{"id":7344,"date":"2024-01-06T14:47:02","date_gmt":"2024-01-06T06:47:02","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7344"},"modified":"2024-01-06T14:47:02","modified_gmt":"2024-01-06T06:47:02","slug":"2024-01-06-%e4%b8%87%e5%ad%97%e9%95%bf%e6%96%87%e8%b0%88%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6bev%e6%84%9f%e7%9f%a5","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/01\/06\/7344\/","title":{"rendered":"2024-01-06 \u4e07\u5b57\u957f\u6587\u8c08\u81ea\u52a8\u9a7e\u9a76BEV\u611f\u77e5"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">prologue<\/h3>\n\n\n\n<p>\u8fd9\u6709\u53ef\u80fd\u662f\u66f4\u7684\u6700\u957f\u7684\u6587\u7ae0\u7cfb\u5217\u4e86\uff0c\u5148\u8bf4\u4e3a\u4ec0\u4e48\uff0c\u4e00\u65b9\u9762\u662f\u770b\u5230\u5206\u5272\u5927\u6a21\u578b\u5bf9\u5c0f\u6a21\u578b\u7684\u63d0\u5347\u6548\u679c\u9700\u8981\u65f6\u95f4\uff0c\u53e6\u4e00\u65b9\u9762\u662f\u4e4b\u524d\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684BEV\u7b97\u6cd5\u505a\u4e86\u5f88\u957f\u65f6\u95f4\u7684\u9884\u7814\uff0c\u81ea\u5df1\u4e5f\u5e94\u8be5\u597d\u597d\u68b3\u7406\u4e00\u4e0b\u4e86\u3002<\/p>\n\n\n\n<p>\uff08\u5f88\u591a\u4e8b\u60c5\u90fd\u662f\u73af\u73af\u76f8\u6263\uff0c\u90fd\u9700\u8981\u53bb\u51b3\u65ad\u3002\u6bd4\u5982\u5206\u5272\u5927\u6a21\u578b\u5bf9\u5c0f\u6a21\u578b\u6027\u80fd\u6709\u6ca1\u6709\u63d0\u5347\uff0c\u6548\u679c\u63d0\u5347\u7684\u6295\u5165\u548c\u8f93\u51fa\u662f\u5426\u5408\u9002\uff0c\u63d0\u5347\u4e0d\u5927\u8fd8\u6709\u6709\u6ca1\u6709\u5fc5\u8981\u7ee7\u7eed\u505a\uff0c\u662f\u6362\u4e2a\u65b9\u5411\u8fd8\u662f\u7ee7\u7eed\u63a2\u7d22\uff0c\u7ee7\u7eed\u63a2\u7d22\u8fd8\u6709\u591a\u5c11\u8d44\u6e90\u652f\u6491\uff0c\u592a\u591a\u592a\u591a\u4e86\u3002bev\u9884\u7814\u5230\u4ec0\u4e48\u65f6\u5019\u624d\u6709\u53ef\u80fd\u843d\u5730\uff0c\u770b\u8fc7\u7684paper\u6709\u6ca1\u6709\u8f6c\u5316\u4e3a\u4ea7\u51fa\u7684\u673a\u4f1a\uff0c\u4ea7\u51fa\u80fd\u4e0d\u80fd\u7ed9\u81ea\u5df1\u5e26\u6765\u6536\u76ca\uff0c\u8fd9\u4e9b\u4e5f\u90fd\u662f\u95ee\u9898\u3002\u867d\u7136\u770b\u8d77\u6765\u95ee\u9898\u5f88\u590d\u6742\uff0c\u4f46\u4e0d\u8fc7\u4e5f\u5c31\u662f\u4e2a\u9690\u9a6c\u5c14\u53ef\u592b\u6216\u8005CRF\uff0c\u4e00\u5207\u90fd\u8fd8\u5728\u53d8\u5316\u4e4b\u4e2d\uff0c\u9759\u5f85\u9774\u5b50\u843d\u5730\u5427\uff09<\/p>\n\n\n\n<p>\u5176\u5b9e\u81ea\u52a8\u9a7e\u9a76bev\u7b97\u6cd5\u662f\u4e2a\u5f88\u5bbd\u6cdb\u7684\u8bf4\u6cd5\uff0cbev\u4e5f\u5c31\u662fbird&#8217;s-eye-view\uff0c\u662f\u6307\u4ece\u9e1f\u77b0\u89c6\u89d2\u6765\u505atask\u7684\u8303\u5f0f\uff1b\u4ece\u6570\u636e\u6765\u8bf4\u6709\u7eaf\u89c6\u89c9\u7684bev\uff0c\u7eaf\u96f7\u8fbe\u7684bev\uff0c\u4e5f\u6709\u89c6\u89c9\u96f7\u8fbeor\u5176\u4ed6\u591a\u4f20\u611f\u5668\u878d\u5408\u7684bev\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e5f\u662f\u6709\u5f88\u591a\u8bf4\u6cd5\u7684\uff0c\u5bf9\u4e8e\u4e00\u4e2a\u516c\u53f8\u9879\u76ee\u6765\u8bf4\uff0c\u8d70\u4ec0\u4e48\u6837\u7684\u6280\u672f\u8def\u7ebf\uff0c\u7528\u4ec0\u4e48\u6837\u7684\u4f20\u611f\u5668\uff0c\u8fd0\u884c\u5728\u4ec0\u4e48\u5e73\u53f0\u4e0a\uff0c\u90fd\u5bf9\u76f8\u5e94\u7684\u7b97\u6cd5\u6709\u7740\u8981\u6c42\uff0c\u5728\u73b0\u5b9e\u7684\u79cd\u79cd\u59a5\u534f\u4e4b\u4e0b\u6700sota\u7684\u7b97\u6cd5\u4e5f\u4e0d\u4e00\u5b9a\u5c31\u662f\u6700\u597d\u7684\uff0c\u6307\u6807\u9ad8\u7684\u7b97\u6cd5\u4e5f\u4e0d\u89c1\u5f97\u5c31\u4e00\u5b9a\u662f\u80fd\u7528\u7684\u3002<\/p>\n\n\n\n<p>\u5c31\u5148\u7b80\u5355\u8bf4\u4e00\u4e0b\uff0c\u4e5f\u7ed9\u5927\u5bb6share\u4e00\u4e0b\u81ea\u5df1\u7684\u4e00\u4e9bpaper list\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><a><\/a>camera bev :<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>1. Lift, Splat, Shoot: Encoding Images from Arbitrary Camera Rigs by Implicitly Unprojecting to 3D<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1a\u7eaf\u89c6\u89c9bev\u7684\u5f00\u5c71\u9f3b\u7956\uff0c\u5728\u540e\u7eed\u7684\u6587\u7ae0\u91cc\u9762\u4f46\u51e1\u6709\u7528\u5230\u5c06\u4e8c\u7ef4\u56fe\u50cffeature\u63d0\u5347\u5230\u4e09\u7ef4\u7a7a\u95f4\u7136\u540e\u62cd\u6241\u5230bev\u7a7a\u95f4\u90fd\u6709\u7528\u5230\u5176\u63d0\u51fa\u7684lift-splat\u7684\u64cd\u4f5c\uff0c\u4ee3\u7801\u4e5f\u5f88\u5e72\u8106\u6613\u8bfb\u3002\uff08shoot\u90e8\u5206\u662f\u505a\u89c4\u5212\u7684\uff0c\u4ee3\u7801\u6ca1\u5f00\u51fa\u6765\uff09\u6838\u5fc3\u662f\u5c06\u6bcf\u4e2a\u56fe\u50cf\u5355\u72ec\u63d0\u5347\u4e3a\u4e00\u4e2a\u7279\u5f81\u7684\u89c6\u9525\uff0c\u7136\u540e\u5c06\u6240\u6709\u89c6\u9525\u62cd\u5e73\u5230\u6805\u683c\u5316\u7684BEV\u7f51\u683c\u4e0a\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"329\" data-id=\"7366\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-1.png\" alt=\"\" class=\"wp-image-7366\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-1.