{"id":7822,"date":"2024-01-24T11:11:01","date_gmt":"2024-01-24T03:11:01","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7822"},"modified":"2024-01-24T11:11:01","modified_gmt":"2024-01-24T03:11:01","slug":"2024-01-24-%e8%b6%85%e8%b6%8abevfusion%ef%bc%81lift-attend-splat%ef%bc%9a%e6%9c%80%e6%96%b0bev-lv%e8%9e%8d%e5%90%88%e6%96%b9%e6%a1%88","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/01\/24\/7822\/","title":{"rendered":"2024-01-24 \u8d85\u8d8aBEVFusion\uff01Lift-Attend-Splat\uff1a\u6700\u65b0BEV LV\u878d\u5408\u65b9\u6848"},"content":{"rendered":"\n<p>\u8bba\u6587\uff1aLift-Attend-Splat: Bird\u2019s-eye-view camera-lidar fusion using transformers<\/p>\n\n\n\n<p>\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2312.14919.pdf<\/p>\n\n\n\n<p>\u7ed3\u5408\u4e92\u8865\u7684\u4f20\u611f\u5668\u6a21\u6001\u5bf9\u4e8e\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7b49\u5b89\u5168\u5173\u952e\u5e94\u7528\u63d0\u4f9b\u5f3a\u5927\u7684\u611f\u77e5\u81f3\u5173\u91cd\u8981\u3002\u6700\u8fd1\u6700\u5148\u8fdb\u7684\u81ea\u52a8\u9a7e\u9a76\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4e0e\u76f4\u63a5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u6df1\u5ea6\u4fe1\u606f\u76f8\u6bd4\uff0c\u8fd9\u662f\u4e00\u9879\u56f0\u96be\u4efb\u52a1\u3002\u5728\u8fd9\u91cc\uff0c\u6211\u4eec\u53d1\u73b0\u8fd9\u79cd\u65b9\u6cd5\u5e76\u6ca1\u6709\u50cf\u9884\u671f\u7684\u90a3\u6837\u5229\u7528\u6df1\u5ea6\uff0c\u5e76\u8868\u660e\u5929\u771f\u5730\u6539\u8fdb\u6df1\u5ea6\u4f30\u8ba1\u5e76\u4e0d\u80fd\u63d0\u9ad8\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\uff0c\u800c\u4e14\u4ee4\u4eba\u60ca\u8bb6\u7684\u662f\uff0c\u5b8c\u5168\u6d88\u9664\u6df1\u5ea6\u4f30\u8ba1\u5e76\u4e0d\u4f1a\u964d\u4f4e\u76ee\u6807\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u8fd9\u8868\u660e\uff0c\u5728\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u8fc7\u7a0b\u4e2d\uff0c\u4f9d\u8d56\u5355\u76ee\u6df1\u5ea6\u53ef\u80fd\u662f\u4e00\u4e2a\u4e0d\u5fc5\u8981\u7684\u67b6\u6784\u74f6\u9888\u3002\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u7684\u878d\u5408\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5b8c\u5168\u7ed5\u8fc7\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\uff0c\u800c\u662f\u4f7f\u7528\u7b80\u5355\u7684\u6ce8\u610f\u529b\u673a\u5236\u5728BEV\u7f51\u683c\u4e2d\u9009\u62e9\u548c\u878d\u5408\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u7279\u5f81\u3002\u8bba\u6587\u8868\u660e\uff0c\u63d0\u51fa\u7684\u6a21\u578b\u53ef\u4ee5\u6839\u636e\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u7684\u53ef\u7528\u6027\u8c03\u6574\u5176\u5bf9\u76f8\u673a\u7279\u5f81\u7684\u4f7f\u7528\uff0c\u5e76\u4e14\u5b83\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u6bd4\u4f9d\u8d56\u4e8e\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u7684\u57fa\u7ebf\u4ea7\u751f\u66f4\u597d\u76843D\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u7684\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\uff0c\u79f0\u4e3a\u201cLift Attented Splat\u201d\uff0c\u8be5\u65b9\u6cd5\u5b8c\u5168\u7ed5\u8fc7\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\uff0c\u800c\u662f\u4f7f\u7528\u7b80\u5355\u7684transformer\u5728BEV\u4e2d\u9009\u62e9\u548c\u878d\u5408\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u3002\u8bc1\u636e\u8868\u660e\uff0c\u4e0e\u57fa\u4e8eMonocular\u6df1\u5ea6\u4f30\u8ba1\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u663e\u793a\u51fa\u66f4\u597d\u7684\u76f8\u673a\u5229\u7528\u7387\uff0c\u5e76\u63d0\u9ad8\u4e86\u7269\u4f53\u68c0\u6d4b\u6027\u80fd\u3002\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u57fa\u4e8eLift