{"id":7773,"date":"2024-01-23T16:22:33","date_gmt":"2024-01-23T08:22:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7773"},"modified":"2024-01-24T11:00:07","modified_gmt":"2024-01-24T03:00:07","slug":"2024-01-23-iclr24%e6%97%a0%e5%9b%be%e6%96%b0%e6%80%9d%e8%b7%af%ef%bc%81lanesegnet%ef%bc%9a%e5%9f%ba%e4%ba%8e%e8%bd%a6%e9%81%93%e5%88%86%e6%ae%b5%e6%84%9f%e7%9f%a5%e7%9a%84%e5%9c%b0%e5%9b%be%e5%ad%a6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/01\/23\/7773\/","title":{"rendered":"2024-01-23 ICLR’24\u65e0\u56fe\u65b0\u601d\u8def\uff01LaneSegNet\uff1a\u57fa\u4e8e\u8f66\u9053\u5206\u6bb5\u611f\u77e5\u7684\u5730\u56fe\u5b66\u4e60\uff08\u5b9e\u65f6\u63a8\u7406+\u4e09\u9879SOTA\uff09"},"content":{"rendered":"\n

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\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/OpenDriveLab\/LaneSegNet<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  • \u672c\u6587\u5f15\u5165\u4e86\u5168\u65b0\u7684lane segment\u611f\u77e5\u4f5c\u4e3a\u4e00\u79cd\u65b0\u7684\u5730\u56fe\u5b66\u4e60\u516c\u5f0f\u3002<\/strong>\u5b83\u5305\u542b\u4e86\u51e0\u4f55\u548c\u62d3\u6251\u8981\u7d20\u3002\u6211\u4eec\u5e0c\u671b\u5b83\u80fd\u7ed9\u9886\u57df\u5e26\u6765\u65b0\u7684\u89c1\u89e3\u3002<\/li>\n<\/ul>\n\n\n\n
      \n
    • \u672c\u6587\u63d0\u51fa\u4e86LaneSegNet\uff0c<\/strong>\u8fd9\u662f\u4e00\u79cd\u4e3alane segment\u611f\u77e5\u800c\u63d0\u51fa\u7684\u7aef\u5230\u7aef\u7f51\u7edc\u3002\u5df2\u7ecf\u63d0\u51fa\u4e86\u4e24\u79cd\u65b0\u7684\u4fee\u6539\uff0c\u5305\u62ec\u5177\u6709heads-to-regions\u673a\u5236\u7684\u8f66\u9053\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u7528\u4e8e\u6355\u83b7\u957f\u8ddd\u79bb\u6ce8\u610f\u529b\uff0c\u4ee5\u53ca\u7528\u4e8e\u53c2\u8003\u70b9\u7684\u76f8\u540c\u521d\u59cb\u5316\u7b56\u7565\uff0c\u4ee5\u589e\u5f3a\u8f66\u9053\u6ce8\u610f\u529b\u7684\u4f4d\u7f6e\u5148\u9a8c\u5b66\u4e60\u3002<\/li>\n<\/ul>\n\n\n\n

      \u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/h2>\n\n\n\n

      \u4e2d\u5fc3\u7ebf\u611f\u77e5\uff1a<\/strong>\u6765\u81ea\u8f66\u8f7d\u4f20\u611f\u5668\u6570\u636e\u7684\u4e2d\u5fc3\u7ebf\u611f\u77e5\uff08\u4e0e\u672c\u6587\u4e2d\u7684\u8f66\u9053\u56fe\u5b66\u4e60\u76f8\u540c\uff09\u6700\u8fd1\u5f15\u8d77\u4e86\u6781\u5927\u7684\u5173\u6ce8\u3002STSU\u63d0\u51fa\u4e86\u4e00\u79cd\u7c7b\u4f3cDETR\u7684\u7f51\u7edc\u6765\u68c0\u6d4b\u4e2d\u5fc3\u7ebf\uff0c\u7136\u540e\u662f\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u6a21\u5757\u6765\u786e\u5b9a\u5b83\u4eec\u7684\u8fde\u63a5\u6027\u3002\u5728STSU\u7684\u57fa\u7840\u4e0a\uff0cCan\u7b49\u4eba\u5f15\u5165\u4e86\u989d\u5916\u7684\u6700\u5c0f\u5faa\u73af\u67e5\u8be2\uff0c\u4ee5\u786e\u4fdd\u91cd\u53e0\u884c\u7684\u6b63\u786e\u987a\u5e8f\u3002CenterLineDet\u5c06\u4e2d\u5fc3\u7ebf\u89c6\u4e3a\u9876\u70b9\uff0c\u8bbe\u8ba1\u4e86\u901a\u8fc7\u6a21\u4eff\u5b66\u4e60\u8bad\u7ec3\u7684\u56fe\u66f4\u65b0\u6a21\u578b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u7279\u65af\u62c9\u63d0\u51fa\u4e86\u201c\u8f66\u9053\u8bed\u8a00\u201d\u7684\u6982\u5ff5\uff0c\u5c06\u8f66\u9053\u56fe\u8868\u793a\u4e3a\u4e00\u4e2a\u53e5\u5b50\u3002\u4ed6\u4eec\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u6a21\u578b\u9012\u5f52\u5730\u9884\u6d4b\u8f66\u9053\u6807\u8bb0\u53ca\u5176\u8fde\u901a\u6027\u3002\u9664\u4e86\u8fd9\u4e9b\u5206\u6bb5\u65b9\u6cd5\u5916\uff0cLaneGAP\u8fd8\u5f15\u5165\u4e86\u4e00\u79cd\u4f7f\u7528\u989