk\uff0c\u7279\u5f81\u56fe\u53c2\u8003\u70b9\u8fdb\u884c\u4f4d\u7f6e\u53ca\u504f\u79fb\u52a0\u6743\u5f97\u5230\u4f4d\u7f6e\u52a0\u6743\u7279\u5f81\u503c\uff1b\u53f3\u4fa7\uff0c\u591a\u7aef\u60c5\u51b5\uff0c\u76ee\u6807\u67e5\u8be2\u91cf\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5f97\u5230QK\u6ce8\u610f\u529b\u6743\u91cdAmqk\uff0cAmqk\u4e0e\u4f4d\u7f6e\u52a0\u6743\u7279\u5f81\u503c\u805a\u5408\u5f97\u5230\u805a\u5408\u91c7\u6837\u503c(Aggregated Sampled Values)\uff0c\u5bf9\u7279\u5f81\u503c\u8fdb\u884c\u52a0\u6743\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p>\u53ef\u53d8\u6ce8\u610f\u529b\u673a\u5236\u5b9a\u4e49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"802\" height=\"141\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-40.webp\" alt=\"\" class=\"wp-image-7103\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40.webp 802w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40-300x53.webp 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-40-768x135.webp 768w\" sizes=\"(max-width: 802px) 100vw, 802px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p><strong>DETR<\/strong><\/p>\n\n\n\n<p>DETR\uff0c\u57fa\u4e8eTransformer(Encoder-Decoder)\u6846\u67b6\uff0c\u901a\u8fc7\u57fa\u4e8e\u96c6\u5408(Set)\u7684\u5308\u7259\u5229\u635f\u5931\u51fd\u6570(Hungarian Loss)\u53ca\u4e8c\u5206\u56fe\u5339\u914d\u6cd5(Bipartite Matching)\u76f4\u63a5\u8ba1\u7b97\u3001\u9884\u6d4b\u76ee\u6807\u8fb9\u6846\u3002<\/p>\n\n\n\n<p>\u6a21\u578b\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/image-41.webp\" alt=\"\" class=\"wp-image-7105\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-41.webp 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/image-41-300x92.webp 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><figcaption class=\"wp-element-caption\">[\u56fe\u7247\u6765\u81ea\u7f51\u7edc]<\/figcaption><\/figure>\n\n\n\n<p>BEVFormer\u57fa\u4e8eTransformer\u3001\u591a\u76f8\u673a\u89c6\u56fe\u53ca\u53ef\u53d8\u6ce8\u610f\u529b\u673a\u5236\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76BEV\u89c6\u56fe\uff0c\u6539\u8fdb\u4e86\u76ee\u6807\u68c0\u6d4b\u53ca\u5730\u56fe\u5206\u5272\u7b49\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u53c2\u8003:<\/p>\n\n\n\n<p>BEVFormer: Learning Bird\u2019s-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>BEVFormer\uff0c\u57fa\u4e8eTransformer [&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-7095","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\/7095"}],"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=7095"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7095\/revisions"}],"predecessor-version":[{"id":7106,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7095\/revisions\/7106"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=7095"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=7095"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=7095"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}