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-1-300x137.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u5f53\u7136\u7531\u4e8e\u662f\u521d\u4ee3\u7248\u672c\u4e5f\u5c31\u4e0d\u53ef\u907f\u514d\u7684\u5b58\u5728\u4e00\u4e9b\u95ee\u9898\uff0c\u6700\u4e3b\u8981\u7684\u4e24\u4e2a\u70b9\uff0c\u4e00\u662fsplat\u7684\u8fc7\u7a0b\u4e2d\u8fd0\u7b97\u8017\u65f6\uff0c\u4e8c\u662f\u5728\u6df1\u5ea6\u4f30\u8ba1\u90e8\u5206\u7531\u4e8e\u7ed9\u4e88\u6bcf\u4e2a\u70b9\u53ef\u80fd\u7684\u6df1\u5ea6\u65f6\u5e76\u6ca1\u6709\u7528\u6df1\u5ea6\u771f\u503c\u76d1\u7763\uff0c\u5bfc\u81f4\u4e0d\u591f\u51c6\u786e\uff0c\u8d8a\u8fdc\u6548\u679c\u8d8a\u5dee\u6027\u80fd\u548c\u73b0\u5728\u7684\u65b0\u4e00\u4e9b\u7b97\u6cd5\u6bd4\u8d77\u6765\u5dee\u5f88\u591a\u3002\u4f46\u8fd9\u4ecd\u65e7\u4e0d\u59a8\u788d\u5176\u5728bev\u7b97\u6cd5\u4e2d\u7684\u4efd\u91cf\u3002<\/p>\n\n\n\n<p>\u9898\u5916\u8bdd\uff1a\u6211\u4e5f\u6709\u8fc7\u5bf9lss\u8fdb\u884c\u4f18\u5316\uff0c\u8bf4\u6765\u8bdd\u957f\uff0c\u53ef\u4ee5\u7ed9\u5927\u5bb6\u63a8\u4e00\u4e9b\u6211\u4e4b\u524d\u76f8\u5173\u7684\u535a\u6587\u3002\u7b80\u5355\u8bf4\u5c31\u662f\u4e4b\u524d\u6709\u60f3\u7740\u6253\u4e00\u6253nuscenes\u7684\u699c\u5355\uff0c\u5bf9\u516c\u53f8\u5bf9\u81ea\u5df1\u4e5f\u90fd\u6709\u597d\u5904\uff0c\u4e8e\u662f\u5c31\u6253\u7b97\u4eceLss\u5165\u624b\u6765\u641e\uff0c\u5f53\u65f6\u4e3b\u8981\u8003\u8651\u4ed6\u662fplug and play \u7684\uff0c\u57fa\u4e8elss\u7684bev\u7b97\u6cd5\u5f88\u591a\uff0c\u5982\u679c\u80fd\u5728\u8fd9\u6837\u57fa\u7840\u7b97\u6cd5\u4e0a\u505a\u51fa\u6539\u8fdb\u90a3\u5c31\u53ef\u4ee5\u5bf9\u6240\u6709\u4f7f\u7528\u4e86lss\u6a21\u5757\u7684\u7b97\u6cd5\u90fd\u5e26\u6765\u63d0\u5347\uff0c\u8fd9\u662f\u4e00\u4ef6\u6709\u610f\u4e49\u7684\u4e8b\u60c5\u3002\u81f3\u4e8e\u540e\u9762\u5c31\u4e0d\u8bf4\u4e86\uff0c\u90fd\u662f\u6c57\u4e0e\u7d2f\u554a\uff01<\/p>\n\n\n\n<p>\u4e00\u4e2a\u662f\u5bf9\u4ee3\u7801\u7684\u89e3\u8bfb<\/p>\n\n\n\n<p>\u4e00\u4e2a\u662f\u5bf9LSS\u505a\u6539\u8fdb\u7684nuscenes sota<\/p>\n\n\n\n<p>\u4e00\u4e2a\u662f\u6211\u4e4b\u524d\u641e\u5f97nuscenes \u6df1\u5ea6\u56fe<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>2. M2BEV: Multi-Camera Joint 3D Detection and Segmentation with Unified Bird&#8217;s-Eye View Representation<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1a\u8fd9\u662f\u4e00\u7bc7\u6ca1\u6709\u5f00\u6e90\u7684\u6587\u7ae0\uff0c\u548clss\u4e00\u6837\u4e5f\u662fnvidia\u7684\u5de5\u4f5c\uff0c\u4e5f\u662f\u4ece2d\u52303d\u518d\u6295\u5f71\u5230bev\u7a7a\u95f4\u4f46\u7531\u4e8e\u5047\u8bbe\u6cbf\u5c04\u7ebf\u7684\u6df1\u5ea6\u5206\u5e03\u662f\u5747\u5300\u7684\uff0c\u8fd9\u610f\u5473\u7740\u6cbf\u76f8\u673a\u5c04\u7ebf\u7684\u6240\u6709\u4f53\u7d20\u90fd\u586b\u5145\u4e0e2D\u7a7a\u95f4\u4e2d\u5355\u4e2a\u50cf\u7d20\u5bf9\u5e94\u7684\u76f8\u540c\u7279\u5f81\uff0c\u6240\u4ee5\u5185\u5b58\u9ad8\u6548\u901f\u5ea6\u66f4\u5feb\uff0c\u5355\u4ece\u6587\u7ae0\u770b\u6548\u679c\u6bd4lss\u8981\u597d\uff0c\u53f7\u79f0\u662f\u7b2c\u4e00\u4e2a\u7528\u7edf\u4e00\u6846\u67b6\u540c\u65f6\u505a\u68c0\u6d4b\u548c\u5206\u5272\u4efb\u52a1\u7684\uff0c\u4f46\u6ca1\u5f00\u6e90\u3002<\/li>\n\n\n\n<li>\u8fd9\u91cc\u6709\u4e00\u4e2a\u70b9\u662f\uff0c\u8fd9\u7bc7\u6587\u7ae0\u5047\u8bbe\u6cbf\u7740\u5c04\u7ebf\u7684\u6df1\u5ea6\u5206\u5e03\u662f\u5747\u5300\u7684\uff0c\u8fd9\u610f\u5473\u7740\u6cbf\u7740\u76f8\u673a\u5c04\u7ebf\u7684\u6240\u6709\u4f53\u7d20\u90fd\u586b\u5145\u6709\u4e0e2D\u7a7a\u95f4\u4e2d\u7684P\u4e2d\u7684\u5355\u4e2a\u50cf\u7d20\u76f8\u5bf9\u5e94\u7684\u76f8\u540c\u7279\u5f81\u3002\u597d\u5904\u662f\u8fd9\u79cd\u7edf\u4e00\u7684\u5047\u8bbe\u901a\u8fc7\u51cf\u5c11\u5b66\u4e60\u53c2\u6570\u7684\u6570\u91cf\u6765\u63d0\u9ad8\u8ba1\u7b97\u548c\u5b58\u50a8\u6548\u7387\u3002\u4f46lss\u5374\u4e0d\u662f\u8fd9\u6837\uff0c\u4ed6\u662fa non-uniform depth distribution\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-2 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"344\" data-id=\"7367\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-2.png\" alt=\"\" class=\"wp-image-7367\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-2.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-2-300x143.