{"id":8077,"date":"2024-02-20T15:35:24","date_gmt":"2024-02-20T07:35:24","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8077"},"modified":"2024-02-20T15:35:24","modified_gmt":"2024-02-20T07:35:24","slug":"2024-02-20-%e6%8c%96%e6%8e%98bev%e6%bd%9c%e5%8a%9b%e7%9a%84%e8%be%b9%e7%95%8c%ef%bc%81da-bev%ef%bc%9a%e6%97%a0%e7%9b%91%e7%9d%a3bev-sota%e6%96%b0%e6%96%b9%e6%a1%88%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/02\/20\/8077\/","title":{"rendered":"2024-02-20 \u6316\u6398BEV\u6f5c\u529b\u7684\u8fb9\u754c\uff01DA-BEV\uff1a\u65e0\u76d1\u7763BEV SOTA\u65b0\u65b9\u6848\uff01"},"content":{"rendered":"\n<p>\u4eca\u5929\u548c\u5927\u5bb6\u63a2\u8ba83D\u89c6\u89c9\u611f\u77e5\u9886\u57df\u4e2d\u7684\u4e00\u4e2a\u7279\u5b9a\u95ee\u9898\uff1a\u9488\u5bf9\u7eaf\u89c6\u89c9\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7684\u65e0\u76d1\u7763\u9886Domain Adaptation\uff08Unsupervised Domain Adaptation, UDA\uff09\u30023D\u89c6\u89c9\u611f\u77e5\u5728\u79fb\u52a8\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u3001\u865a\u62df\u73b0\u5b9e\u7b49\u9886\u57df\u8d77\u7740\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u800c\u8fd1\u5e74\u6765\uff0c\u7eaf\u89c6\u89c9\u7684BEV\u6a21\u578b\u7531\u4e8e\u5176\u5728\u5168\u9762\u76843D\u7406\u89e3\u3001\u4e30\u5bcc\u7684\u8bed\u4e49\u4fe1\u606f\u3001\u9ad8\u8ba1\u7b97\u6548\u7387\u548c\u4f4e\u90e8\u7f72\u6210\u672c\u65b9\u9762\u7684\u4f18\u52bf\u800c\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"810\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7-810x1024.png\" alt=\"\" class=\"wp-image-8078\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7-810x1024.png 810w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7-237x300.png 237w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7-768x971.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7-791x1000.png 791w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-7.png 1080w\" sizes=\"(max-width: 810px) 100vw, 810px\" \/><\/figure>\n\n\n\n<p>\u7814\u7a76\u80cc\u666f\u4e0a\uff0c\u5c3d\u7ba1\u5355\u76ee\u548c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u76843D\u611f\u77e5\u53d6\u5f97\u4e86\u663e\u8457\u7684\u8fdb\u6b65\uff0c\u4f46\u5f53\u5728\u6e90\u57df\uff08\u4f8b\u5982\uff0c\u8bad\u7ec3\u6570\u636e\u7684\u73af\u5883\uff09\u8bad\u7ec3\u7684\u7eaf\u89c6\u89c9BEV\u6a21\u578b\u5e94\u7528\u5230\u76ee\u6807\u57df\uff08\u4f8b\u5982\uff0c\u4e0d\u540c\u4e8e\u8bad\u7ec3\u6570\u636e\u7684\u65b0\u73af\u5883\uff09\u65f6\uff0c\u901a\u5e38\u4f1a\u51fa\u73b0\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\u3002\u8fd9\u79cd\u6027\u80fd\u964d\u4f4e\u4e3b\u8981\u662f\u7531\u4e8e\u6e90\u57df\u548c\u76ee\u6807\u57df\u4e4b\u95f4\u7684\u663e\u8457\u5dee\u5f02\u6240\u5bfc\u81f4\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u63d0\u51fa\u7684\u95ee\u9898\u662f\uff0c\u5c3d\u7ba1\u5bf9\u4e8e2D\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\u6765\u8bf4\uff0c\u65e0\u76d1\u7763\u9886Domain