d\u5916\u8f6c\u6362\u7b97\u6cd5\u6062\u590d\u8f66\u9053\u56fe\u7684\u8def\u5f84\u65b9\u6cd5\u3002TopoNet\u9488\u5bf9\u5b8c\u6574\u591a\u6837\u7684\u9a7e\u9a76\u573a\u666f\u56fe\uff0c\u5bf9\u7f51\u7edc\u5185\u4e2d\u5fc3\u7ebf\u7684\u8fde\u901a\u6027\u8fdb\u884c\u4e86\u663e\u5f0f\u5efa\u6a21\uff0c\u5e76\u5c06\u4ea4\u901a\u5143\u7d20\u7eb3\u5165\u4efb\u52a1\u4e2d\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u91c7\u7528segment\u65b9\u6cd5\u6765\u6784\u5efa\u8f66\u9053\u56fe\u3002\u7136\u800c\uff0c\u6211\u4eec\u5728\u5efa\u6a21Lane Segment\u800c\u4e0d\u662f\u5c06\u4e2d\u5fc3\u7ebf\u4f5c\u4e3a\u8f66\u9053\u56fe\u7684\u9876\u70b9\u65b9\u9762\u4e0e\u4ee5\u5f80\u7684\u65b9\u6cd5\u4e0d\u540c\uff0c\u8fd9\u5141\u8bb8\u65b9\u4fbf\u5730\u96c6\u6210\u6bb5\u7ea7\u51e0\u4f55\u548c\u8bed\u4e49\u4fe1\u606f\u3002<\/p>\n\n\n\n

      \u5730\u56fe\u5143\u7d20\u68c0\u6d4b\uff1a<\/strong>\u5728\u5148\u524d\u7684\u5de5\u4f5c\u4e2d\uff0c\u4eba\u4eec\u5173\u6ce8\u5c06\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u4ece\u76f8\u673a\u5e73\u9762\u63d0\u5347\u52303D\u7a7a\u95f4\uff0c\u4ee5\u514b\u670d\u6295\u5f71\u8bef\u5dee\u3002\u968f\u7740BEV\u611f\u77e5\u7684\u6d41\u884c\u8d8b\u52bf\uff0c\u6700\u8fd1\u7684\u5de5\u4f5c\u4e13\u6ce8\u4e8e\u4f7f\u7528\u5206\u5272\u548c\u77e2\u91cf\u5316\u65b9\u6cd5\u5b66\u4e60\u9ad8\u6e05\u5730\u56fe\u3002\u5730\u56fe\u5206\u5272\u9884\u6d4b\u6bcf\u4e2a\u7eafBEV\u7f51\u683c\u7684\u8bed\u4e49\uff0c\u5982\u8f66\u9053\u3001\u4eba\u884c\u6a2a\u9053\u548c\u53ef\u9a7e\u9a76\u533a\u57df\u3002\u8fd9\u4e9b\u5de5\u4f5c\u4e3b\u8981\u5728\u900f\u89c6\u56fe\uff08PV\uff09\u5230BEV\u8f6c\u6362\u6a21\u5757\u65b9\u9762\u6709\u6240\u533a\u522b\u3002\u7136\u800c\uff0c\u5206\u5272\u7684\u5730\u56fe\u4e0d\u80fd\u63d0\u4f9b\u4e0b\u6e38\u6a21\u5757\u6240\u4f7f\u7528\u7684\u76f4\u63a5\u4fe1\u606f\u3002HDMapNet\u901a\u8fc7\u5bf9\u5177\u6709\u590d\u6742\u540e\u5904\u7406\u7684\u5206\u5272\u5730\u56fe\u8fdb\u884c\u5206\u7ec4\u548c\u77e2\u91cf\u5316\u6765\u5904\u7406\u8be5\u95ee\u9898\u3002<\/p>\n\n\n\n

      \u5c3d\u7ba1\u5bc6\u96c6\u5206\u5272\u63d0\u4f9b\u4e86\u50cf\u7d20\u7ea7\u7684\u4fe1\u606f\uff0c\u4f46\u5b83\u4ecd\u7136\u65e0\u6cd5\u89e6\u53ca\u91cd\u53e0\u5143\u7d20\u7684\u590d\u6742\u5173\u7cfb\u3002VectorMapNet\u63d0\u51fa\u5c06\u6bcf\u4e2a\u5730\u56fe\u5143\u7d20\u76f4\u63a5\u8868\u793a\u4e3a\u70b9\u5e8f\u5217\uff0c\u4f7f\u7528\u7c97\u7565\u7684\u5173\u952e\u70b9\u6765\u987a\u5e8f\u89e3\u7801\u8f66\u9053\u4f4d\u7f6e\u3002MapTR\u63a2\u7d22\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u57fa\u4e8e\u6392\u5217\u7684\u70b9\u5e8f\u5217\u5efa\u6a21\u65b9\u6cd5\uff0c\u4ee5\u6d88\u9664\u5efa\u6a21\u6b67\u4e49\uff0c\u63d0\u9ad8\u6027\u80fd\u548c\u6548\u7387\u3002PivotNet\u8fdb\u4e00\u6b65\u5728\u96c6\u5408\u9884\u6d4b\u6846\u67b6\u4e2d\u4f7f\u7528\u57fa\u4e8e\u67a2\u8f74\u7684\u8868\u793a\u5bf9\u5730\u56fe\u5143\u7d20\u8fdb\u884c\u5efa\u6a21\uff0c\u4ee5\u51cf\u5c11\u5197\u4f59\u5e76\u63d0\u9ad8\u51c6\u786e\u6027\u3002StreamMapNet\u5229\u7528\u591a\u70b9\u6ce8\u610f\u529b\u548c\u65f6\u95f4\u4fe1\u606f\u6765\u63d0\u9ad8\u8fdc\u7a0b\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u7684\u7a33\u5b9a\u6027\u3002\u4e8b\u5b9e\u4e0a\uff0c\u7531\u4e8e\u77e2\u91cf\u5316\u4e5f\u4e30\u5bcc\u4e86\u8f66\u9053\u7684\u65b9\u5411\u4fe1\u606f\uff0c\u56e0\u6b64\u57fa\u4e8e\u77e2\u91cf\u5316\u7684\u65b9\u6cd5\u53ef\u4ee5\u901a\u8fc7\u4ea4\u66ff\u76d1\u7763\u6765\u5bb9\u6613\u5730\u9002\u5e94\u4e2d\u5fc3\u7ebf\u611f\u77e5\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u4e3a\u9053\u8def\u4e0a\u7684\u6240\u6709\u9ad8\u6e05\u5730\u56fe\u5143\u7d20\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u3001\u4fbf\u4e8e\u5b66\u4e60\u7684\u8868\u793a\u65b9\u5f0f\u2014\u2014\u8f66\u9053\u5206\u6bb5\u3002<\/p>\n\n\n\n

