{"id":7193,"date":"2023-12-28T14:58:54","date_gmt":"2023-12-28T06:58:54","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/12\/28\/7193\/"},"modified":"2023-12-28T15:15:24","modified_gmt":"2023-12-28T07:15:24","slug":"11-28","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/12\/28\/7193\/","title":{"rendered":"2023-12-28 NeRF\u8fd8\u80fd\u63d0\u5347BEV\u6cdb\u5316\u6027\u80fd\uff01\u9996\u4e2aBEV\u8de8\u57df\u5f00\u6e90\u4ee3\u7801\u5e76\u9996\u6b21\u5b8c\u6210Sim2Real\uff01"},"content":{"rendered":"\n<p>\u4e2a\u4eba\u603b\u7ed3<\/p>\n\n\n\n<p>\u9e1f\u77b0\u56fe(Bird eye&#8217;s view, BEV)\u68c0\u6d4b\u662f\u4e00\u79cd\u901a\u8fc7\u878d\u5408\u591a\u4e2a\u73af\u89c6\u6444\u50cf\u5934\u6765\u8fdb\u884c\u68c0\u6d4b\u7684\u65b9\u6cd5\u3002\u76ee\u524d\u7b97\u6cd5\u5927\u90e8\u5206\u7b97\u6cd5\u90fd\u662f\u5728\u76f8\u540c\u6570\u636e\u96c6\u8bad\u7ec3\u5e76\u4e14\u8bc4\u6d4b\uff0c\u8fd9\u5bfc\u81f4\u4e86\u8fd9\u4e9b\u7b97\u6cd5\u8fc7\u62df\u5408\u4e8e\u4e0d\u53d8\u7684\u76f8\u673a\u5185\u53c2\uff08\u76f8\u673a\u7c7b\u578b\uff09\u548c\u5916\u53c2\uff08\u76f8\u673a\u6446\u653e\u65b9\u5f0f\uff09\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u9690\u5f0f\u6e32\u67d3\u7684BEV\u68c0\u6d4b\u6846\u67b6\uff0c\u80fd\u591f\u89e3\u51b3\u672a\u77e5\u57df\u7684\u7269\u4f53\u68c0\u6d4b\u95ee\u9898\u3002\u8be5\u6846\u67b6\u901a\u9690\u5f0f\u6e32\u67d3\u6765\u5efa\u7acb\u7269\u4f533D\u4f4d\u7f6e\u548c\u5355\u4e2a\u89c6\u56fe\u7684\u900f\u89c6\u4f4d\u7f6e\u5173\u7cfb,\u8fd9\u53ef\u4ee5\u7528\u6765\u7ea0\u6b63\u900f\u89c6\u504f\u5dee\u3002\u6b64\u65b9\u6cd5\u5728\u9886\u57df\u6cdb\u5316\uff08DG\uff09\u548c\u65e0\u76d1\u7763\u9886\u57df\u9002\u5e94\uff08UDA\uff09\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002\u8be5\u65b9\u6cd5\u9996\u6b21\u5c1d\u8bd5\u4e86\u53ea\u7528\u865a\u62df\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bad\u7ec3\u5728\u771f\u5b9e\u573a\u666f\u4e0b\u8fdb\u884c\u8bc4\u6d4bBEV\u68c0\u6d4b,\u53ef\u4ee5\u6253\u7834\u865a\u5b9e\u4e4b\u95f4\u7684\u58c1\u5792\u5b8c\u6210\u95ed\u73af\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2310.11346.pdf\n\n\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/EnVision-Research\/Generalizable-BEV<\/code><\/pre>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"298\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1024x298.png\" alt=\"\" class=\"wp-image-7196\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1024x298.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-300x87.