Adaptation\u5df2\u7ecf\u88ab\u5e7f\u6cdb\u63a2\u7d22\uff0c\u4f46\u5bf9\u4e8e\u7eaf\u89c6\u89c9BEV\u611f\u77e5\u6765\u8bf4\uff0c\u5982\u4f55\u51cf\u5c11\u6e90\u57df\u548c\u76ee\u6807\u57df\u4e4b\u95f4\u7684\u5dee\u5f02\u4ecd\u7136\u662f\u4e00\u4e2a\u6781\u5177\u6311\u6218\u6027\u4e14\u76f8\u5bf9\u6b20\u7f3a\u7814\u7a76\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3aDA-BEV\u7684\u65b0\u6846\u67b6\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u9488\u5bf9\u7eaf\u89c6\u89c9BEV\u611f\u77e5\u7684\u9886\u57df\u81ea\u9002\u5e94\u6846\u67b6\u3002DA-BEV\u901a\u8fc7\u5229\u7528\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u4e4b\u95f4\u7684\u4e92\u8865\u6027\u6765\u89e3\u51b3BEV\u9886Domain Adaptation\u7684\u6311\u6218\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u8fd9\u4e2a\u6846\u67b6\u901a\u8fc7\u5f15\u5165\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\u6765\u4fc3\u8fdb\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u4e4b\u95f4\u7684\u76f8\u4e92\u4f5c\u7528\uff0c\u540c\u65f6\u8de8\u9886Domain Adaptation\u5b83\u4eec\u3002\u5728\u8fd9\u4e00\u8fc7\u7a0b\u4e2d\uff0cBEV\u7279\u5f81\u4e2d\u7684\u5168\u5c403D\u4fe1\u606f\u6709\u52a9\u4e8e\u9002\u5e94\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\uff0c\u800c\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u4e2d\u8f83\u5c11\u53d8\u5316\u76842D\u4fe1\u606f\u5219\u6709\u52a9\u4e8e\u9002\u5e94BEV\u7279\u5f81\u3002<\/p>\n\n\n\n<p>DA-BEV\u7684\u8bbe\u8ba1\u5305\u62ec\u4e24\u79cd\u57fa\u4e8e\u67e5\u8be2\u7684\u9886Domain Adaptation\u6280\u672f\uff1a\u57fa\u4e8e\u67e5\u8be2\u7684\u5bf9\u6297\u5b66\u4e60\uff08QAL\uff09\u548c\u57fa\u4e8e\u67e5\u8be2\u7684\u81ea\u8bad\u7ec3\uff08QST\uff09\u3002\u8fd9\u4e24\u79cd\u8bbe\u8ba1\u76f8\u8f85\u76f8\u6210\uff0c\u5171\u540c\u5b9e\u73b0\u4e86\u6709\u6548\u7684\u65e0\u76d1\u7763BEV\u611f\u77e5\u9002\u5e94\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5728\u4e8e\u4e09\u4e2a\u65b9\u9762\u3002\u9996\u5148\uff0c\u5b83\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u67e5\u8be2\u7684\u9886Domain Adaptation\u7b56\u7565\uff0c\u8fd9\u79cd\u7b56\u7565\u5229\u7528\u4e86\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u7684\u4e92\u8865\u6027\uff0c\u9002\u7528\u4e8e\u65e0\u76d1\u7763\u7684BEV\u611f\u77e5\u9002\u5e94\u3002\u5176\u6b21\uff0c\u5b83\u8bbe\u8ba1\u4e86DA-BEV\uff0c\u8fd9\u662f\u4e00\u79cd\u5f15\u5165\u57fa\u4e8e\u67e5\u8be2\u7684\u5bf9\u6297\u5b66\u4e60\u548c\u57fa\u4e8e\u67e5\u8be2\u7684\u81ea\u8bad\u7ec3\u7684\u6846\u67b6\uff0c\u6709\u6548\u5730\u8054\u5408\u89e3\u51b3\u4e86\u9886\u57df\u81ea\u9002\u5e94BEV\u611f\u77e5\u7684\u95ee\u9898\u3002\u6700\u540e\uff0c\u901a\u8fc7\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0cDA-BEV\u5728\u4e0d\u540c\u6570\u636e\u96c6\u548c\u4efb\u52a1\uff08\u59823D\u7269\u4f53\u68c0\u6d4b\u548c3D\u573a\u666f\u5206\u5272\uff09\u4e0a\u5c55\u793a\u4e86\u5176\u5728BEV\u611f\u77e5\u9002\u5e94\u65b9\u9762\u7684\u4f18\u8d8a\u6027\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8be6\u89e3DA-BEV<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"460\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-8-1024x460.png\" alt=\"\" class=\"wp-image-8079\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-8-1024x460.