      \u8be6\u89e3LaneSegNet<\/strong><\/h2>\n\n\n\n

      \u8f66\u9053\u5206\u6bb5\u611f\u77e5\u4efb\u52a1\u63cf\u8ff0<\/strong><\/h3>\n\n\n\n

      Lane Segment\u7684\u5b9e\u4f8b\u5305\u542b\u9053\u8def\u7684\u51e0\u4f55\u548c\u8bed\u4e49\u65b9\u9762\u3002\u81f3\u4e8e\u51e0\u4f55\uff0c\u5b83\u53ef\u4ee5\u8868\u793a\u4e3a\u7531\u77e2\u91cf\u5316\u7684\u4e2d\u5fc3\u7ebf\u53ca\u5176\u76f8\u5e94\u7684\u8f66\u9053\u8fb9\u754c\u7ec4\u6210\u7684\u7ebf\u6bb5\uff1a\u3002\u6bcf\u6761\u7ebf\u90fd\u88ab\u5b9a\u4e49\u4e3a3D\u7a7a\u95f4\u4e2dNp\u4e2a\u70b9\u7684\u6709\u5e8f\u96c6\u5408\u3002\u6b64\u5916\uff0c\u51e0\u4f55\u4f53\u4e5f\u53ef\u4ee5\u88ab\u63cf\u8ff0\u4e3a\u5b9a\u4e49\u8be5\u8f66\u9053\u5185\u7684\u53ef\u9a7e\u9a76\u533a\u57df\u7684\u95ed\u5408\u591a\u8fb9\u5f62\u3002
      \u5728\u8bed\u4e49\u65b9\u9762\uff0c\u5b83\u5305\u62ecLane Segment\u7c7b\u522bC\uff08\u4f8b\u5982\uff0cLane Segment\u3001\u884c\u4eba\u4ea4\u53c9\uff09\u548c\u5de6\/\u53f3\u8f66\u9053\u8fb9\u754c\u7684\u7ebf\u578b\uff08\u4f8b\u5982\uff0c\u4e0d\u53ef\u89c1\u3001\u5b9e\u5fc3\u3001\u865a\u7ebf\uff09\uff1a{Aleft\uff0cArigh}\u3002\u8fd9\u4e9b\u7ec6\u8282\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u63d0\u4f9b\u4e86\u5173\u4e8e\u51cf\u901f\u8981\u6c42\u548c\u53d8\u9053\u53ef\u884c\u6027\u7684\u91cd\u8981\u89c1\u89e3\u3002
      \u6b64\u5916\uff0c\u62d3\u6251\u4fe1\u606f\u5728\u8def\u5f84\u89c4\u5212\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u4e3a\u4e86\u8868\u793a\u8fd9\u4e00\u4fe1\u606f\uff0c\u4e3aLane Segment\u6784\u5efa\u4e86\u4e00\u4e2a\u8f66\u9053\u56fe\uff0c\u8868\u793a\u4e3aG=\uff08V\uff0cE\uff09\u3002\u6bcf\u4e2aLane Segment\u90fd\u662f\u8be5\u56fe\u4e2d\u7684\u4e00\u4e2a\u8282\u70b9\uff0c\u7531\u96c6\u5408V\u8868\u793a\uff0c\u800c\u96c6\u5408E\u4e2d\u7684\u8fb9\u63cf\u8ff0\u4e86Lane Segment\u4e4b\u95f4\u7684\u8fde\u901a\u6027\u3002\u6211\u4eec\u4f7f\u7528\u90bb\u63a5\u77e9\u9635\u6765\u5b58\u50a8\u8be5\u8f66\u9053\u56fe\uff0c\u5176\u4e2d\u53ea\u6709\u5f53\u7b2cj\u4e2aLane Segment\u8ddf\u968f\u7b2ci\u4e2aLane Segment\u65f6\uff0c\u77e9\u9635\u5143\u7d20\uff08i\uff0cj\uff09\u624d\u8bbe\u7f6e\u4e3a1\uff1b\u5426\u5219\uff0c\u5b83\u4fdd\u6301\u4e3a0\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      LaneSegNet\u6846\u67b6<\/strong><\/h3>\n\n\n\n

      LaneSegNet\u7684\u6574\u4f53\u6846\u67b6\u5982\u56fe2\u6240\u793a\u3002LaneSegNet\u5c06\u73af\u89c6\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u4ee5\u611f\u77e5\u7279\u5b9aBEV\u8303\u56f4\u5185\u7684Lane Segment\u3002\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u9996\u5148\u7b80\u8981\u4ecb\u7ecd\u7528\u4e8e\u751f\u6210BEV\u7279\u5f81\u7684LaneSeg\u7f16\u7801\u5668\u3002\u7136\u540e\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86\u8f66\u9053\u5206\u6bb5\u89e3\u7801\u5668\u548c\u8f66\u9053\u6ce8\u610f\u529b\u3002\u6700\u540e\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u8f66\u9053\u5206\u6bb5\u9884\u6d4b\u5668\u4ee5\u53ca\u8bad\u7ec3\u635f\u5931\u3002
      LaneSeg Encoder<\/strong>