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>3. BEVDet: High-Performance Multi-Camera 3D Object Detection in Bird-Eye-View<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1alss\u7b97\u6cd5\u540e\u6765\u8005\uff0c\u6216\u8005\u8bf4\u5305\u4e86\u4e00\u5c42\u76ae\uff08\u6709\u70b9\u76f4\u767d\uff09\uff0c\u6539\u8fdb\u4e86\u524d\u5904\u7406\u548c\u540e\u5904\u7406\u6838\u5fc3\u6ca1\u53d8\uff0c\u4e4b\u524dlss\u662f\u505a\u5206\u5272\u4efb\u52a1\uff0c\u8fd9\u7bc7\u662f\u62ff\u6765\u505a\u68c0\u6d4b\u4efb\u52a1\u3002\u8fd9\u7bc7\u5de5\u4f5c\u662f\u9274\u667a\u673a\u5668\u4eba\u505a\u7684\uff0c\u540e\u7eed\u8fd8\u6709\u4e00\u7cfb\u5217\u6587\u7ae0\u4e0e\u6539\u8fdb\u7248\u672c\u3002\u867d\u7136\u4f46\u662f\u4ece\u8fd9\u91cc\u5f00\u59cb\u540e\u9762\u7684\u5f88\u591a\u6587\u7ae0\u5c31\u4f1a\u5bf9lss\u4e2d\u7684\u6240\u8c13\u201c\u68f1\u53f0\u6c42\u548c\u201d\u90e8\u5206\u8fdb\u884c\u4f18\u5316\u548c\u52a0\u901f\u4e86\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u9898\u5916\u8bdd\uff08+1\uff09\uff1a\u9274\u667a\u673a\u5668\u4eba\u8fd8\u662f\u53ef\u4ee5\u7684\u521b\u59cb\u4eba\u90fd\u662f\u6e05\u534e\u80cc\u666f\uff0c\u5f53\u521d\u5927\u698221\u5e74\u540e\u534a\u5e74\u7684\u65f6\u5019\u6709\u9762\u8fc7\uff0c\u90a3\u65f6\u5019\u4ed6\u4eec\u521a\u5f00\u59cb\u521b\u4e1a\u4e5f\u5c31\u51e0\u5341\u4e2a\u4eba\uff0c\u8bf4\u8fc7\u53bb\u505a\u611f\u77e5\u540e\u5904\u7406\uff0c\u975e\u5e38\u53ef\u60dc\u5f53\u65f6\u81ea\u5df1\u4e5f\u8fd8\u5e74\u8f7b\uff0c\u4e92\u76f8\u4e5f\u90fd\u6ca1\u770b\u4e0a\u3002\u540e\u9762\u518d\u6765\u770b\u4ed6\u4eec\u786e\u5b9e\u505a\u4e86\u4e0d\u5c11\u6709\u610f\u4e49\u7684\u5de5\u4f5c\uff0c\u70b9\u8d5e\uff01\u4e0d\u8fc7\u73b0\u5728\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u4e5f\u4e00\u822c\uff0c\u5927\u5bb6\u4e5f\u90fd\u8fc7\u7684\u4e0d\u5bb9\u6613\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"394\" data-id=\"7368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-3.png\" alt=\"\" class=\"wp-image-7368\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-3.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-3-300x164.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u8fd9\u91cc\u7ed9\u5927\u5bb6\u653e\u4e00\u4e0bbevdet\u7cfb\u5217\u7684\u53d1\u5c55\u5386\u7a0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-4 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"425\" data-id=\"7369\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-4-1024x425.png\" alt=\"\" class=\"wp-image-7369\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-4-1024x425.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-4-300x124.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-4-768x319.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-4.png 1056w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>bevdet\u505a\u51fa\u6765\u4ee5\u540e\uff0c\u540e\u9762\u8fd8\u6709bevdet4d (BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detection)\u4e3b\u8981\u5c31\u662f\u589e\u52a0\u4e86\u65f6\u5e8f\uff0c\u5c06\u8fc7\u53bb\u5e27\u4e0e\u5f53\u524d\u5e27\u7279\u5f81\u878d\u5408\u6765\u63d0\u9ad8\u7cbe\u5ea6\uff0c\u6bd4\u8f83\u6709\u8da3\u7684\u3002\u4e3b\u8981\u539f\u56e0\u6709\uff1a\u5728\u505a\u7279\u5f81\u878d\u5408\u7684\u65f6\u5019\uff0cBEVDet4D\u5728BEVDet\u7684\u57fa\u7840\u4e0a\uff0c\u901a\u8fc7\u4fdd\u7559\u8fc7\u53bb\u5e27\u7684\u4e2d\u95f4BEV\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u4e0e\u5f53\u524d\u5e27\u5bf9\u9f50\u548c\u62fc\u63a5\u6765\u878d\u5408\u7279\u5f81\u3002\u8fd9\u6837\uff0cBEVDet4D\u53ef\u4ee5\u901a\u8fc7\u67e5\u8be2\u4e24\u4e2a\u5019\u9009\u7279\u5f81\u6765\u83b7\u53d6\u65f6\u95f4\u7ebf\u7d22\uff0c\u800c\u4ec5\u9700\u8981\u53ef\u5ffd\u7565\u7684\u8ba1\u7b97\u589e\u52a0\u3002\u5bf9\u4efb\u52a1\u8fdb\u884c\u4e86\u7b80\u5316\uff0cBEVDet4D\u901a\u8fc7\u79fb\u9664\u81ea\u6211\u8fd0\u52a8\u548c\u65f6\u95f4\u56e0\u7d20\u6765\u7b80\u5316\u901f\u5ea6\u9884\u6d4b\u4efb\u52a1\u3002\u8fd9\u4f7f\u5f97BEVDet4D\u80fd\u591f\u51cf\u5c11\u901f\u5ea6\u8bef\u5dee\uff0c\u4f7f\u5f97\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u5728\u8fd9\u65b9\u9762\u9996\u6b21\u4e0e\u4f9d\u8d56LiDAR\u6216\u96f7\u8fbe\u7684\u65b9\u6cd5\u76f8\u5ab2\u7f8e\u3002BEVDet4D\u7684\u6027\u80fd\u63d0\u5347\u4e3b\u8981\u6765\u6e90\u4e8e\u901f\u5ea6\u4f30\u8ba1\u66f4\u51c6\u786e1\u3002\u6b64\u5916\uff0c\u5c0f\u6a21\u578b\u4e0a\u7684mAP\u6709\u4e00\u5b9a\u7684\u589e\u957f\uff0c\u4e3b\u8981\u662f\u5c0f\u5206\u8fa8\u7387\u65e0\u6cd5\u8986\u76d650\u7c73\u7684\u8303\u56f4\uff0c\u5386\u53f2\u5e27\u63d0\u4f9b\u4e86\u4e00\u5b9a\u7684\u7ebf\u7d22\u3002<\/p>\n\n\n\n<p>\u5728\u5f80\u540e\u5c31\u662fbevpoolv2\u4e3b\u8981\u505a\u5bf9\u4e8elift-splat\u7684\u63d0\u901f\uff0c\u7528\u9884\u5904\u7406\u6765\u4f18\u5316\u8ba1\u7b97\u6d41\u7a0b\u505a\u5230\u4e864.6 &#8211; 15.1\u500d\u901f\u5ea6\u7684\u63d0\u5347\uff0c\u540c\u65f6\u4e5f\u964d\u4f4e\u4e86\u5185\u5b58\u7684\u5360\u7528\u3002\u8fd9\u4e2a\u5904\u7406\u786e\u5b9e\u5f88\u9ad8\u7ea7\uff0c\u70b9\u8d5e\uff01\u5bf9\u4e8e\u5de5\u7a0b\u5316\u843d\u5730\u6765\u8bf4\u771f\u662f\u592a\u91cd\u8981\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-5 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"366\" data-id=\"7370\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-5.png\" alt=\"\" class=\"wp-image-7370\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-5.