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-8-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-8-768x345.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-8.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>DA-BEV\u6574\u4f53\u6846\u67b6<\/strong><\/h3>\n\n\n\n<p>DA-BEV\u6846\u67b6\u5229\u7528\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u4e4b\u95f4\u7684\u4e92\u8865\u6027\u6765\u89e3\u51b3BEV\u9886Domain Adaptation\u7684\u6311\u6218\u3002\u5b83\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u67e5\u8be2\u7684\u9886Domain Adaptation\u65b9\u6cd5\uff0c\u901a\u8fc7\u5f15\u5165\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\uff0c\u5b9e\u73b0\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u4e4b\u95f4\u7684\u4ea4\u4e92\u4ee5\u53ca\u5b83\u4eec\u7684\u534f\u540c\u9002\u5e94\u3002\u76f4\u89c2\u5730\u8bf4\uff0cBEV\u7279\u5f81\u4e2d\u7684\u5168\u5c403D\u4fe1\u606f\u6709\u52a9\u4e8e\u9002\u5e94\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\uff0c\u800c\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u4e2d\u7684\u5c40\u90e82D\u4fe1\u606f\uff0c\u7531\u4e8e\u9886\u57df\u53d8\u5316\u8f83\u5c0f\uff0c\u6709\u52a9\u4e8e\u9002\u5e94BEV\u7279\u5f81\u3002\u57fa\u4e8e\u8fd9\u4e00\u7406\u5ff5\uff0c\u8bba\u6587\u8bbe\u8ba1\u4e86\u4e24\u79cd\u57fa\u4e8e\u67e5\u8be2\u7684\u9886Domain Adaptation\u6280\u672f\uff1a\u57fa\u4e8e\u67e5\u8be2\u7684\u5bf9\u6297\u5b66\u4e60\uff08QAL\uff09\u548c\u57fa\u4e8e\u67e5\u8be2\u7684\u81ea\u8bad\u7ec3\uff08QST\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"363\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/201.png\" alt=\"\" class=\"wp-image-8080\" style=\"width:906px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/201.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/201-300x162.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>Query-based Adversarial Learning (QAL)<\/strong><\/p>\n\n\n\n<p>\u5728Query-based Adversarial Learning (QAL)\u4e2d\uff0c\u63d0\u51fa\u7684\u65b9\u6cd5\u5229\u7528\u4ece\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u6216BEV\u7279\u5f81\u4e2d\u67e5\u8be2\u5f97\u5230\u7684\u6709\u7528\u4fe1\u606f\u6765\u89c4\u8303\u5316\u5bf9\u65b9\u7684\u5bf9\u6297\u5b66\u4e60\u3002\u5177\u4f53\u6765\u8bf4\uff0cQAL\u4f7f\u7528\u4e24\u4e2a\u57df\u5206\u7c7b\u5668\u6765\u5206\u522b\u6d4b\u91cf\u56fe\u50cf\u89c6\u56fe\u67e5\u8be2\u7279\u5f81\u548cBEV\u67e5\u8be2\u7279\u5f81\u7684\u57df\u95f4\u8ddd\u79bb\uff0c\u5e76\u5229\u7528\u6d4b\u91cf\u5f97\u5230\u7684\u57df\u95f4\u8ddd\u79bb\u8fdb\u884c\u76f8\u4e92\u89c4\u8303\u5316\u3002<\/p>\