      \u7f16\u7801\u5668\u5c06\u73af\u89c6\u56fe\u50cf\u8f6c\u6362\u4e3aBEV\u7279\u5f81\uff0c\u7528\u4e8eLane Segment\u63d0\u53d6\u3002\u6211\u4eec\u5229\u7528\u6807\u51c6\u7684ResNet-50\u4e3b\u5e72\u4ece\u539f\u59cb\u56fe\u50cf\u4e2d\u5bfc\u51fa\u7279\u5f81\u56fe\u3002\u968f\u540e\u4f7f\u7528BEVFormer\u7684PV\u5230BEV\u7f16\u7801\u5668\u6a21\u5757\u88ab\u7528\u4e8e\u89c6\u56fe\u8f6c\u6362\u3002
      LaneSeg Decoder<\/strong>
      \u57fa\u4e8eTransformer\u7684\u68c0\u6d4b\u65b9\u6cd5\u5229\u7528\u89e3\u7801\u5668\u4eceBEV\u7279\u5f81\u4e2d\u6536\u96c6\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u591a\u5c42\u66f4\u65b0\u89e3\u7801\u5668\u67e5\u8be2\u3002\u6bcf\u4e2a\u89e3\u7801\u5668\u5c42\u5229\u7528\u81ea\u6ce8\u610f\u529b\u3001\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u548c\u524d\u9988\u7f51\u7edc\u6765\u66f4\u65b0\u67e5\u8be2\u3002\u6b64\u5916\uff0c\u8fd8\u91c7\u7528\u4e86\u53ef\u5b66\u4e60\u7684\u4f4d\u7f6e\u67e5\u8be2\u3002\u66f4\u65b0\u540e\u7684\u67e5\u8be2\u968f\u540e\u88ab\u8f93\u51fa\u5e76\u88ab\u9988\u9001\u5230\u4e0b\u4e00\u9636\u6bb5\u3002
      \u7531\u4e8e\u590d\u6742\u4e14\u7ec6\u957f\u7684\u5730\u56fe\u51e0\u4f55\u5f62\u72b6\uff0c\u6536\u96c6\u957f\u8ddd\u79bbBEV\u7279\u5f81\u5bf9\u4e8e\u5728\u7ebf\u5730\u56fe\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u5148\u524d\u7684\u5de5\u4f5c\u5229\u7528\u5206\u5c42\uff08\u5b9e\u4f8b\u70b9\uff09\u89e3\u7801\u5668\u67e5\u8be2\u548c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u6765\u63d0\u53d6\u6bcf\u4e2a\u70b9\u67e5\u8be2\u7684\u5c40\u90e8\u7279\u5f81\u3002\u867d\u7136\u8fd9\u79cd\u65b9\u6cd5\u907f\u514d\u4e86\u6355\u83b7\u957f\u8ddd\u79bb\u4fe1\u606f\uff0c\u4f46\u7531\u4e8e\u67e5\u8be2\u6570\u91cf\u7684\u589e\u52a0\uff0c\u968f\u4e4b\u800c\u6765\u7684\u662f\u9ad8\u6602\u7684\u8ba1\u7b97\u6210\u672c\u3002
      Lane Segment\u4f5c\u4e3a\u6784\u5efa\u573a\u666f\u56fe\u7684\u8f66\u9053\u5b9e\u4f8b\u8868\u793a\uff0c\u5728\u5b9e\u4f8b\u5c42\u9762\u4e0a\u5177\u6709\u4f18\u8d8a\u7684\u7279\u6027\u3002\u6211\u4eec\u7684\u76ee\u6807\u4e0d\u662f\u4f7f\u7528\u591a\u70b9\u67e5\u8be2\uff0c\u800c\u662f\u91c7\u7528\u5355\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u6765\u8868\u793aLane Segment\u3002\u56e0\u6b64\uff0c\u6838\u5fc3\u6311\u6218\u5728\u4e8e\u5982\u4f55\u4f7f\u7528\u5355\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u6765\u4ea4\u53c9\u5173\u6ce8\u5168\u5c40BEV\u7279\u6027\u3002
      Lane Attention\uff1a\u5728\u76ee\u6807\u68c0\u6d4b\u4e2d\uff0c\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u5229\u7528\u76ee\u6807\u7684\u4f4d\u7f6e\u5148\u9a8c\uff0c\u53ea\u5173\u6ce8\u76ee\u6807\u53c2\u8003\u70b9\u9644\u8fd1\u7684\u4e00\u5c0f\u90e8\u5206\u6ce8\u610f\u529b\u503c\u4f5c\u4e3a\u9884\u6ee4\u6ce2\u5668\uff0c\u5927\u5927\u52a0\u901f\u4e86\u6536\u655b\u3002\u5728\u5c42\u8fed\u4ee3\u671f\u95f4\uff0c\u53c2\u8003\u70b9\u88ab\u653e\u7f6e\u5728\u9884\u6d4b\u76ee\u6807\u7684\u4e2d\u5fc3\uff0c\u4ee5\u7ec6\u5316\u6ce8\u610f\u529b\u503c\u7684\u91c7\u6837\u4f4d\u7f6e\uff0c\u6ce8\u610f\u529b\u503c\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u91c7\u6837\u504f\u79fb\u5206\u6563\u5728\u53c2\u8003\u70b9\u5468\u56f4\u3002\u91c7\u6837\u504f\u79fb\u7684\u6709\u610f\u521d\u59cb\u5316\u5305\u542b\u4e86\u4e8c\u7ef4\u76ee\u6807\u4e4b\u524d\u7684\u51e0\u4f55\u4f53\u3002\u901a\u8fc7\u8fd9\u6837\u505a\uff0c\u591a\u5206\u652f\u673a\u5236\u53ef\u4ee5\u5f88\u597d\u5730\u6355\u6349\u6bcf\u4e2a\u65b9\u5411\u7684\u7279\u5f81\uff0c\u5982\u56fe3a\u6240\u793a\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u5728\u5730\u56fe\u5b66\u4e60\u7684\u80cc\u666f\u4e0b\uff0c\u674e\u7b49\u4eba\u4f7f\u7528\u6734\u7d20\u7684\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u6765\u9884\u6d4b\u4e2d\u5fc3\u7ebf\u3002\u7136\u800c\u5982\u56fe3b\u6240\u793a\uff0c\u7531\u4e8e\u53c2\u8003\u70b9\u7684\u6734\u7d20\u653e\u7f6e\uff0c\u5b83\u53ef\u80fd\u65e0\u6cd5\u83b7\u5f97lone