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-768x223.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><br>BEV\u68c0\u6d4b\u57df\u6cdb\u5316\u95ee\u9898\u80cc\u666f<\/p>\n\n\n\n<p>\u591a\u76f8\u673a\u68c0\u6d4b\u662f\u6307\u5229\u7528\u591a\u53f0\u6444\u50cf\u673a\u5bf9\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u7269\u4f53\u8fdb\u884c\u68c0\u6d4b\u548c\u5b9a\u4f4d\u7684\u4efb\u52a1\u3002\u901a\u8fc7\u7ed3\u5408\u6765\u81ea\u4e0d\u540c\u89c6\u70b9\u7684\u4fe1\u606f\uff0c\u591a\u6444\u50cf\u59343D\u76ee\u6807\u68c0\u6d4b\u53ef\u4ee5\u63d0\u4f9b\u66f4\u51c6\u786e\u548c\u9c81\u68d2\u7684\u76ee\u6807\u68c0\u6d4b\u7ed3\u679c\uff0c\u7279\u522b\u662f\u5728\u67d0\u4e9b\u89c6\u70b9\u7684\u76ee\u6807\u53ef\u80fd\u88ab\u906e\u6321\u6216\u90e8\u5206\u53ef\u89c1\u7684\u60c5\u51b5\u4e0b\u3002\u8fd1\u5e74\u6765\uff0c\u9e1f\u77b0\u56fe\u68c0\u6d4b(Bird eye&#8217;s view, BEV)\u65b9\u6cd5\u5728\u591a\u76f8\u673a\u68c0\u6d4b\u4efb\u52a1\u4e2d\u5f97\u5230\u4e86\u6781\u5927\u7684\u5173\u6ce8\u3002\u5c3d\u7ba1\u8fd9\u4e9b\u65b9\u6cd5\u5728\u591a\u76f8\u673a\u4fe1\u606f\u878d\u5408\u65b9\u9762\u5177\u6709\u4f18\u52bf\uff0c\u4f46\u5f53\u6d4b\u8bd5\u73af\u5883\u4e0e\u8bad\u7ec3\u73af\u5883\u5b58\u5728\u663e\u8457\u5dee\u5f02\u65f6\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u7684\u6027\u80fd\u53ef\u80fd\u4f1a\u4e25\u91cd\u4e0b\u964d\u3002<\/p>\n\n\n\n<p>\u76ee\u524dBEV\u68c0\u6d4b\u7b97\u6cd5\u5927\u90e8\u5206\u7b97\u6cd5\u90fd\u662f\u5728\u76f8\u540c\u6570\u636e\u96c6\u8bad\u7ec3\u5e76\u4e14\u8bc4\u6d4b\uff0c\u8fd9\u5bfc\u81f4\u4e86\u8fd9\u4e9b\u7b97\u6cd5\u8fc7\u62df\u5408\u4e8e\u4e0d\u53d8\u7684\u76f8\u673a\u5185\u5916\u53c2\u6570\u548c\u57ce\u5e02\u9053\u8def\u6761\u4ef6\u3002\u7136\u800c\u5728BEV\u68c0\u6d4b\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u5e38\u5e38\u8981\u6c42\u7b97\u6cd5\u8981\u9002\u914d\u4e0d\u540c\u65b0\u8f66\u578b\u548c\u65b0\u6444\u50cf\u5934\uff0c\u8fd9\u5bfc\u81f4\u4e86\u8fd9\u4e9b\u7b97\u6cd5\u7684\u5931\u6548\u3002\u6240\u4ee5\uff0c\u7814\u7a76BEV\u68c0\u6d4b\u7684\u6cdb\u5316\u6027\u7814\u7a76\u975e\u5e38\u91cd\u8981\u3002\u6b64\u5916\uff0c\u65e0\u4eba\u9a7e\u9a76\u7684\u95ed\u73af\u4eff\u771f\u4e5f\u662f\u975e\u5e38\u91cd\u8981\u7684\uff0c\u4f46\u662f\u95ed\u73af\u4eff\u771f\u76ee\u524d\u53ea\u80fd\u5728\u865a\u62df\u5f15\u64ce\uff08\u4f8b\u5982Carla\uff09\u4e2d\u8fdb\u884c\u8bc4\u6d4b\u3002\u6240\u4ee5\uff0c\u6253\u7834\u865a\u62df\u5f15\u64ce\u548c\u771f\u5b9e\u573a\u666f\u4e2d\u7684\u57df\u5dee\u5f02\u4e5f\u975e\u5e38\u5fc5\u8981\u3002<\/p>\n\n\n\n<p>\u57df\u6cdb\u5316(domain