n\n\n\n<p>QAL\u7684\u5173\u952e\u5728\u4e8e\u540c\u65f6\u51cf\u8f7b\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u4e2d\u7684\u5c40\u90e82D\u4fe1\u606f\u548cBEV\u7279\u5f81\u4e2d\u7684\u5168\u5c403D\u4fe1\u606f\u7684\u57df\u95f4\u5dee\u5f02\uff0c\u8fd9\u4e24\u8005\u5bf9\u4e8e\u57283D\u7a7a\u95f4\u4e2d\u5b9a\u4f4d\u548c\u8bc6\u522b\u7269\u4f53\u548c\u80cc\u666f\u90fd\u81f3\u5173\u91cd\u8981\u3002\u6b64\u5916\uff0c2D\u56fe\u50cf\u89c6\u56fe\u67e5\u8be2\u7279\u5f81\u7684\u5bf9\u6297\u5b66\u4e60\u6d89\u53ca\u8f83\u5c11\u76843D\u4fe1\u606f\uff0c\u5176\u4e2dBEV\u67e5\u8be2\u7279\u5f81\u53ef\u4ee5\u901a\u8fc7\u63d0\u4f9b\u4e30\u5bcc\u7684\u5168\u5c403D\u4fe1\u606f\u6765\u6709\u6548\u5730\u89c4\u8303\u5316\u5b83\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"128\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/202.png\" alt=\"\" class=\"wp-image-8081\" style=\"width:910px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/202.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/202-300x57.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Query-based Self-training (QST)<\/strong><\/h3>\n\n\n\n<p>\u5728Query-based Self-training (QST)\u4e2d\uff0c\u63d0\u51fa\u7684\u65b9\u6cd5\u5229\u7528\u4ece\u56fe\u50cf\u89c6\u56fe\u7279\u5f81\u548cBEV\u7279\u5f81\u4e2d\u67e5\u8be2\u5f97\u5230\u7684\u6709\u7528\u4fe1\u606f\u6765\u89c4\u8303\u5316\u5b83\u4eec\u7684\u81ea\u8bad\u7ec3\u3002\u76f4\u89c2\u5730\u8bf4\uff0c\u89e3\u7801\u7684\u56fe\u50cf\u89c6\u56fe\u67e5\u8be2\u7279\u5f81\u6355\u83b7\u4e86\u4e30\u5bcc\u76842D\u8bed\u4e49\u548c\u4f4d\u7f6e\u4fe1\u606f\uff0c\u8fd9\u4e9b\u4fe1\u606f\u5728\u57df\u95f4\u5177\u6709\u8f83\u5c11\u7684\u5dee\u5f02\uff0c\u800c\u89e3\u7801\u7684BEV\u67e5\u8be2\u7279\u5f81\u5219\u6355\u83b7\u4e86BEV\u7a7a\u95f4\u4e2d\u7684\u4e30\u5bcc\u5168\u5c403D\u4fe1\u606f\u3002\u56e0\u6b64\uff0c\u8fd9\u4e24\u79cd\u7279\u5f81\u4e92\u8865\uff0c\u5171\u540c\u6709\u6548\u5730\u89c4\u8303\u5316\u81ea\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p>QST\u9996\u5148\u5229\u7528\u6765\u81ea\u56fe\u50cf\u89c6\u56fe\u6216BEV\u7279\u5f81\u7684\u9884\u6d4b\u6765\u53bb\u566a\u53e6\u4e00\u65b9\u7684\u9884\u6d4b\u3002\u7136\u540e\uff0cQST\u901a\u8fc7\u79ef\u7d2f\u53bb\u566a\u540e\u7684\u9884\u6d4b\uff0c\u83b7\u53d6\u5168\u5c40\u7c7b\u522b\u5206\u5e03\uff0c\u5e76\u8fdb\u4e00\u6b65\u5229\u7528\u5b83\u6765\u4fc3\u8fdb\u4f2a\u6807\u7b7e\u7684\u751f\u6210\u3002\u751f\u6210\u7684\u4f2a\u6807\u7b7e\u65b9\u6cd5\u5177\u6709\u4e09\u4e2a\u7279\u70b9\uff1a1\uff09\u9608\u503c\u662f\u6839\u636e\u56fe\u50cf\u89c6\u56fe\u548cBEV\u7279\u5f81\u6355\u83b7\u76842D\u548c3D\u4fe1\u606f\u52a8\u6001\u786e\u5b9a\u7684\uff1b2\uff09\u901a\u8fc7\u4e3a\u6bcf\u4e2a\u7c7b\u522b\u9009\u62e9\u76f8\u540c\u767e\u5206\u6bd4\u7684\u4f2a\u6807\u7b7e\u6765\u7f13\u89e3\u7c7b\u522b\u4e0d\u5e73\u8861\u95ee\u9898\uff1b3\uff09\u5b83\u662f\u5728\u7ebf\u7684\uff0c\u4e0d\u9700\u8981\u989d\u5916\u7684\u63a8\u7406\u8f6e\u6b21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"83\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/203.png\" alt=\"\" class=\"wp-image-8082\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/203.