range\u6ce8\u610f\u529b\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u76ee\u6807\u7684\u7ec6\u957f\u5f62\u72b6\u548c\u590d\u6742\u7684\u89c6\u89c9\u7ebf\u7d22\uff08\u4f8b\u5982\uff0c\u7cbe\u786e\u9884\u6d4b\u5b9e\u7ebf\u548c\u865a\u7ebf\u4e4b\u95f4\u7684\u65ad\u70b9\uff09\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u9700\u8981\u4e3a\u6211\u4eec\u7684\u4efb\u52a1\u8fdb\u884c\u989d\u5916\u7684\u81ea\u9002\u5e94\u8bbe\u8ba1\u3002\u8003\u8651\u5230\u6240\u6709\u8fd9\u4e9b\u7279\u5f81\uff0c\u7f51\u7edc\u6709\u5fc5\u8981\u62e5\u6709\u4e0d\u4ec5\u5173\u6ce8\u957f\u8303\u56f4\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u800c\u4e14\u51c6\u786e\u63d0\u53d6\u5c40\u90e8\u7ec6\u8282\u7684\u80fd\u529b\u3002\u56e0\u6b64\uff0c\u5efa\u8bae\u5c06\u91c7\u6837\u4f4d\u7f6e\u5206\u5e03\u5728\u5927\u7684\u533a\u57df\u4e2d\uff0c\u4ee5\u6709\u6548\u5730\u611f\u77e5\u957f\u8ddd\u79bb\u4fe1\u606f\u3002\u53e6\u4e00\u65b9\u9762\uff0c\u5c40\u90e8\u7ec6\u8282\u5e94\u6613\u4e8e\u533a\u5206\uff0c\u4ee5\u8bc6\u522b\u5173\u952e\u70b9\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u867d\u7136\u5728\u5355\u4e2a\u6ce8\u610f\u529b\u5934\u5185\u7684value\u7279\u5f81\u4e4b\u95f4\u662f\u7ade\u4e89\u5173\u7cfb\uff0c\u4f46\u4e0d\u540c\u5934\u90e8\u4e4b\u95f4\u7684value\u7279\u5f81\u53ef\u4ee5\u5728Attention\u8fc7\u7a0b\u4e2d\u4fdd\u7559\u3002\u56e0\u6b64\uff0c\u660e\u786e\u5229\u7528\u8fd9\u4e00\u5c5e\u6027\u6765\u4fc3\u8fdb\u5bf9\u7279\u5b9a\u533a\u57df\u5c40\u90e8\u7279\u5f81\u7684\u5173\u6ce8\u662f\u6709\u5e0c\u671b\u7684\u3002
      \u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u5efa\u7acb\u4e00\u4e2aheads-to-regions\u673a\u5236\u3002\u6211\u4eec\u9996\u5148\u5728Lane Segment\u533a\u57df\u5185\u5747\u5300\u5206\u5e03\u591a\u4e2a\u53c2\u8003\u70b9\u3002\u7136\u540e\u56f4\u7ed5\u5c40\u90e8\u533a\u57df\u4e2d\u7684\u6bcf\u4e2a\u53c2\u8003\u70b9\u5bf9\u91c7\u6837\u4f4d\u7f6e\u8fdb\u884c\u521d\u59cb\u5316\u3002\u4e3a\u4e86\u4fdd\u7559\u590d\u6742\u7684\u5c40\u90e8\u7ec6\u8282\uff0c\u6211\u4eec\u4f7f\u7528\u4e86\u591a\u5206\u652f\u673a\u5236\uff0c\u5176\u4e2d\u6bcf\u4e2a\u5934\u90fd\u5173\u6ce8\u5c40\u90e8\u533a\u57df\u5185\u7684\u4e00\u7ec4\u7279\u5b9a\u91c7\u6837\u4f4d\u7f6e\uff0c\u5982\u56fe3c\u6240\u793a\u3002
      \u73b0\u5728\u63d0\u4f9b\u8f66\u9053\u6ce8\u610f\u529b\u6a21\u5757\u7684\u6570\u5b66\u63cf\u8ff0\u3002\u7ed9\u5b9aBEV\u7279\u5f81\uff0c\u7b2ci\u4e2aLane Segment\u67e5\u8be2\u7279\u5f81qi\u548c\u4e00\u7ec4\u53c2\u8003\u70b9pi\u4f5c\u4e3a\u8f93\u5165\uff0c\u8f66\u9053\u6ce8\u610f\u529b\u8ba1\u7b97\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u53c2\u8003\u70b9\u7684\u76f8\u540c\u521d\u59cb\u5316\uff1a\u53c2\u8003\u70b9\u7684\u4f4d\u7f6e\u662f\u8f66\u9053\u6ce8\u610f\u529b\u6a21\u5757\u529f\u80fd\u7684\u51b3\u5b9a\u56e0\u7d20\u3002\u4e3a\u4e86\u4f7f\u6bcf\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u7684\u5173\u6ce8\u533a\u57df\u4e0e\u5176\u5b9e\u9645\u51e0\u4f55\u7ed3\u6784\u548c\u4f4d\u7f6e\u5bf9\u9f50\uff0c\u57fa\u4e8e\u524d\u4e00\u5c42\u7684Lane Segment\u9884\u6d4b\u6765\u5206\u5e03\u6bcf\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u4e2d\u7684\u53c2\u8003\u70b9p\uff0c\u5982\u56fe3c\u6240\u793a\u3002\u5e76\u8fed\u4ee3\u7ec6\u5316\u9884\u6d4b\u3002