generalization, DG)\u548c\u65e0\u76d1\u7763\u57df\u81ea\u9002\u5e94(unsupervised domain adaptation, UDA)\u662f\u7f13\u89e3\u5206\u5e03\u504f\u79fb\u7684\u4e24\u4e2a\u6709\u524d\u9014\u7684\u65b9\u5411\u3002DG\u65b9\u6cd5\u7ecf\u5e38\u89e3\u8026\u548c\u6d88\u9664\u7279\u5b9a\u4e8e\u9886\u57df\u7684\u7279\u5f81\uff0c\u4ece\u800c\u63d0\u9ad8\u4e0d\u53ef\u89c1\u9886\u57df\u7684\u6cdb\u5316\u6027\u80fd\u3002\u5bf9\u4e8eUDA\uff0c\u6700\u8fd1\u7684\u65b9\u6cd5\u901a\u8fc7\u751f\u6210\u4f2a\u6807\u7b7e\u6216\u6f5c\u5728\u7279\u5f81\u5206\u5e03\u5bf9\u9f50\u6765\u7f13\u89e3\u57df\u504f\u79fb\u3002\u7136\u800c\uff0c\u5982\u679c\u4e0d\u4f7f\u7528\u6765\u81ea\u4e0d\u540c\u89c6\u70b9\u3001\u76f8\u673a\u53c2\u6570\u548c\u73af\u5883\u7684\u6570\u636e\uff0c\u7eaf\u89c6\u89c9\u611f\u77e5\u5b66\u4e60\u4e0e\u89c6\u89d2\u548c\u73af\u5883\u65e0\u5173\u7684\u7279\u5f81\u662f\u975e\u5e38\u5177\u6709\u6311\u6218\u6027\u7684\u3002<\/p>\n\n\n\n<p>\u89c2\u5bdf\u8868\u660e\u5355\u89c6\u89d2(\u76f8\u673a\u5e73\u9762)\u76842D\u68c0\u6d4b\u5f80\u5f80\u6bd4\u591a\u89c6\u89d2\u76843D\u76ee\u6807\u68c0\u6d4b\u5177\u6709\u66f4\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u5982\u56fe\u6240\u793a\u3002\u4e00\u4e9b\u7814\u7a76\u5df2\u7ecf\u63a2\u7d22\u4e86\u5c062D\u68c0\u6d4b\u6574\u5408\u5230BEV\u68c0\u6d4b\u4e2d\uff0c\u4f8b\u5982\u5c062D\u4fe1\u606f\u878d\u5408\u52303D\u68c0\u6d4b\u5668\u4e2d\u6216\u5efa\u7acb2D-3D\u4e00\u81f4\u6027\u3002\u4e8c\u7ef4\u4fe1\u606f\u878d\u5408\u662f\u4e00\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\uff0c\u800c\u4e0d\u662f\u4e00\u79cd\u673a\u5236\u5efa\u6a21\u65b9\u6cd5\uff0c\u5e76\u4e14\u4ecd\u7136\u53d7\u5230\u57df\u8fc1\u79fb\u7684\u4e25\u91cd\u5f71\u54cd\u3002\u73b0\u6709\u76842D-3D\u4e00\u81f4\u6027\u65b9\u6cd5\u662f\u5c063D\u7ed3\u679c\u6295\u5f71\u5230\u4e8c\u7ef4\u5e73\u9762\u4e0a\u5e76\u5efa\u7acb\u4e00\u81f4\u6027\u3002\u8fd9\u79cd\u7ea6\u675f\u53ef\u80fd\u635f\u5bb3\u76ee\u6807\u57df\u4e2d\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u800c\u4e0d\u662f\u4fee\u6539\u76ee\u6807\u57df\u7684\u51e0\u4f55\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u8fd9\u79cd2D-3D\u4e00\u81f4\u6027\u65b9\u6cd5\u4f7f\u5f97\u6240\u6709\u68c0\u6d4b\u5934\u7684\u7edf\u4e00\u65b9\u6cd5\u5177\u6709\u6311\u6218\u6027\u3002<br><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1013\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1-1024x1013.png\" alt=\"\" class=\"wp-image-7197\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1-1024x1013.