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/203-300x49.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u4f53\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"633\" height=\"178\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/204.png\" alt=\"\" class=\"wp-image-8083\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/204.png 633w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/204-300x84.png 300w\" sizes=\"(max-width: 633px) 100vw, 633px\" \/><\/figure>\n\n\n\n<p><strong>\u76f8\u5173\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"713\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-9-1024x713.png\" alt=\"\" class=\"wp-image-8084\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-9-1024x713.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-9-300x209.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-9-768x535.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-9.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e2a\u5b9e\u9a8c\u8868\u683c\u5c55\u793a\u4e86\u5728\u4e0d\u540c\u7167\u660e\u6761\u4ef6\u4e0b\uff0c\u9488\u5bf9\u7eaf\u89c6\u89c9BEV\u611f\u77e5\u7684\u65e0\u76d1\u7763\u9886Domain Adaptation\u7684\u7ed3\u679c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b9e\u9a8c\u5173\u6ce8\u7684\u662f\u4ece\u767d\u5929\u5230\u591c\u665a\u7684\u573a\u666f\u8f6c\u6362\u3002\u8bc4\u4f30\u6307\u6807\u5305\u62ec\u4e86\u4e0d\u540c\u7c7b\u522b\u7684\u5e73\u5747\u7cbe\u5ea6\uff08Average Precision, AP\uff09\u4ee5\u53ca\u6574\u4f53\u7684\u5e73\u5747\u7cbe\u5ea6\uff08mAP\uff09\u548c\u6807\u51c6\u5316\u68c0\u6d4b\u5206\u6570\uff08Normalized Detection Score, NDS\uff09\u3002\u5b9e\u9a8c\u6bd4\u8f83\u4e86\u56db\u79cd\u65b9\u6cd5\uff1aSource Only\u3001SFA\u3001MTTrans\u3001STM3D\u548c\u672c\u6587\u63d0\u51fa\u7684DA-BEV\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7c7b\u522b\u7ec6\u5206\u7684AP<\/strong>\uff1a\u8868\u683c\u4e2d\u5c55\u793a\u4e86\u5bf9\u4e8e\u4e0d\u540c\u7c7b\u522b\uff08\u5982\u6c7d\u8f66\u3001\u5361\u8f66\u3001\u5efa\u7b51\u8f66\u8f86\u3001\u516c\u5171\u6c7d\u8f66\u7b49\uff09\u7684\u68c0\u6d4b\u7cbe\u5ea6\u3002\u8fd9\u4e9b\u7ec6\u5206\u7684AP\u6307\u6807\u91cd\u8981\u7684\u662f\uff0c\u5b83\u4eec\u63ed\u793a\u4e86\u6a21\u578b\u5728\u8bc6\u522b\u4e0d\u540c\u7c7b\u578b\u7684\u7269\u4f53\u4e0a\u7684\u6027\u80fd\uff0c\u8fd9\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u662f\u975e\u5e38\u5173\u952e\u7684\uff0c\u56e0\u4e3a\u4e0d\u540c\u7c7b\u578b\u7684\u7269\u4f53\u5bf9\u4e8e\u611f\u77e5\u7cfb\u7edf\u7684\u54cd\u5e94\u53ef\u80fd\u4f1a\u6709\u5f88\u5927\u4e0d\u540c\u3002<\/li>\n\n\n\n<li><strong>\u6574\u4f53\u7684mAP\u548cNDS<\/strong>\uff1a\u6574\u4f53\u7684mAP\u662f\u6240\u6709\u7c7b\u522bAP