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-5-300x153.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u622a\u6b62\u52302023\u5e7412\u670822\u65e5\uff0cbevdet\u7cfb\u5217\u7684\u6700\u65b0\u53d1\u5c55\u662fDAL(Detecting As Labeling:Rethinking LiDAR-camera Fusion in 3D Object Detection)\uff0c\u662f\u505a\u89c6\u89c9\u548clidar\u878d\u5408\u7684\uff0c\u6548\u679c\u548c\u901f\u5ea6\u90fd\u6709\u63d0\u5347\u3002\u5982\u679c\u76f4\u63a5\u70b9\u8bf4\uff0c\u548cbevfusion(mit\u7248\u672c)\u7684\u6d41\u7a0b\u5927\u540c\u5c0f\u5f02\uff0c\u53ea\u662f\u5728\u89c6\u89c9\u96f7\u8fbe\u7684\u5206\u652f\u4e0a\u66f4\u52a0\u76f8\u4fe1\u96f7\u8fbe\uff0c\u7136\u540e\u5305\u4e86\u4e00\u4e2a\u201c\u6a21\u4eff\u6570\u636e\u6ce8\u91ca\u8fc7\u7a0b\u201d\u7684\u6545\u4e8b\uff0c\u6bd4\u8f83\u7c97\u6d45\u7684\u6765\u8bf4\u5c31\u662f\u8fd9\u6837\u3002\u5f53\u7136\u8fd9\u5e76\u4e0d\u59a8\u788d\u4eba\u5bb6\u6548\u679c\u597d\uff0c\u4e5f\u8fd8\u662f\u505a\u4e86\u5f88\u591a\u7ec6\u8282\u4e0a\u7684\u5de5\u4f5c\u7684\u3002\u4e5f\u6bd4\u8f83\u671f\u5f85\u4ed6\u4eec\u63a5\u4e0b\u6765\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u662fDAL paper\u4e2d\u7684\u6846\u67b6\u56fe\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-6 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"430\" data-id=\"7371\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-6.png\" alt=\"\" class=\"wp-image-7371\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-6.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-6-300x179.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>4. BEVFormer: Learning Bird&#8217;s-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1a\u4f7f\u7528transformer\u548ctemporal\u6765\u505abev\u611f\u77e5\u4efb\u52a1\uff08\u68c0\u6d4b\u548c\u5206\u5272\uff09\u63d0\u5347\u6027\u80fd\uff0c\u6709\u4e00\u4e9b\u8bbe\u8ba1\u6bd4\u5982bev queries,spatial cross-attention,temporal self-attention\u3002\u4e3b\u8981\u6ce8\u610f\u7684\u662f\u8fd9\u91cc\u7684\u4e24\u4e2aattention\u5e76\u4e0d\u662f\u7ecf\u5178\u7684transformer\uff0c\u800c\u662f\u7528\u7684DeformAtt.\u8fd9\u91cc\u6211\u8bb0\u5f97\u5f53\u65f6\u5728\u770b\u6574\u4e2a\u6d41\u7a0b\u7684\u65f6\u5019\u5e9f\u4e86\u4e00\u70b9\u529f\u592b\uff0c\u4ee3\u7801\u4e5f\u76f8\u5bf9\u6765\u8bf4\u590d\u6742\u4e00\u4e9b\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4e0d\u8fc7\u5927\u5bb6\u4e5f\u53ef\u4ee5\u4ece\u8fd9\u91cc\u5f00\u59cb\uff0c\u987a\u4fbf\u770b\u4e00\u770bdetr\u7684\u53d1\u5c55\u8109\u7edc\u3002\u8fd9\u91cc\u7684bev queries \u662f\u968f\u673a\u751f\u6210\u521d\u59cb\u5316\u7684\uff0c\u7136\u540e\u6211\u8bb0\u5f97\u540e\u9762\u6709\u4e00\u7bc7nvidia\u6253\u699ccvpr 2023 \u6311\u6218\u8d5b\u7684\u65f6\u5019\u7684fb-bev or fb-occ\u6765\u7740\uff0c\u5bf9\u4e8equeries\u7684\u521d\u59cb\u5316\u8fd9\u90e8\u5206\u6709\u505a\u6539\u8fdb\uff0c\u80fd\u5b66\u7684\u5feb\u4e00\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-7 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"279\" data-id=\"7372\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-7.png\" alt=\"\" class=\"wp-image-7372\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-7.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-7-300x125.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u4e0a\u9762\u662f\u8bba\u6587\u51fa\u5904\uff0c\u4e0d\u662f\u6211\u4e71\u8bf4\u54e6\uff01\u8fd9\u91cc\u6ca1\u6709\u628a\u8fd9\u7bc7\u6587\u7ae0\u653e\u8fdb\u6765\u4e3b\u8981\u662f\u6700\u5f00\u59cbfb-occ\u662f\u505a\u5360\u7528\u7f51\u683c\u7528\u7684\uff0c\u540e\u9762\u505abev\u653e\u51fa\u6765\u7684fb-bev\u6548\u679c\u53cd\u5012\u6ca1\u6709\u5f88\u60ca\u8273\uff0c\u518d\u52a0\u4e0a\u6253\u699c\u7684\u5de5\u4f5c\u672c\u6765\u5c31\u4e0d\u662f\u4e3a\u4e86\u4ea7\u54c1\u5316\u6765\u8bbe\u8ba1\u7684\uff0c\u524d\u5411\u6295\u5f71\u67e5\u4e00\u904d\u53cd\u5411\u6295\u5f71\uff082d-3d,3d-2d)\u901f\u5ea6\u5f53\u7136\u5c31\u5f88\u6162\u4e86\uff0c\u6240\u4ee5\u5c31\u6ca1\u8bf4\u3002\uff08\u4e0d\u8fc7\u4e5f\u6709\u61d2\u5f97\u6210\u5206\u4e86\uff09<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-8 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"444\" data-id=\"7373\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-8.png\" alt=\"\" class=\"wp-image-7373\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-8.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-8-300x185.