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1-300x297.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1-768x759.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1-1011x1000.png 1011w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-1.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><br>\u672c\u8bba\u6587\u7684\u7684\u8d21\u732e\u603b\u7ed3<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u672c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u89c6\u89d2\u53bb\u504f\u7684\u5e7f\u4e49BEV\u68c0\u6d4b\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u4e0d\u4ec5\u53ef\u4ee5\u5e2e\u52a9\u6a21\u578b\u5b66\u4e60\u6e90\u57df\u4e2d\u7684\u89c6\u89d2\u548c\u4e0a\u4e0b\u6587\u4e0d\u53d8\u7279\u5f81\uff0c\u8fd8\u53ef\u4ee5\u5229\u7528\u4e8c\u7ef4\u68c0\u6d4b\u5668\u8fdb\u4e00\u6b65\u7ea0\u6b63\u76ee\u6807\u57df\u4e2d\u7684\u865a\u5047\u51e0\u4f55\u7279\u5f81\u3002\n\n\u672c\u6587\u9996\u6b21\u5c1d\u8bd5\u5728BEV\u68c0\u6d4b\u4e0a\u7814\u7a76\u65e0\u76d1\u7763\u57df\u81ea\u9002\u5e94\uff0c\u5e76\u5efa\u7acb\u4e86\u4e00\u4e2a\u57fa\u51c6\u3002\u5728UDA\u548cDG\u534f\u8bae\u4e0a\u90fd\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u7ed3\u679c\u3002\n\n\u672c\u6587\u9996\u6b21\u63a2\u7d22\u4e86\u5728\u6ca1\u6709\u771f\u5b9e\u573a\u666f\u6ce8\u91ca\u7684\u865a\u62df\u5f15\u64ce\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u4ee5\u5b9e\u73b0\u771f\u5b9e\u4e16\u754c\u7684BEV\u68c0\u6d4b\u4efb\u52a1\u3002<\/code><\/pre>\n\n\n\n<p>BEV\u68c0\u6d4b\u57df\u6cdb\u5316\u95ee\u9898\u5b9a\u4e49<br>\u95ee\u9898\u5b9a\u4e49<\/p>\n\n\n\n<p>\u7814\u7a76\u4e3b\u8981\u56f4\u7ed5\u589e\u5f3aBEV\u68c0\u6d4b\u7684\u6cdb\u5316\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u672c\u6587\u63a2\u7d22\u4e86\u4e24\u4e2a\u5e7f\u6cdb\u5177\u6709\u5b9e\u9645\u5e94\u7528\u4ef7\u503c\u7684\u534f\u8bae\uff0c\u5373\u57df\u6cdb\u5316(domain generalization, DG)\u548c\u65e0\u76d1\u7763\u57df\u81ea\u9002\u5e94(unsupervised domain adaptation, UDA)\uff1a<\/p>\n\n\n\n<p>BEV\u68c0\u6d4b\u7684\u57df\u6cdb\u5316(DG)\uff1a\u5728\u5df2\u6709\u7684\u6570\u636e\u96c6\uff08\u6e90\u57df\uff09\u8bad\u7ec3\u4e00\u4e2aBEV\u68c0\u6d4b\u7b97\u6cd5\uff0c\u63d0\u5347\u5728\u5177\u6709\u5728\u672a\u77e5\u6570\u636e\u96c6\uff08\u76ee\u6807\u57df\uff09\u7684\u68c0\u6d4b\u6027\u80fd\u3002\u4f8b\u5982\uff0c\u5728\u7279\u5b9a\u8f66\u8f86\u6216\u8005\u573a\u666f\u4e0b\u8bad\u7ec3\u4e00