\u7684\u5e73\u5747\u503c\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u6574\u4f53\u7684\u6027\u80fd\u6307\u6807\u3002NDS\u662f\u4e00\u79cd\u7efc\u5408\u8bc4\u4f30\uff0c\u4e0d\u4ec5\u8003\u8651\u4e86\u68c0\u6d4b\u7cbe\u5ea6\uff0c\u8fd8\u53ef\u80fd\u8003\u8651\u4e86\u5176\u4ed6\u56e0\u7d20\u5982\u4f4d\u7f6e\u51c6\u786e\u5ea6\u3001\u5927\u5c0f\u4f30\u8ba1\u7b49\u3002\u8fd9\u4e24\u4e2a\u6307\u6807\u7ed9\u51fa\u4e86\u4e00\u4e2a\u66f4\u5168\u9762\u7684\u6027\u80fd\u8bc4\u4f30\u3002<\/li>\n\n\n\n<li><strong>\u65b9\u6cd5\u6bd4\u8f83<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><strong>Source Only<\/strong> \u662f\u57fa\u7ebf\u65b9\u6cd5\uff0c\u6ca1\u6709\u8fdb\u884c\u9886Domain Adaptation\u3002<\/li>\n\n\n\n<li><strong>SFA\u3001MTTrans\u3001STM3D<\/strong> \u662f\u5176\u4ed6\u9886Domain Adaptation\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li><strong>DA-BEV (Ours)<\/strong> \u662f\u672c\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5206\u6790<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5728\u5927\u591a\u6570\u7c7b\u522b\u4e0a\uff0cDA-BEV\u7684\u8868\u73b0\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u7279\u522b\u662f\u5728\u201c\u6c7d\u8f66\u201d\u3001\u201c\u5361\u8f66\u201d\u548c\u201c\u516c\u5171\u6c7d\u8f66\u201d\u7b49\u7c7b\u522b\u4e0a\uff0c\u8fd9\u8868\u660eDA-BEV\u5728\u8fdb\u884c\u9886Domain Adaptation\u65f6\u80fd\u66f4\u597d\u5730\u7ef4\u6301\u6216\u63d0\u9ad8\u5bf9\u8fd9\u4e9b\u7c7b\u522b\u7684\u8bc6\u522b\u80fd\u529b\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u201c\u62d6\u8f66\u201d\u548c\u201c\u5efa\u7b51\u8f66\u8f86\u201d\u7b49\u7c7b\u522b\u7684\u68c0\u6d4b\u4f9d\u7136\u662f\u4e00\u4e2a\u6311\u6218\uff0c\u56e0\u4e3a\u8fd9\u4e9b\u7c7b\u522b\u7684AP\u503c\u666e\u904d\u8f83\u4f4e\u3002<\/li>\n\n\n\n<li>\u5728\u6574\u4f53mAP\u548cNDS\u4e0a\uff0cDA-BEV\u4e5f\u663e\u8457\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u8868\u660e\u5176\u5728\u4e0d\u540c\u7167\u660e\u6761\u4ef6\u4e0b\u7684\u9886Domain Adaptation\u6027\u80fd\u6574\u4f53\u66f4\u4f73\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p>\u8fd9\u4e2a\u5b9e\u9a8c\u7ed3\u679c\u8868\u660eDA-BEV\u5728\u8fdb\u884c\u65e0\u76d1\u7763\u9886Domain Adaptation\uff0c\u7279\u522b\u662f\u5728\u7167\u660e\u6761\u4ef6\u53d8\u5316\u8f83\u5927\u7684\u60c5\u51b5\u4e0b\uff0c\u80fd\u591f\u6709\u6548\u63d0\u9ad83D\u7269\u4f53\u68c0\u6d4b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"413\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-10-1024x413.png\" alt=\"\" class=\"wp-image-8085\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-10-1024x413.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-10-300x121.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-10-768x310.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-10.