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2<\/strong><\/p>\n

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2023\u5e7412\u6708\uff0c\u5c0f\u7c73\u6c7d\u8f66\u5ba3\u5e03\u63a8\u51fa\u642d\u8f7d\u5176\u81ea\u7814\u7aef\u5230\u7aef\u611f\u77e5\u51b3\u7b56\u5927\u6a21\u578b\u7684\u5c0f\u7c73\u667a\u80fd\u9a7e\u9a76\u7cfb\u7edf\u3002\u7d27\u63a5\u7740\uff0c\u7279\u65af\u62c9\u4e5f\u53d1\u5e03\u4e86\u5176\u201c\u7aef\u5230\u7aef\u201d\u81ea\u52a8\u9a7e\u9a76\u8f6f\u4ef6FSD v12\u7248\u672c\uff0c\u5e76\u5f00\u59cb\u5728\u5317\u7f8e\u5411\u975e\u5458\u5de5\u7528\u6237\u63a8\u9001\u3002\u8fd9\u4f3c\u4e4e\u5728\u8868\u660e\u5bf9\u51b3\u7b56\u611f\u77e5\u4e00\u4f53\u5316\u7684\u6df1\u5165\u7406\u89e3\u6b63\u6210\u4e3a\u5171\u8bc6\uff0c\u9884\u793a\u7740\u884c\u4e1a\u53d1\u5c55\u7684\u8d8b\u52bf\u3002<\/p>\n

\u7136\u800c\uff0c\u5728\u51b3\u7b56\u611f\u77e5\u4e00\u4f53\u5316\u6982\u5ff5\u8fdb\u5165\u516c\u4f17\u89c6\u91ce\u4e4b\u524d\uff0c\u65e9\u5c31\u6709\u4e00\u7fa4\u654f\u9510\u7684\u5b66\u672f\u5148\u884c\u8005\u5df2\u7ecf\u5173\u6ce8\u5230\u8fd9\u4e00\u52a8\u5411\u3002<\/p>\n

2023\u5e746\u6708\uff0c\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u7684\u81ea\u52a8\u9a7e\u9a76\u5168\u6808\u53ef\u63a7\u7aef\u5230\u7aef\u65b9\u6848UniAD\u76f8\u5173\u7814\u7a76\u8bba\u6587\uff0c\u5728\u4eba\u5de5\u667a\u80fd\u9876\u4f1aCVPR\uff08\u56fd\u9645\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u6a21\u5f0f\u8bc6\u522b\u4f1a\u8bae\uff09\u4e0a\u8363\u83b7\u6700\u4f73\u8bba\u6587\u5956\u3002\u8fd9\u662f\u6709\u53f2\u4ee5\u6765\u81ea\u52a8\u9a7e\u9a76\u76f8\u5173\u6280\u672f\u9996\u6b21\u83b7\u6b64\u6b8a\u8363\u3002UniAD\u5411\u5168\u4e16\u754c\u5c55\u793a\u4e86\u611f\u77e5\u3001\u89c4\u5212\u53ca\u51b3\u7b56\u4e00\u4f53\u5316\u7684\u201c\u7aef\u5230\u7aef\u201d\u6846\u67b6\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u5f00\u62d3\u4e86\u65b0\u65b9\u5411\u3002<\/p>\n

\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u9752\u5e74\u79d1\u5b66\u5bb6\u3001OpenDriveLab\u56e2\u961f\u8d1f\u8d23\u4eba\u674e\u5f18\u626c\u535a\u58eb\u5411AI\u79d1\u6280\u8bc4\u8bba\u8868\u793a\uff0c2023\u5e74\u7684\u83b7\u5956\u53ea\u662f\u6700\u7ec8\u7ed3\u679c\u3002\u5728\u6b64\u4e4b\u524d\uff0c\u5305\u62ec\u5176\u56e2\u961f\u5728\u5185\uff0c\u5b66\u672f\u754c\u548c\u4ea7\u4e1a\u754c\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684\u7814\u7a76\u7ecf\u5386\u4e86\u4e00\u6bb5\u63a2\u7d22\u8fc7\u7a0b\u3002<\/p>\n

2021\u5e74\uff0c\u5f7c\u65f6\u521a\u52a0\u5165\u4e0a\u6d77\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\u4e0d\u4e45\u7684\u674e\u5f18\u626c\uff0c\u6ce8\u610f\u5230\u4e86\u56fd\u5916\u4e00\u4e2a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5f00\u6e90\u9879\u76ee\u2014\u2014Openpilot\u3002<\/p>\n