\u4e2aBEV\u68c0\u6d4b\u6a21\u578b\uff0c\u80fd\u591f\u76f4\u63a5\u6cdb\u5316\u5230\u5404\u79cd\u4e0d\u540c\u7684\u8f66\u8f86\u548c\u573a\u666f\u3002<\/p>\n\n\n\n<p>BEV\u68c0\u6d4b\u7684\u65e0\u76d1\u7763\u57df\u81ea\u9002\u5e94(UDA)\uff1a\u5728\u5df2\u6709\u7684\u6570\u636e\u96c6\uff08\u6e90\u57df\uff09\u8bad\u7ec3\u4e00\u4e2aBEV\u68c0\u6d4b\u7b97\u6cd5\uff0c\u5e76\u4e14\u5229\u7528\u76ee\u6807\u57df\u7684\u65e0\u6807\u7b7e\u6570\u636e\u6765\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\u3002\u4f8b\u5982\uff0c\u5728\u4e00\u4e2a\u65b0\u7684\u8f66\u8f86\u6216\u8005\u57ce\u5e02\uff0c\u53ea\u9700\u8981\u91c7\u96c6\u4e00\u4e9b\u65e0\u76d1\u7763\u6570\u636e\u5c31\u53ef\u4ee5\u63d0\u9ad8\u6a21\u578b\u5728\u65b0\u8f66\u548c\u65b0\u73af\u5883\u7684\u6027\u80fd\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662fDG\u548cUDA\u7684\u552f\u4e00\u533a\u522b\u662f\u662f\u5426\u53ef\u4ee5\u5229\u7528\u76ee\u6807\u57df\u7684\u672a\u6807\u8bb0\u6570\u636e\u3002<br>\u89c6\u89d2\u504f\u5dee\u5b9a\u4e49<\/p>\n\n\n\n<p>\u4e3a\u4e86\u68c0\u6d4b\u7269\u4f53\u7684\u672a\u77e5L=[x,y,z]\uff0c\u5927\u90e8\u5206BEV\u68c0\u6d4b\u4f1a\u6709\u5173\u952e\u7684\u4e24\u90e8\uff081\uff09\u83b7\u53d6\u4e0d\u540c\u89c6\u89d2\u7684\u56fe\u50cf\u7279\u5f81\uff1b\uff082\uff09\u878d\u5408\u8fd9\u4e9b\u56fe\u50cf\u7279\u5f81\u5230BEV\u7a7a\u95f4\u5e76\u4e14\u5f97\u5230\u6700\u540e\u7684\u9884\u6d4b\u7ed3\u679c\uff1a<\/p>\n\n\n\n<p>\u4e0a\u9762\u516c\u5f0f\u63cf\u8ff0\uff0c\u57df\u504f\u5dee\u53ef\u80fd\u6765\u6e90\u4e8e\u7279\u5f81\u63d0\u53d6\u9636\u6bb5\u6216\u8005BEV\u878d\u5408\u9636\u6bb5\u3002\u7136\u540e\u672c\u6587\u8fdb\u884c\u4e86\u5728\u9644\u5f55\u8fdb\u884c\u4e86\u63a8\u5230\uff0c\u5f97\u5230\u4e86\u6700\u540e3D\u9884\u6d4b\u7ed3\u679c\u6295\u5f71\u52302D\u7ed3\u679c\u7684\u89c6\u89d2\u504f\u5dee\u4e3a\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2dk_u, b_u, k_v\u548cb_v\u4e0eBEV\u7f16\u7801\u5668\u7684\u57df\u504f\u7f6e\u6709\u5173\uff0cd(u,v)\u4e3a\u6a21\u578b\u7684\u6700\u7ec8\u9884\u6d4b\u6df1\u5ea6\u4fe1\u606f\u3002c_u\u548cc_v\u8868\u793a\u76f8\u673a\u5149\u5b66\u4e2d\u5fc3\u5728uv\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u5750\u6807\u3002\u4e0a\u9762\u7b49\u5f0f\u63d0\u4f9b\u4e86\u51e0\u4e2a\u91cd\u8981\u7684\u63a8\u8bba:(1)\u6700\u7ec8\u4f4d\u7f6e\u504f\u79fb\u7684\u5b58\u5728\u4f1a\u5bfc\u81f4\u89c6\u89d2\u504f\u5dee\uff0c\u8fd9\u8868\u660e\u4f18\u5316\u89c6\u89d2\u504f\u5dee\u6709\u52a9\u4e8e\u7f13\u89e3\u57df\u504f\u79fb\u3002(2)\u5373\u