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0a\u56fe\u5c55\u793a\u4e86DA-BEV\u6846\u67b6\u5728\u8de8\u5929\u6c14\u6761\u4ef6\u4e0b\uff08\u5373\u6674\u5929\u5230\u96e8\u5929\uff09\u8fdb\u884c3D\u7269\u4f53\u68c0\u6d4b\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u5de6\u8fb9\u7684\u516d\u4e2a\u5c0f\u56fe\u5448\u73b0\u4e86\u591a\u76f8\u673a\u89c6\u89d2\u4e0b\u76843D\u9884\u6d4b\u7ed3\u679c\uff0c\u6bcf\u4e2a\u89c6\u89d2\u7684\u56fe\u50cf\u4e2d\u90fd\u6709\u9ec4\u8272\u76843D\u8fb9\u754c\u6846\u6807\u6ce8\u7740\u68c0\u6d4b\u5230\u7684\u8f66\u8f86\u3002\u53f3\u8fb9\u662f\u9e1f\u77b0\u56fe\uff08BEV\uff09\u89c6\u89d2\u7684\u9884\u6d4b\u7ed3\u679c\uff0c\u5176\u4e2d\u6a59\u8272\u6846\u8868\u793a\u9884\u6d4b\u4f4d\u7f6e\uff0c\u84dd\u8272\u6846\u4ee3\u8868\u5b9e\u9645\u7684\u5730\u9762\u771f\u76f8\uff08Ground Truth\uff09\u3002\u5728BEV\u56fe\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u9884\u6d4b\u6846\u548c\u771f\u5b9e\u6846\u7684\u5bf9\u6bd4\uff0c\u80fd\u591f\u76f4\u89c2\u5730\u8bc4\u4f30\u6a21\u578b\u9884\u6d4b\u7684\u51c6\u786e\u6027\u3002\u4f8b\u5982\uff0c\u56fe\u4e2d\u7684\u4e00\u4e2a\u4ea4\u53c9\u6807\u8bb0\uff08X\uff09\u6307\u51fa\u4e86\u4e00\u4e2a\u9519\u8bef\u9884\u6d4b\u7684\u4f4d\u7f6e\uff0c\u8fd9\u79cd\u53ef\u89c6\u5316\u6709\u52a9\u4e8e\u7406\u89e3\u6a21\u578b\u5728\u4e0d\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u8868\u73b0\u548c\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"160\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/205.png\" alt=\"\" class=\"wp-image-8086\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/205.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/205-300x71.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<p>\u53e6\u4e00\u5f20\u8868\u683c\u6d4b\u8bd5\u4e86DA-BEV\u65b9\u6cd5\u5728\u4e0d\u540c\u7f51\u7edc\u9aa8\u67b6\u4e0a\u7684\u6cdb\u5316\u80fd\u529b\u3002\u5b9e\u9a8c\u8003\u8651\u4e86\u4e09\u79cd\u4e0d\u540c\u7684\u9aa8\u67b6\uff1aR50-C5\u3001R50-P4\u548cVoV-P4\u3002\u5728\u6ca1\u6709Domain Adaptation\uff08Source 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class=\"wp-block-heading\"><strong><\/strong><strong>\u53c2\u8003<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>[1] DA-BEV: Unsupervised Domain Adaptation for Bird&#8217;s Eye View Perception<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4eca\u5929\u548c\u5927\u5bb6\u63a2\u8ba83D\u89c6\u89c9\u611f\u77e5\u9886\u57df\u4e2d\u7684\u4e00\u4e2a\u7279\u5b9a\u95ee\u9898 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-8077","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8077"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=8077"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8077\/revisions"}],"predecessor-version":[{"id":8087,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8077\/revisions\/8087"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=8077"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=8077"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=8077"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}