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u540e\u7eed\u8fd8\u6709\u4e00\u4e9b\u6539\u8fdb\u7684\u7248\u672c\uff0c\u6bd4\u5982BEVFormer++\uff0cbevformerv2\u5f53\u7136\u8fd9\u4e2a\u5de5\u4f5c\u4e0d\u662f\u539f\u73ed\u4eba\u9a6c,\u6240\u4ee5\u5c31\u7b80\u5355\u8bf4\u4e00\u4e0bbevformerv2\u3002\u8fd9\u7bc7\u4e3b\u8981\u5c31\u662f\u6ca1\u5f00\u6e90\uff0cpaper\u8bf4\u8981\u5f00\u4f46\u662f\u8fd8\u6ca1\uff0c\u6240\u4ee5\u4e5f\u5c31\u53ea\u80fd\u770b\u770bidea\uff1bbevformer++<\/p>\n\n\n\n<p>\u5219\u662f\u4e00\u7bc7\u6280\u672f\u62a5\u544a\uff0c\u539f\u73ed\u4eba\u9a6c\u62ff\u4e86Waymo Open Dataset Challenge 2022\u7684\u7b2c\u4e00\u540d\uff0c\u53ef\u4ee5\u770b\u4e00\u770b\u5427\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>5. BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detection<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1abevdepth\u662f\u6211\u975e\u5e38\u6b23\u8d4f\u7684\u4e00\u7bc7\u5de5\u4f5c\uff0c\u5728lss\u7684\u57fa\u7840\u4e0a\u7528\u96f7\u8fbe\u4f5c\u4e3a\u6df1\u5ea6\u7684\u771f\u503c\uff0c\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u8003\u8651\u5230\u76f8\u673a\u5185\u53c2\uff0c\u6df1\u5ea6\u7ec6\u5316\u6a21\u5757\u4e13\u95e8\u5bf9\u6df1\u5ea6\u4f30\u8ba1\u90e8\u5206\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u66f4\u91cd\u8981\u7684\u662f\u4f7f\u7528gpu\u5e76\u884c\u5bf9\u539f\u6765lss\u7684&#8221;cumsum trick&#8221;\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u5927\u5927\u63d0\u5347\u4e86lss\u73af\u8282\u7684\u901f\u5ea6\uff0c\u5728gpu\u4e0b\u76f8\u8f83\u539f\u7248lss\u5feb\u4e8680x\u3002\u771f\u662f\u628alss depth\u4f30\u8ba1\u7684\u6548\u679c\u63d0\u5347\u4e86\u4e00\u4e2a\u6863\u6b21\uff08\u5176\u5b9e\u8fd9\u4e5f\u662f\u6211\u5f53\u65f6\u60f3\u5728lss\u6df1\u5ea6\u4e0a\u505a\u6587\u7ae0\u7684\u7075\u611f\u6765\u6e90\uff0cps\u8fd9\u53e5\u8bdd\u4e0d\u91cd\u8981\uff09<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-9 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"247\" data-id=\"7374\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-9.png\" alt=\"\" class=\"wp-image-7374\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-9.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-9-300x103.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-10 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"448\" data-id=\"7375\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-10.png\" alt=\"\" class=\"wp-image-7375\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-10.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-10-300x187.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>6. CVT\uff1aCross-view Transformers for real-time Map-view Semantic Segmentation<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1a\u524d\u89c6\u56fe\u6295\u5f71\u9876\u89c6\u56fe\u7684\u539f\u7406\uff0c\u7528transformer\u7684\u6ce8\u610f\u529b\u673a\u5236\u641e\u8de8\u89c6\u56fe\u5206\u5272\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-11 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"878\" data-id=\"7376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-11.png\" alt=\"\" class=\"wp-image-7376\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-11.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-11-231x300.png 231w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>7. GKT\uff1aEfficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1a\u4e4b\u524d\u6709\u6ce8\u91ca\u8fc7\u6838\u5fc3\u4ee3\u7801https:\/\/blog.csdn.net\/weixin_46214675\/article\/details\/131169769?spm=1001.2014.3001.5501\uff0c\u4e0d\u662f\u4ec0\u4e48\u5f88\u51fa\u540d\u7684paper\uff0c\u50cf\u5176\u4ed6\u7684\u53ef\u80fd\u90fd\u662fcvpr,eccv,iccv\u5565\u7684\uff0c\u4e4b\u6240\u4ee5\u4f1a\u641e\u8fd9\u4e2a\u4e3b\u8981\u662f\u5f53\u65f6\u6709\u9879\u76ee\u5728\u5730\u5e73\u7ebf\u7684\u82af\u7247\u4e0a\uff0c\u4ed6\u4eec\u5bf9\u8fd9\u4e2a\u7b97\u6cd5\u6709\u652f\u6301\uff0c\u7136\u540e\u4e00\u770b\u539f\u6765\u662f\u4eba\u5728\u5730\u5e73\u7ebf\u5b9e\u4e60\u7684\u65f6\u5019\u641e\u5f97\uff0c\u76ee\u524d\u4e3a\u6b62\u6ca1\u770b\u5230\u6709\u4e2d\u7a3f\uff0c\u5c31\u4ed6\u4eec\u81ea\u5bb6\u4e1c\u897f\u652f\u6301\u4e00\u4e0b\u6211\u89c9\u5f97\u4e5f\u5f88\u6b63\u5e38\u3002\u611f\u5174\u8da3\u5927\u5bb6\u53ef\u4ee5\u81ea\u5df1\u770b\u770b,\u7b80\u5355\u8bf4\u662fbev\u6295\u5230\u56fe\u50cf\uff0c\u7136\u540e\u5728\u6295\u5f71\u5468\u8fb9\u4e00\u5b9a\u8303\u56f4\u5185\u505a\u6ce8\u610f\u529b\uff0c\u5f53\u7136\u4e5f\u6709\u4e00\u4e9b\u5176\u4ed6\u7684\u6bd4\u5982\u5bf9\u5916\u53c2\u52a0\u4e00\u4e9b\u566a\u58f0\u8ba9\u7f51\u7edc\u66f4\u9c81\u68d2\uff0c\u5efa\u67e5\u627e\u8868\u52a0\u901f\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><a><\/a>lidar