      \u5148\u524d\u7684\u5de5\u4f5c\u8ba4\u4e3a\uff0c\u63d0\u4f9b\u7ed9\u7b2c\u4e00\u5c42\u7684\u53c2\u8003\u70b9\u5e94\u8be5\u7528\u4ece\u4f4d\u7f6e\u67e5\u8be2\u5d4c\u5165\u63a8\u5bfc\u51fa\u7684\u53ef\u5b66\u4e60\u5148\u9a8c\u6765\u5355\u72ec\u521d\u59cb\u5316\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4f4d\u7f6e\u67e5\u8be2\u4e0e\u8f93\u5165\u56fe\u50cf\u65e0\u5173\uff0c\u56e0\u6b64\u8fd9\u79cd\u521d\u59cb\u5316\u65b9\u6cd5\u53ef\u80fd\u4f1a\u53cd\u8fc7\u6765\u9650\u5236\u6a21\u578b\u8bb0\u5fc6\u51e0\u4f55\u5148\u9a8c\u548c\u4f4d\u7f6e\u5148\u9a8c\u7684\u80fd\u529b\uff0c\u5e76\u4e14\u9519\u8bef\u751f\u6210\u7684\u521d\u59cb\u5316\u4f4d\u7f6e\u4e5f\u4f1a\u5bf9\u8bad\u7ec3\u6784\u6210\u969c\u788d\u3002
      \u56e0\u6b64\uff0c\u5bf9\u4e8eLane Segment\u89e3\u7801\u5668\u7684\u7b2c\u4e00\u5c42\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u76f8\u540c\u7684\u521d\u59cb\u5316\u7b56\u7565\u3002\u5728\u7b2c\u4e00\u5c42\u4e2d\uff0c\u6bcf\u4e2a\u5934\u90e8\u91c7\u7528\u7531\u4f4d\u7f6e\u67e5\u8be2\u751f\u6210\u7684\u76f8\u540c\u53c2\u8003\u70b9\u3002\u4e0e\u4f20\u7edf\u65b9\u6cd5\u4e2d\u7684\u53c2\u8003\u70b9\u5206\u5e03\u5f0f\u521d\u59cb\u5316\uff08\u5373\u4e3a\u6bcf\u4e2a\u67e5\u8be2\u521d\u59cb\u5316\u591a\u4e2a\u53c2\u8003\u70b9\uff09\u76f8\u6bd4\uff0c\u76f8\u540c\u7684\u521d\u59cb\u5316\u5c06\u901a\u8fc7\u8fc7\u6ee4\u6389\u590d\u6742\u51e0\u4f55\u5f62\u72b6\u7684\u5e72\u6270\uff0c\u4f7f\u4f4d\u7f6e\u5148\u9a8c\u7684\u5b66\u4e60\u66f4\u52a0\u7a33\u5b9a\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u76f8\u540c\u7684\u521d\u59cb\u5316\u4f3c\u4e4e\u662f\u53cd\u76f4\u89c9\u7684\uff0c\u4f46\u88ab\u89c2\u5bdf\u5230\u662f\u6709\u6548\u7684\u3002
      LaneSeg Predictor<\/strong>
      \u6211\u4eec\u5728\u591a\u4e2a\u9884\u6d4b\u5206\u652f\u4e2d\u4f7f\u7528MLP\uff0c\u4eceLane Segment\u67e5\u8be2\u4e2d\u751f\u6210\u6700\u7ec8\u9884\u6d4b\u7684Lane Segment\uff0c\u540c\u65f6\u8003\u8651\u51e0\u4f55\u3001\u8bed\u4e49\u548c\u62d3\u6251\u65b9\u9762\u3002
      \u5bf9\u4e8e\u51e0\u4f55\uff0c\u6211\u4eec\u9996\u5148\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4e2d\u5fc3\u7ebf\u56de\u5f52\u5206\u652f\u6765\u56de\u5f52\u4e2d\u5fc3\u7ebf\u5728\u4e09\u7ef4\u5750\u6807\u4e2d\u7684\u77e2\u91cf\u5316\u70b9\u4f4d\u7f6e\u3002\u8f93\u51faVcenter\u2208RNp\u00d73\u7684\u683c\u5f0f\u4e3a\u3010\uff08x0\uff0cy0\uff0cz0\uff09\u3011\u3002\u7531\u4e8e\u5de6\u53f3\u8f66\u9053\u8fb9\u754c\u7684\u5bf9\u79f0\u6027\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u504f\u79fb\u5206\u652f\u6765\u9884\u6d4b\u504f\u79fbVoffset\u2208RNp\u00d73\uff0c\u5176\u683c\u5f0f\u4e3a\u3010\uff08\u25b3x0\uff0c\u25b3y0\uff0c\u25b3z0\uff09\u3011\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u4f7f\u7528\u548c\u6765\u8ba1\u7b97\u5de6\u53f3\u8f66\u9053\u8fb9\u754c\u5750\u6807\u3002
      \u5047\u8bbe\u8f66\u9053\u5206\u6bb5\u53ef\u4ee5\u6982\u5ff5\u5316\u4e3a\u53ef\u9a7e\u9a76\u533a\u57df\uff0c\u6211\u4eec\u5c06\u5b9e\u4f8b\u5206\u6bb5\u5206\u652f\u96c6\u6210\u5230\u9884\u6d4b\u5668\u4e2d\u3002\u5728\u8bed\u4e49\u65b9\u9762\uff0c\u4e09\u4e2a\u5206\u7c7b\u5206\u652f\u5e76\u884c\u9884\u6d4bC\u7684\u5206\u7c7b\u5f97\u5206\uff0cAleft\u548cAright\u7684\u5f97\u5206\u3002\u62d3\u6251\u5206\u652f\u5c06\u66f4\u65b0\u7684\u67e5\u8be2\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u4f7f\u7528MLP\u8f93\u51fa\u8f66\u9053\u56feG\u7684\u52a0\u6743\u76f8\u90bb\u77e9\u9635\u3002