4f7f\u662f\u76f8\u673a\u5149\u5fc3\u5c04\u7ebf\u4e0a\u7684\u70b9\u5728\u5355\u4e2a\u89c6\u89d2\u6210\u50cf\u5e73\u9762\u4e0a\u7684\u4f4d\u7f6e\u4e5f\u4f1a\u53d1\u751f\u79fb\u4f4d\u3002<\/p>\n\n\n\n<p>\u76f4\u89c2\u5730\u8bf4\uff0c\u57df\u504f\u79fb\u6539\u53d8\u4e86BEV\u7279\u5f81\u7684\u4f4d\u7f6e\uff0c\u8fd9\u662f\u7531\u4e8e\u8bad\u7ec3\u6570\u636e\u89c6\u70b9\u548c\u76f8\u673a\u53c2\u6570\u6709\u9650\u800c\u4ea7\u751f\u7684\u8fc7\u62df\u5408\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4eceBEV\u7279\u5f81\u4e2d\u91cd\u65b0\u6e32\u67d3\u65b0\u7684\u89c6\u56fe\u56fe\u50cf\u662f\u81f3\u5173\u91cd\u8981\u7684\uff0c\u4ece\u800c\u4f7f\u7f51\u7edc\u80fd\u591f\u5b66\u4e60\u4e0e\u89c6\u89d2\u548c\u73af\u5883\u65e0\u5173\u7684\u7279\u5f81\u3002\u9274\u4e8e\u6b64\uff0c\u672c\u6587\u65e8\u5728\u89e3\u51b3\u4e0d\u540c\u6e32\u67d3\u89c6\u70b9\u76f8\u5173\u7684\u89c6\u89d2\u504f\u5dee\uff0c\u4ee5\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u3002<br>\u8be6\u89e3PD-BEV\u7b97\u6cd5<\/p>\n\n\n\n<p>PD-BEV\u4e00\u5171\u5206\u4e3a\u4e09\u4e2a\u90e8\u5206\uff1a\u8bed\u4e49\u6e32\u67d3\uff0c\u6e90\u57df\u53bb\u504f\u89c1\u548c\u76ee\u6807\u57df\u53bb\u504f\u89c1\u5982\u56fe1\u6240\u793a\u3002\u8bed\u4e49\u6e32\u67d3\u662f\u9610\u8ff0\u5982\u5982\u4f55\u901a\u8fc7BEV\u7279\u5f81\u5efa\u7acb2D\u548c3D\u7684\u900f\u89c6\u5173\u7cfb\u3002\u6e90\u57df\u53bb\u504f\u89c1\u662f\u63cf\u8ff0\u5728\u6e90\u57df\u5982\u4f55\u901a\u8fc7\u8bed\u4e49\u6e32\u67d3\u6765\u63d0\u9ad8\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u3002\u76ee\u6807\u57df\u53bb\u504f\u89c1\u662f\u63cf\u8ff0\u5728\u76ee\u6807\u57df\u5229\u7528\u65e0\u6807\u4f4f\u7684\u6570\u636e\u901a\u8fc7\u8bed\u4e49\u6e32\u67d3\u6765\u63d0\u9ad8\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u3002<br><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"345\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-2-1024x345.png\" alt=\"\" class=\"wp-image-7198\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-2-1024x345.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-2-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-2-768x259.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-2.