det:<\/h3>\n\n\n\n<p>\u5bf9\u4e8e\u96f7\u8fbe\u6765\u8bf4\uff0cbev\u5176\u5b9e\u5c31\u6ca1\u6709\u90a3\u4e48\u5fc5\u987b\uff0c\u96f7\u8fbebev\u548cdetection\u5173\u7cfb\u6bd4\u8f83\u5bc6\u5207\u3002\u4e00\u822c\u7528\u96f7\u8fbe\u505a\u68c0\u6d4b\u6709\u51e0\u4e2a\u8303\u5f0f\uff1f\u4e0d\u77e5\u9053\u548b\u8bf4\uff0c\u8981\u4e48\u5c31\u662f\u57fa\u4e8e\u70b9\u6765\u505a\uff0c\u50cfpointnet,pointnet++\uff1b\u57fa\u4e8e\u89c6\u89d2\u6765\u505a\u7684\u8bdd\u5c31\u53ef\u4ee5\u662f\u9876\u89c6\u8fd9\u5c31\u662fbev\uff0c\u4e5f\u53ef\u4ee5\u662f\u524d\u89c6\u56fe\uff0c\u8fd9\u4e24\u79cd\u89c6\u89d2\u53d8\u5316\u505a\u96f7\u8fbe\u56fe\u50cf\u878d\u5408\u4e5f\u4f1a\u770b\u5230\u7684\uff1b\u4e5f\u53ef\u4ee5\u57fa\u4e8e\u4f53\u7d20\u6765\u505a\u3002\u5f53\u7136\u8fd9\u4e48\u8bf4\u5e76\u4e0d\u51c6\u786e\uff0c\u4e0d\u7ba1\u4ec0\u4e48\u8303\u5f0f\u603b\u6709\u4e92\u76f8\u501f\u9274\u7684\u5730\u65b9\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>1. pointpillar<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1ahttps:\/\/blog.csdn.net\/weixin_46214675\/article\/details\/125927515?spm=1001.2014.3001.5502\uff0c\u5f88\u4e45\u4e4b\u524d\u6d45\u6d45\u6709\u505a\u8fc7\u4e2appt\uff0c\u5f53\u65f6\u4e3b\u8981\u662f\u5f53\u79d1\u666e\u6765\u8bb2\uff0c\u6240\u4ee5\u6ca1\u6709\u5f88\u7ec6\uff0c\u4f46\u786e\u5b9e\u662f\u7bc7\u5bf9\u5de5\u4e1a\u754c\u6709\u7528\u7684paper\uff0c\u70b9\u8d5e\uff01<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>2. centerpoint<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1aCenterPoint\u4f7f\u7528\u6807\u51c6\u7684\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u4e3b\u5e72\u7f51\u7edc\uff0cVoxelNet\u6216PointPillars\u3002CenterPoint\u9884\u6d4b\u8fde\u7eed\u5e27\u4e4b\u95f4\u7269\u4f53\u7684\u76f8\u5bf9\u504f\u79fb\uff08\u901f\u5ea6\uff09\uff0c\u7136\u540e\u8d2a\u5a6a\u5730\u8fde\u63a5\u8fd9\u4e9b\u5e27\u3002\u56e0\u6b64\uff0c\u5728CenterPoint\u4e2d\uff0c3D\u7269\u4f53\u8ddf\u8e2a\u7b80\u5316\u4e3a\u8d2a\u5a6a\u7684\u6700\u8fd1\u70b9\u5339\u914d\u3002\u8fd9\u79cd\u68c0\u6d4b\u548c\u8ddf\u8e2a\u7b97\u6cd5\u65e2\u9ad8\u6548\u53c8\u6709\u6548\u3002\u5728nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0cCenterPoint\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u4e0a\uff0cCenterPoint\u7684\u6027\u80fd\u8d85\u8fc7\u4e86\u6240\u6709\u4ee5\u524d\u7684\u5355\u4e00\u6a21\u578b\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li>\u9752\u51fa\u4e8e\u84dd\u80dc\u4e8e\u84dd\uff0c\u4e5f\u662f\u4e00\u7bc7\u5f88\u4e0d\u9519\u7684paper\uff0c\u5de5\u4e1a\u754c\u76ee\u524d\u8fd8\u6709\u5728\u4f7f\u7528\u7684\uff0c\u70b9\u8d5e\uff01<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><a><\/a>fusion bev:<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>1.BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird&#8217;s-Eye View Representation [code]<\/h4>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-12 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"310\" data-id=\"7377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-12.png\" alt=\"\" class=\"wp-image-7377\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-12.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-12-300x129.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1abevfusion\u662f\u4e00\u7bc7\u56fe\u50cf\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u7684bev\u7b97\u6cd5\uff0c\u652f\u6301\u540c\u65f6\u68c0\u6d4b\u548c\u5206\u5272\u4efb\u52a1\u3002\u5728nuScenes detection task<\/li>\n<\/ul>\n\n\n\n<p>\u699c\u5355\u4e0a\u6709\u8bb8\u591a\u8be5\u65b9\u6cd5\u7684\u53d8\u4f53\uff0c\u4ece\u603b\u4f53\u67b6\u6784\u4e0a\u6765\u770b\u57fa\u672c\u65b9\u6cd5\u5f88\u6e05\u6670\uff0ccamera\u5206\u652f\u548clidar\u5206\u652f\u5206\u522b\u63d0\u53d6\u7279\u5f81\uff0c\u7136\u540e\u8f6c\u79fb\u5230\u5171\u4eab\u7684bev\u7a7a\u95f4\u4e0b\uff0c\u518d\u63d0\u53d6bev\u7279\u5f81\u6765\u505a\u591a\u4efb\u52a1\uff0c\u771f\u53ef\u8c13\u662f\u5927\u9053\u81f3\u7b80\u3002\u503c\u5f97\u4e00\u63d0\u7684\u662f\uff0cbevfusion\u5bf9\u4e8ecamera to bev \u90e8\u5206\u7684\u4f18\u5316\u505a\u4e86\u4e0d\u5c11\u5de5\u4f5c\uff0c\u9884\u8ba1\u7b97\u90e8\u5206\u51cf\u5c11\u4e8613ms,gpu\u8ba1\u7b97\u95f4\u9694\u4f18\u5316\u51cf\u5c11\u4e86498ms\uff0c\u771f\u662f\u628a\u4f18\u5316\u505a\u5230\u4e86\u6781\u81f4\uff0c\u5f88\u591a\u516c\u53f8\u90fd\u505a\u4e0d\u5230\u8fd9\u6837\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-13 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"499\" data-id=\"7378\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-13.png\" alt=\"\" class=\"wp-image-7378\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-13.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-13-300x208.