      \u8bad\u7ec3\u635f\u5931<\/strong>
      LaneSegNet\u91c7\u7528\u7c7b\u4f3cDETR\u7684\u8303\u5f0f\uff0c\u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\u6709\u6548\u5730\u8ba1\u7b97\u9884\u6d4b\u548c\u5730\u9762\u5b9e\u51b5\u4e4b\u95f4\u7684\u4e00\u5bf9\u4e00\u6700\u4f18\u5206\u914d\u3002\u7136\u540e\u6839\u636e\u5206\u914d\u7ed3\u679c\u8ba1\u7b97\u8bad\u7ec3\u635f\u5931\u3002\u635f\u5931\u51fd\u6570\u7531\u56db\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u51e0\u4f55\u635f\u5931\u3001\u5206\u7c7b\u635f\u5931\u3001laneline\u578b\u5206\u7c7b\u635f\u5931\u548c\u62d3\u6251\u635f\u5931\u3002
      \u51e0\u4f55\u635f\u5931\u76d1\u7763\u6bcf\u4e2a\u9884\u6d4bLane Segment\u7684\u51e0\u4f55\u7ed3\u6784\u3002\u6839\u636e\u4e8c\u5206\u5339\u914d\u7ed3\u679c\uff0c\u4e3a\u6bcf\u4e2a\u9884\u6d4b\u7684\u77e2\u91cf\u5316Lane Segment\u5206\u914d\u4e00\u4e2aGT Lane Segment\u3002\u77e2\u91cf\u5316\u51e0\u4f55\u635f\u5931\u5b9a\u4e49\u4e3a\u5206\u914d\u7684Lane Segment\u5bf9\u4e4b\u95f4\u8ba1\u7b97\u7684\u66fc\u54c8\u987f\u8ddd\u79bb\u3002<\/p>\n\n\n\n

      \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

      \u4e3b\u8981\u5b9e\u9a8c\u7ed3\u6784<\/strong><\/h3>\n\n\n\n

      Lane Segment\u611f\u77e5\uff1a\u5728\u88681\u4e2d\uff0c\u6211\u4eec\u5728\u65b0\u5f15\u5165\u7684Lane Segment\u611f\u77e5\u57fa\u51c6\u4e0a\uff0c\u5c06LaneSegNet\u4e0e\u51e0\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5MapTR\u3001MapTRv2\u548cTopoNet\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7528\u6211\u4eec\u7684Lane Segment\u6807\u7b7e\u91cd\u65b0\u8bad\u7ec3\u4ed6\u4eec\u7684\u6a21\u578b\u3002LaneSegNet\u5728mAP\u4e0a\u7684\u6027\u80fd\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u9ad8\u8fbe9.6%\uff0c\u5e73\u5747\u8ddd\u79bb\u8bef\u5dee\u76f8\u5bf9\u964d\u4f4e\u4e8612.5%\u3002LaneSegNet-mini\u4e5f\u8d85\u8fc7\u4e86\u4ee5\u524d\u7684\u65b9\u6cd5\uff0cFPS\u66f4\u9ad8\uff0c\u4e3a16.2\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u5b9a\u6027\u7ed3\u679c\u5982\u56fe4\u6240\u793a\uff1a<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u5730\u56fe\u5143\u7d20\u68c0\u6d4b\uff1a\u4e3a\u4e86\u4e0e\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u65b9\u6cd5\u8fdb\u884c\u66f4\u516c\u5e73\u7684\u6bd4\u8f83\uff0c\u6211\u4eec\u5c06LaneSegNet\u7684\u9884\u6d4bLane Segment\u5206\u89e3\u4e3a\u6210\u5bf9\u7684\u8f66\u9053\uff0c\u7136\u540e\u4f7f\u7528\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u6307\u6807\u5c06\u5176\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u3002\u6211\u4eec\u5c06\u62c6\u4e0b\u7684\u8f66\u9053\u7ebf\u548c\u4eba\u884c\u6a2a\u9053\u6807\u7b7e\u8f93\u5165\u5230\u51e0\u79cd\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u4e2d\u8fdb\u884c\u518d\u8bad\u7ec3\u3002\u5b9e\u9a8c\u7ed3\u679c\u5982\u88682\u6240\u793a\uff0c\u8868\u660eLaneSegNet\u5728\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u4efb\u52a1\u65b9\u9762\u59cb\u7ec8\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002\u5728\u516c\u5e73\u7684\u6bd4\u8f83\u4e0b\uff0cLaneSegNet\u53ef\u4ee5\u5728\u989d\u5916\u7684\u76d1\u7763\u4e0b\u66f4\u597d\u5730\u6062\u590d\u9053\u8def\u51e0\u4f55\u5f62\u72b6\u3002\u8fd9\u8868\u660eLane