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><br>\u8bed\u4e49\u6e32\u67d3<\/p>\n\n\n\n<p>\u56e0\u4e3a\u5f88\u591a\u7b97\u6cd5\u90fd\u4f1a\u8bb2BEV volume\u7684\u9ad8\u5ea6\u62cd\u6241\u6210\u4e3a\u4e8c\u7ef4\u7684\u7279\u5f81\uff0c\u8fd9\u90e8\u5206\u8bb2\u5148\u5229\u7528\u4e00\u4e2aBEV Decoder\u5c06BEV\u7279\u5f81\u63d0\u5347\u6210\u4e00\u4e2aVolume\uff1a<\/p>\n\n\n\n<p>\u4e0a\u9762\u7684\u516c\u5f0f\u5176\u5b9e\u5c31\u662f\u5bf9BEV\u5e73\u9762\u8fdb\u884c\u4e86\u63d0\u5347\uff0c\u589e\u52a0\u4e86\u4e00\u4e2a\u9ad8\u5ea6\u7ef4\u5ea6\u3002\u7136\u540e\u901a\u8fc7\u76f8\u673a\u7684\u5185\u5916\u53c2\u6570\u5c31\u53ef\u4ee5\u5728\u8fd9\u4e2aVolume\u91c7\u6837\u6210\u4e3a\u4e00\u4e2a2D\u7684\u7279\u5f81\u56fe\uff0c\u7136\u540e\u8fd9\u4e2a2D\u7279\u5f81\u56fe\u548c\u76f8\u673a\u5185\u5916\u53c2\u6570\u9001\u5230\u4e00\u4e2aRenderNet\u91cc\u9762\u6765\u9884\u6d4b\u5bf9\u5e94\u89c6\u89d2\u7684heatmap\u548c\u7269\u4f53\u7684\u5c5e\u6027\u3002\u901a\u8fc7\u8fd9\u6837\u7684\u7c7b\u4f3c\u4e8eNerf\u7684\u64cd\u4f5c\u5c31\u53ef\u4ee5\u5efa\u7acb\u8d772D\u548c3D\u7684\u6865\u6881\u3002<br>\u6e90\u57df\u53bb\u504f\u89c1<\/p>\n\n\n\n<p>\u8fd9\u4e2a\u90e8\u5206\u5728\u6e90\u57df\u5982\u4f55\u63d0\u9ad8\u6a21\u578b\u6cdb\u5316\u6027\u80fd\u7684\u3002\u4e3a\u4e86\u51cf\u5c11\u89c6\u89d2\u504f\u5dee\uff0c\u6e90\u57df\u76843D\u6846\u53ef\u4ee5\u7528\u6765\u76d1\u63a7\u65b0\u6e32\u67d3\u89c6\u56fe\u7684\u70ed\u56fe\u548c\u5c5e\u6027\u3002\u6b64\u5916\uff0c\u8fd8\u5229\u7528\u5f52\u4e00\u5316\u6df1\u5ea6\u4fe1\u606f\u6765\u5e2e\u52a9\u56fe\u50cf\u7f16\u7801\u5668\u66f4\u597d\u5730\u5b66\u4e60\u51e0\u4f55\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u89c6\u89d2\u8bed\u4e49\u76d1\u7763\uff1a\u57fa\u4e8e\u8bed\u4e49\u6e32\u67d3\uff0c\u70ed\u56fe\u548c\u5c5e\u6027\u4ece\u4e0d\u540c\u7684\u89d2\u5ea6\u6e32\u67d3(RenderNet\u7684\u8f93\u51fa)\u3002\u540c\u65f6\uff0c\u968f\u673a\u91c7\u6837\u4e00\u4e2a\u76f8\u673a\u5185\u5916\u53c2\u6570\uff0c\u5c06\u7269\u4f53\u7684\u65b9\u6846\u4ece3D\u5750\u6807\u5229\u7528\u8fd9\u4e9b\u5185\u5916\u53c2\u6570\u6295\u5c04\u5230\u4e8c\u7ef4\u76f8\u673a\u5e73\u9762\u5185\u3002\u7136\u540e\u5bf9\u6295\u5f71\u540e\u76842Dbox\u4e0e\u6e32\u67d3\u7684\u7ed3\u679c\u4f7f\u7528Focal loss\u548cL1 loss\u8fdb\u884c\u7ea6\u675f\uff1a<\/p>\n\n\n\n<p>\u901a\u8fc7\u8fd9\u4e2a\u64cd\u4f5c\u53ef\u4ee5\u964d\u4f4e\u5bf9\u76f8\u673a\u5185\u5916\u53c2\u6570\u7684\u8fc7\u62df\u5408\u4ee5\u53ca\u5bf9\u65b0\u89c6\u89d2\u7684\u9c81\u68d2\u6027\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0c\u8fd9\u4e2a\u8bba\u6587\u5c06\u76d1\u7763\u4eceRGB\u56fe\u50cf\u6362\u6210\u4e86\u7269\u4f53\u4e2d\u5fc3\u7684heatmaps\uff0c\u53ef\u4ee5\u907f\u514dNerf\u5728\u65e0\u4eba\u9a7e\u9a76\u9886\u57df\u7f3a\u5c11\u65b0\u89c6\u89d2RGB\u76d1\u7763\u7684\u7f3a\u70b9\