Splat\u8303\u5f0f\u7684\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\u5e76\u6ca1\u6709\u50cf\u9884\u671f\u7684\u90a3\u6837\u5229\u7528\u6df1\u5ea6\u3002\u7279\u522b\u5730\uff0c\u6211\u4eec\u8868\u660e\uff0c\u5982\u679c\u5b8c\u5168\u53bb\u9664\u5355\u76ee\u6df1\u5ea6\u9884\u6d4b\uff0c\u5b83\u4eec\u7684\u6027\u80fd\u76f8\u5f53\u6216\u66f4\u597d\u3002<\/li>\n\n\n\n<li>\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u7684\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528\u7b80\u5355\u7684\u6ce8\u610f\u529b\u673a\u5236\u878d\u5408\u7eafBEV\u4e2d\u7684\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u3002\u8bba\u6587\u8bc1\u660e\uff0c\u4e0e\u57fa\u4e8eLift Splat\u8303\u5f0f\u7684\u6a21\u578b\u76f8\u6bd4\uff0c\u5b83\u53ef\u4ee5\u66f4\u597d\u5730\u5229\u7528\u76f8\u673a\uff0c\u5e76\u63d0\u9ad83D\u68c0\u6d4b\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u4e3b\u8981\u7ed3\u6784\u4ecb\u7ecd<\/p>\n\n\n\n<p>Lift Splat\u6df1\u5ea6\u9884\u6d4b\u901a\u5e38\u8f83\u5dee\uff0c\u901a\u8fc7\u4f7f\u7528\u7edd\u5bf9\u76f8\u5bf9\u8bef\u5dee\uff08Abs.Rel.\uff09\u548c\u5747\u65b9\u6839\u8bef\u5dee\uff08RMSE\uff09\u5c06\u5176\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6df1\u5ea6\u56fe\u8fdb\u884c\u5b9a\u6027\u548c\u5b9a\u91cf\u6bd4\u8f83\uff0c\u6765\u5206\u6790BEVFusion\u9884\u6d4b\u7684\u6df1\u5ea6\u8d28\u91cf\u3002\u5982\u56fe1\u6240\u793a\uff0c\u6df1\u5ea6\u9884\u6d4b\u4e0d\u80fd\u51c6\u786e\u53cd\u6620\u573a\u666f\u7684\u7ed3\u6784\uff0c\u5e76\u4e14\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6df1\u5ea6\u56fe\u660e\u663e\u4e0d\u540c\uff0c\u540e\u8005\u8868\u660e\u5355\u76ee\u6df1\u5ea6\u6ca1\u6709\u5982\u9884\u671f\u7684\u90a3\u6837\u5f97\u5230\u5229\u7528\u3002\u8bba\u6587\u8fd8\u8fdb\u884c\u4e86\u7814\u7a76\uff0c\u6539\u8fdb\u6df1\u5ea6\u9884\u6d4b\u5e76\u4e0d\u80fd\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\uff01\u5b8c\u5168\u53d6\u6d88\u6df1\u5ea6\u9884\u6d4b\u4e0d\u4f1a\u5f71\u54cd\u7269\u4f53\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"554\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-148-1024x554.png\" alt=\"\" class=\"wp-image-7823\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-148-1024x554.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-148-300x162.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-148-768x415.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-148.png 1030w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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Splat\u8303\u5f0f\u7684\u65b9\u6cd5\u5177\u6709\u76f8\u4f3c\u7684\u603b\u4f53\u67b6\u6784\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u5b83\u7531\u4ee5\u4e0b\u6a21\u5757\u7ec4\u6210\uff1a\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u4e3b\u5e72\uff0c\u72ec\u7acb\u751f\u6210\u6bcf\u4e2a\u6a21\u6001\u7684\u7279\u5f81\uff1b\u6295\u5f71\u548c\u878d\u5408\u6a21\u5757\uff0c\u5c06\u76f8\u673a\u7279\u5f81\u5d4c\u5165BEV\u5e76\u4e0e\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\uff1b\u6700\u540e\u662f\u68c0\u6d4b\u5934\u3002\u5f53\u8003\u8651\u76ee\u6807\u68c0\u6d4b\u65f6\uff0c\u6a21\u578b\u7684\u6700\u7ec8\u8f93\u51fa\u662f\u573a\u666f\u4e2d\u76ee\u6807\u7684\u5c5e\u6027\uff0c\u8868\u793a\u4e3a\u5177\u6709\u4f4d\u7f6e\u3001\u7ef4\u5ea6\u3001\u65b9\u5411\u3001\u901f\u5ea6\u548c\u5206\u7c7b\u4fe1\u606f\u76843D\u8fb9\u754c\u6846\u3002<\/p>\n\n\n\n<p>Lift Attented 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"396\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-149-1024x396.png\" alt=\"\" class=\"wp-image-7824\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-149-1024x396.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-149-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-149-768x297.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-149.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"474\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-150.png\" alt=\"\" class=\"wp-image-7825\" 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