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u4ecepaper\u5b9e\u9a8c\u5bf9\u6bd4\u90e8\u5206\u6211\u4eec\u4e5f\u80fd\u770b\u51fabevfusion\u7684\u5f3a\u5927\uff0c\u5bf9\u4e8e\u8bb8\u591a\u60f3\u5b66\u4e60bev\u7684\u5de5\u7a0b\u5e08\u6765\u8bf4bevfusion\u771f\u662f\u4e00\u4e2a\u5f88\u4f18\u79c0\u7684\u6846\u67b6\u4e86\uff0c\u6b63\u5982\u56e2\u961f\u6240\u8bf4\u5e0c\u671bBEVFusion\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u7b80\u5355\u4f46\u5f3a\u5927\u7684\u57fa\u7ebf\uff0c\u542f\u53d1\u672a\u6765\u591a\u4efb\u52a1\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u7814\u7a76\u3002\u4f46\u9057\u61be\u7684\u662f\uff0c\u5c3d\u7ba1\u56e2\u961f\u9488\u5bf9\u901f\u5ea6\u505a\u4e86\u5f88\u591a\u5de5\u4f5c\u4f46\u4ecd\u4e0d\u80fd\u8fbe\u5230\u5b9e\u65f6\u3002\uff088.4 FPS\uff09<\/p>\n\n\n\n<p>\u5728\u5b9e\u9645\u7684\u5de5\u7a0b\u9879\u76ee\u4e2d\uff0c\u5982\u679c\u60f3\u8981\u4f7f\u7528bevfusion\u6700\u5927\u7684\u95ee\u9898\u5176\u5b9e\u8fd8\u662f\u4f18\u5316\u95ee\u9898\uff0c\u56e0\u4e3a\u4f5c\u8005\u7684\u4f18\u5316\u90fd\u662f\u57fa\u4e8ecuda\u662f\u505a\u7684\uff0c\u4e00\u65e6\u79bb\u5f00nvidia\u7684\u5e73\u53f0\u5f88\u591a\u5730\u65b9\u4f1a\u53d7\u5230\u5f71\u54cd\uff0c\u8fd9\u90e8\u5206\u5c31\u9700\u8981\u9488\u5bf9\u4e0d\u540c\u5e73\u53f0\u6765\u7f16\u5199\u5b9a\u5236\u5316\u7684\u7b97\u5b50\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-14 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"724\" data-id=\"7379\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-14.png\" alt=\"\" class=\"wp-image-7379\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-14.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-14-298x300.png 298w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-14-150x150.png 150w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>2. Cross Modal Transformer: Towards Fast and Robust 3D Object Detection [code]<\/h4>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-15 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"320\" data-id=\"7380\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-15.png\" alt=\"\" class=\"wp-image-7380\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-15.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-15-300x133.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u5f53\u7136\u7b97\u6cd5\u6c38\u8fdc\u662f\u5728\u8fdb\u6b65\u66f4\u65b0\u7684\uff0c\u65b0\u7b97\u6cd5\u5f80\u5f80\u4f1a\u66f4\u5feb\u66f4\u5f3a\uff0c\u5c31\u6bd4\u5982CMT\u4e5f\u662f\u5728nuscenes \u699c\u4e0a\u6709\u540d\u7684\u3002\u65e2\u7136\u90fd\u8bf4\u5230\u8fd9\u91cc\u4e86\uff0c\u90a3\u5c31\u7b80\u5355\u8bf4\u4e00\u4e0bcmt\u7cbe\u9ad3\uff0c\u5c5e\u5b9e\u662f\u628a\u4f4d\u7f6e\u7f16\u7801\u73a9\u660e\u767d\u4e86\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u56fe\u50cf\uff0c\u5148\u628apixel\u5de6\u4e58\u5185\u53c2\u7684\u9006\u7136\u540e\u4e58\u5916\u53c2\u8f6c\u5230\u96f7\u8fbe\u5750\u6807\u7cfb\u4e0b\uff0c\u7136\u540e\u7528mlp\u8f93\u51fa\u5176\u4f4d\u7f6e\u7f16\u7801<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-16 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"634\" height=\"54\" data-id=\"7381\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-16.png\" alt=\"\" class=\"wp-image-7381\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-16.png 634w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-16-300x26.png 300w\" sizes=\"(max-width: 634px) 100vw, 634px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u96f7\u8fbe\u5219\u662f\u7528voxelnet\u6216\u8005pointpillar\u7f16\u7801\u4e3a\u70b9\u4e91token\u540e\u5728bev feature gird\u4e0a\u6cbf\u7740\u9ad8\u5ea6\u7b80\u5355\u91c7\u6837\uff0c\u7136\u540e\u4e5f\u662f\u7528Mlp\u8f93\u51fa\u5176\u4f4d\u7f6e\u7f16\u7801.<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-17 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"591\" height=\"63\" data-id=\"7382\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-17.png\" alt=\"\" class=\"wp-image-7382\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-17.png 591w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-17-300x32.png 300w\" sizes=\"(max-width: 591px) 100vw, 591px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>Position-guided Query \u5219\u662f\u5148\u968f\u673a\u9009\u70b9A\uff0cA:\uff08ax,i ,ay,i ,az,i)\u662f[0,1]\u4e4b\u95f4\u968f\u673a\u751f\u6210\u7684\uff0c\u7136\u540e\u4e58\u4ee5\u8303\u56f4\u52a0\u4e0a\u6700\u5c0f\u503c\u8f6c\u5230the region of interest (RoI) of 3D world space.