Segment\u5b66\u4e60\u8868\u793a\u5584\u4e8e\u6355\u6349\u9053\u8def\u51e0\u4f55\u4fe1\u606f\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u4e2d\u5fc3\u7ebf\u611f\u77e5\uff1a\u6211\u4eec\u8fd8\u5728\u88683\u4e2d\u5c06LaneSegNet\u4e0e\u6700\u5148\u8fdb\u7684\u4e2d\u5fc3\u7ebf\u611f\u77e5\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u4e3a\u4e86\u4fdd\u6301\u4e00\u81f4\u6027\uff0c\u8fd8\u4eceLane Segment\u4e2d\u63d0\u53d6\u4e2d\u5fc3\u7ebf\u4ee5\u8fdb\u884c\u91cd\u65b0\u8bad\u7ec3\u3002\u53ef\u4ee5\u5f97\u51fa\u7ed3\u8bba\uff0cLaneSegNet\u5728\u8f66\u9053\u56fe\u611f\u77e5\u4efb\u52a1\u4e2d\u7684\u6027\u80fd\u660e\u663e\u9ad8\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002\u901a\u8fc7\u989d\u5916\u7684\u5730\u7406\u76d1\u63a7\uff0cLaneSegNet\u8fd8\u5c55\u793a\u4e86\u5353\u8d8a\u7684\u62d3\u6251\u63a8\u7406\u80fd\u529b\u3002\u8bc1\u660e\u4e86\u63a8\u7406\u80fd\u529b\u4e0e\u8f83\u5f3a\u7684\u5b9a\u4f4d\u548c\u68c0\u6d4b\u80fd\u529b\u5bc6\u5207\u76f8\u5173\u3002<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u6d88\u878d\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n

      Lane Segment\u516c\u5f0f\uff1a\u5728\u88684\u4e2d\uff0c\u6211\u4eec\u63d0\u4f9b\u6d88\u878d\u6765\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684Lane Segment\u5b66\u4e60\u516c\u5f0f\u7684\u8bbe\u8ba1\u4f18\u70b9\u548c\u8bad\u7ec3\u6548\u7387\u3002\u4e0e\u524d\u4e24\u884c\u7684\u5355\u72ec\u8bad\u7ec3\u6a21\u578b\u76f8\u6bd4\uff0c\u4e2d\u5fc3\u7ebf\u548c\u5730\u56fe\u5143\u7d20\u7684\u8054\u5408\u8bad\u7ec3\u5bf9\u4e24\u4e2a\u4e3b\u8981\u6307\u6807\u5e26\u6765\u4e86\u5168\u9762\u7684\u5e73\u57471.3\u7684\u6539\u8fdb\uff0c\u5982\u7b2c4\u884c\u6240\u793a\uff0c\u8bc1\u660e\u4e86\u591a\u4efb\u52a1\u8bad\u7ec3\u7684\u53ef\u884c\u6027\u3002\u7136\u800c\uff0c\u901a\u8fc7\u6dfb\u52a0\u989d\u5916\u7684\u7c7b\u522b\u5728\u5355\u4e2a\u5206\u652f\u4e2d\u8bad\u7ec3\u4e2d\u5fc3\u7ebf\u548c\u5730\u56fe\u5143\u7d20\u7684\u666e\u901a\u65b9\u6cd5\u4f1a\u5bfc\u81f4\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\u3002\u4e0e\u4e0a\u8ff0\u6734\u7d20\u5355\u5206\u652f\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u4f7f\u7528Lane Segment\u6807\u7b7e\u8bad\u7ec3\u7684\u6a21\u578b\u83b7\u5f97\u4e86\u663e\u8457\u7684\u6027\u80fd\u589e\u5f3a\uff08\u5bf9\u4e8e\u7b2c3\u884c\u548c\u7b2c5\u884c\u4e4b\u95f4\u7684\u6bd4\u8f83\uff0cOLS\u4e0a\u7684+7.2\u548cmAP\u4e0a\u7684+4.4\uff09\uff0c\u8fd9\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u5730\u56fe\u5b66\u4e60\u516c\u5f0f\u4e2d\u5404\u79cd\u9053\u8def\u4fe1\u606f\u4e4b\u95f4\u7684\u6b63\u4ea4\u4e92\u4f5c\u7528\u3002\u6211\u4eec\u7684\u6a21\u578b\u751a\u81f3\u8d85\u8fc7\u4e86\u591a\u5206\u652f\u65b9\u6cd5\uff0c\u7279\u522b\u662f\u5728\u4e2d\u5fc3\u7ebf\u611f\u77e5\u65b9\u9762\uff08OLS\u4e3a+4.8\uff09\u3002\u8fd9\u8868\u660e\u51e0\u4f55\u53ef\u4ee5\u5728\u6211\u4eec\u7684\u5730\u56fe\u5b66\u4e60\u516c\u5f0f\u4e2d\u6307\u5bfc\u62d3\u6251\u63a8\u7406\uff0c\u5176\u4e2d\u591a\u5206\u652f\u6a21\u578b\u4ec5\u7565\u5fae\u4f18\u4e8e\u4ec5CL\u6a21\u578b\uff08\u7b2c1\u884c\u548c\u7b2c4\u884c\u4e4b\u95f4+0.6 OLS\uff09\u3002\u81f3\u4e8eAPdiv\u7684\u5c0f\u5e45\u4e0b\u964d\uff0c\u5b83\u6765\u81ea\u4e8e\u6211\u4eec\u9884\u6d4b\u7ed3\u679c\u7684\u91cd\u5851\u8fc7\u7a0b\uff0c\u662f\u7531\u7ebf\u578b\u5206\u7c7b\u7684\u9519\u8bef\u5f15\u8d77\u7684\uff0c<\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

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