u3002<\/p>\n\n\n\n<p>\u51e0\u4f55\u76d1\u7763\uff1a\u63d0\u4f9b\u660e\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\u53ef\u4ee5\u6709\u6548\u5730\u63d0\u9ad8\u591a\u76f8\u673a3D\u76ee\u6807\u68c0\u6d4b\u7684\u6027\u80fd\u3002\u7136\u800c\uff0c\u7f51\u7edc\u9884\u6d4b\u7684\u6df1\u5ea6\u503e\u5411\u4e8e\u8fc7\u62df\u5408\u5185\u5728\u53c2\u6570\u3002\u56e0\u6b64\uff0c\u8fd9\u4e2a\u8bba\u6587\u501f\u9274\u4e86\u4e00\u79cd\u865a\u62df\u6df1\u5ea6\u7684\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<p>\u5176\u4e2dBCE()\u8868\u793a\u4e8c\u8fdb\u5236\u4ea4\u53c9\u71b5\u635f\u5931\uff0cD_{pre}\u8868\u793aDepthNet\u7684\u9884\u6d4b\u6df1\u5ea6\u3002f_u\u548cf_v\u5206\u522b\u4e3a\u50cf\u5e73\u9762\u7684u\u548cv\u7126\u8ddd\uff0cU\u4e3a\u5e38\u6570\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u8fd9\u91cc\u7684\u6df1\u5ea6\u662f\u4f7f\u75283D\u6846\u800c\u4e0d\u662f\u70b9\u4e91\u63d0\u4f9b\u7684\u524d\u666f\u6df1\u5ea6\u4fe1\u606f\u3002\u901a\u8fc7\u8fd9\u6837\u505a\uff0cDepthNet\u66f4\u6709\u53ef\u80fd\u4e13\u6ce8\u4e8e\u524d\u666f\u7269\u4f53\u7684\u6df1\u5ea6\u3002\u6700\u540e\uff0c\u5f53\u4f7f\u7528\u5b9e\u9645\u6df1\u5ea6\u4fe1\u606f\u5c06\u8bed\u4e49\u7279\u5f81\u63d0\u5347\u5230BEV\u5e73\u9762\u65f6\uff0c\u5c06\u865a\u62df\u6df1\u5ea6\u8f6c\u6362\u56de\u5b9e\u9645\u6df1\u5ea6\u3002<br>\u76ee\u6807\u57df\u53bb\u504f\u89c1<\/p>\n\n\n\n<p>\u5728\u76ee\u6807\u57df\u5c31\u6ca1\u6709\u6807\u6ce8\u4e86\uff0c\u6240\u4ee5\u5c31\u4e0d\u80fd\u75283D 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723px\" \/><\/figure>\n\n\n\n<p>\u8868\u683c2\u5c55\u793a\u4e86\u7b97\u6cd5\u5728\u4e09\u4e2a\u5173\u952e\u7ec4\u4ef6\u4e0a\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\uff1a2D\u68c0\u6d4b\u5668\u9884\u8bad\u7ec3\uff08DPT\uff09\u3001\u6e90\u57df\u53bb\u504f\uff08SDB\uff09\u548c\u76ee\u6807\u57df\u53bb\u504f\uff08TDB\uff09\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6bcf\u4e2a\u7ec4\u4ef6\u90fd\u53d6\u5f97\u4e86\u6539\u8fdb\uff0c\u5176\u4e2dSDB\u548cTDB\u8868\u73b0\u51fa\u76f8\u5bf9\u663e\u8457\u7684\u6548\u679c\u3002<br><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"458\" height=\"180\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-4.png\" alt=\"\" class=\"wp-image-7200\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-4.png 458w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2023\/12\/\u56fe\u7247-4-300x118.png 300w\" sizes=\"(max-width: 458px) 100vw, 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