<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-18 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"548\" height=\"161\" data-id=\"7383\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-18.png\" alt=\"\" class=\"wp-image-7383\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-18.png 548w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-18-300x88.png 300w\" sizes=\"(max-width: 548px) 100vw, 548px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u7136\u540e\u628a\u8fd9\u4e2a\u5750\u6807\u6295\u5f71\u5230\u56fe\u50cf\u548c\u96f7\u8fbe\u6a21\u6001\u4e2d\u83b7\u53d6\u76f8\u5e94\u7684\u4f4d\u7f6e\u7f16\u7801\uff0c\u76f8\u52a0\u5f97\u5230Q\u67e5\u8be2<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-19 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"607\" height=\"50\" data-id=\"7384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-19.png\" alt=\"\" class=\"wp-image-7384\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-19.png 607w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-19-300x25.png 300w\" sizes=\"(max-width: 607px) 100vw, 607px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u4ee3\u7801\u5982\u4e0b\uff1a\u8fd9\u4e2a\u53c2\u8003\u70b9\u662f\u53ef\u4ee5\u5b66\u4e60\u7684<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-20 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"720\" height=\"353\" data-id=\"7385\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-20.png\" alt=\"\" class=\"wp-image-7385\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-20.png 720w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-20-300x147.png 300w\" sizes=\"(max-width: 720px) 100vw, 720px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>\u6700\u4e3b\u8981\u7684\u64cd\u4f5c\u5c31\u662f\u8fd9\u4e2a\u4e86\u3002\u5728paper\u91cc\u9762\u4e5f\u5199\u7684\u5f88\u6e05\u695a\uff0cbevfusion\u662f\u4e24\u4e2a\u6a21\u6001\u8f6c\u5230bev\u7a7a\u95f4\u540e\u62fc\u63a5\uff0ctransfusion\u5148\u5728lidar\u7279\u5f81\u4e2d\u751f\u6210Q\u53d6top-k\u518d\u67e5\u56fe\u50cf\u7279\u5f81\u3002\u800cCMT\u5219\u662f\u5bf9\u8c61\u67e5\u8be2\u76f4\u63a5\u4e0e\u591a\u6a21\u6001\u7279\u5f81\u540c\u65f6\u4ea4\u4e92\uff0c\u4f7f\u7528\u4f4d\u7f6e\u7f16\u7801\u6765\u5bf9\u9f50\u4e24\u4e2a\u6a21\u6001\u3002\u5f53\u7136\u4e5f\u53d6\u5f97\u4e86\u4e0d\u9519\u7684\u6548\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-21 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"1024\" data-id=\"7386\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-21-681x1024.png\" alt=\"\" class=\"wp-image-7386\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-21-681x1024.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-21-199x300.png 199w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-21-665x1000.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-21.png 686w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n<\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><a><\/a>3.TransFusion: Robust LiDAR-Camera Fusion for 3D Object Detection with Transformers [code]<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u70b9\u8bc4\uff1atransfusion\u5f53\u7136\u4e5f\u662f\u4e00\u7bc7\u4e0d\u9519\u7684\u5de5\u4f5c,\u800c\u4e14\u9664\u68c0\u6d4b\u5916\u8fd8\u505a\u4e86\u8ddf\u8e2a\uff0c\u5f53\u65f6\u5728nuScenes\u8ddf\u8e2a\u6392\u884c\u699c\u4e0a\u6392\u540d\u7b2c\u4e00\u3002\u4e00\u4e2a\u4e3b\u8981\u7684\u4eae\u70b9\u662f\uff0c\u4f7f\u7528\u4e86\u4e00\u79cd\u8f6f\u5173\u8054\u673a\u5236\uff0c\u53ef\u4ee5\u5904\u7406\u56fe\u50cf\u8d28\u91cf\u8f83\u5dee\u548c\u4f20\u611f\u5668\u672a\u914d\u51c6\u7684\u60c5\u51b5\u3002\u8fd9\u79cd\u673a\u5236\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u81ea\u9002\u5e94\u5730\u786e\u5b9a\u4ece\u56fe\u50cf\u4e2d\u83b7\u53d6\u4f55\u5904\u548c\u4f55\u79cd\u4fe1\u606f\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u4e00\u79cd\u9c81\u68d2\u4e14\u6709\u6548\u7684\u878d\u5408\u7b56\u7565\u3002\u7b80\u5355\u8bf4\u5c31\u662f\u5229\u7528cross-attention\u5efa\u7acb\u4e86\u6fc0\u5149\u96f7\u8fbe\u548c\u56fe\u50cf\u4e4b\u95f4\u7684soft association\u3002\u7ffb\u8bd1\u4e00\u4e0b\u8bba\u6587\u5c31\u662f\uff1a<\/li>\n<\/ul>\n\n\n\n<p>\uff08Spatially Modulated Cross Attention\uff0cSMCA\uff09\u6a21\u5757\u901a\u8fc7\u5728\u6bcf\u4e2a\u67e5\u8be2\u7684\u6295\u5f712D\u4e2d\u5fc3\u5468\u56f4\u4f7f\u7528\u4e00\u4e2a2D\u5706\u5f62\u9ad8\u65af\u63a9\u819c\u6765\u52a0\u6743\u4ea4\u53c9\u6ce8\u610f\u529b\u3002\u6743\u91cd\u63a9\u819cM\u7684\u751f\u6210\u65b9\u5f0f\u4e0eCenterNet[66]\u7c7b\u4f3c\uff0c\u4f7f\u7528\u4e86\u4ee5\u4e0b\u516c\u5f0f\uff1a\u3002\u5176\u4e2d\uff0c \u662f\u6743\u91cd\u63a9\u819cM\u7684\u7a7a\u95f4\u7d22\u5f15\uff0c \u662f\u901a\u8fc7\u5c06\u67e5\u8be2\u9884\u6d4b\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\u4e0a\u8ba1\u7b97\u5f97\u5230\u76842D\u4e2d\u5fc3\uff0c \u662f3D\u8fb9\u754c\u6846\u6295\u5f71\u89d2\u7684\u6700\u5c0f\u5916\u63a5\u5706\u7684\u534a\u5f84\uff0c 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