\u57fa\u4e8eOpenpilot\u7cfb\u7edf\uff0c\u53ea\u9700\u4e3a\u8f66\u8f86\u5b89\u88c5\u4e00\u4e2a\u5f53\u65f6\u552e\u4ef7999\u7f8e\u5143\u7684\u540e\u88c5\u8bbe\u5907\uff0c\u5185\u7f6e\u5355\u4e2a\u6444\u50cf\u5934\u548c\u7535\u8def\u677f\uff0c\u53ef\u4ee5\u5904\u7406L2\u7ea7\u522b\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u5b9e\u73b0\u81ea\u9002\u5e94\u5de1\u822a\u63a7\u5236\uff08ACC\uff09\u3001\u81ea\u52a8\u8f66\u9053\u4fdd\u6301\uff08ALC\uff09\u3001\u524d\u5411\u78b0\u649e\u8b66\u544a\uff08FCW\uff09\u548c\u8f66\u9053\u504f\u79bb\u8b66\u544a\uff08LDW\uff09\u7b49\u529f\u80fd\uff0c\u76ee\u524d\u5df2\u652f\u630140\u4f59\u79cd\u8f66\u578b\u3002\u76f8\u6bd4\u7279\u65af\u62c9\u5b8c\u5168\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0cOpenpilot\u6210\u672c\u4f4e\uff0c\u6548\u679c\u5374\u5341\u5206\u60ca\u8273\u3002<\/p>\n

OpenDriveLab\u56e2\u961f\u7cfb\u7edf\u7814\u7a76\u4e86Openpilot\u7684\u5404\u9879\u6280\u672f\u7ec6\u8282\uff0c\u5f97\u51fa\u7ed3\u8bba\uff1aOpenpilot\u4e4b\u6240\u4ee5\u80fd\u591f\u5728\u5355\u4e00\u8bbe\u5907\u4e0a\u5b9e\u73b0L2\u7ea7\u81ea\u52a8\u9a7e\u9a76\uff0c\u5173\u952e\u5728\u4e8e\u7aef\u5230\u7aef\u7684\u7cfb\u7edf\u8bbe\u8ba1\uff0c\u800c\u975e\u4f20\u7edf\u7684\u6a21\u5757\u5316\u6846\u67b6\u3002\u5e76\u4e8e\u5f53\u5e74\u53d1\u8868\u4e86\u4e00\u7bc7Openpilot\u7814\u7a76\u8bba\u6587\uff0c\u5411\u5b66\u672f\u754c\u548c\u4ea7\u4e1a\u754c\u5206\u4eab\u4e86\u89c2\u70b9\u3002<\/p>\n

<\/p>\n

OpenDriveLab\u56e2\u961fOpenpilot\u7814\u7a76\u8bba\u6587\u622a\u56fe<\/p>\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2206.08176<\/p>\n

\u300c\u539f\u6765\u81ea\u52a8\u9a7e\u9a76\u53ef\u4ee5\u505a\u5f97\u5982\u6b64\u7b80\u5355\u3002\u300d<\/p>\n

\u53d7\u6b64\u5f71\u54cd\uff0c\u56e2\u961f\u5f00\u59cb\u7740\u624b\u8bbe\u8ba1\u7aef\u5230\u7aef\u7684\u76f4\u63a5\u8f93\u51fa\u9879\u76ee\uff0c\u6210\u4e3a\u5f00\u542fUniAD\u7814\u7a76\u7684\u9996\u4e2a\u5173\u952e\u8282\u70b9\u3002<\/p>\n

\u800cUniAD\u7814\u7a76\u7684\u7b2c\u4e8c\u4e2a\u5173\u952e\u8282\u70b9\u5219\u4e0eBEV + Transformer\u76f8\u5173\u3002<\/p>\n

BEV\u662f\u5982\u4eca\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u70ed\u95e8\u8bcd\u6c47\u3002\u5373\u901a\u8fc7\u8f66\u8f86\u4e0a\u4f20\u611f\u5668\u63a5\u6536\u7684\u6570\u636e\u751f\u6210\u4fef\u89c6\u56fe\uff08\u5730\u56fe\uff09\u5750\u6807\u7cfb\u4e0b\u611f\u77e5\u7ed3\u679c\u7684\u7b97\u6cd5\uff0c\u5305\u62ec\u68c0\u6d4b\u3001\u5206\u5272\u7b49\u4efb\u52a1\uff0c\u662f\u73b0\u884c\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u73af\u5883\u611f\u77e5\u548c\u8868\u793a\u7684\u91cd\u8981\u65b9\u5f0f\u3002<\/p>\n

\u5728BEV\u4e4b\u524d\uff0c\u5927\u90e8\u5206\u6c7d\u8f66\u5382\u5546\u7684\u505a\u6cd5\u662f\u5148\u53bb\u611f\u77e5\u4e862D\u56fe\u50cf\u4e2d\u7684\u4e00\u4e9b\u7279\u5f81\uff0c\u6bd4\u5982\u8bf4\u8f66\u5728\u54ea\u91cc\uff0c\u8f66\u8f6e\u7684\u63a5\u5b9a\u70b9\u5728\u54ea\u91cc\uff0c\u8f66\u7684\u957f\u5bbd\u6bd4\u4f8b\u662f\u591a\u5c11\uff0c\u62ff\u5230\u4e86\u4e00\u4e9b\u56fe\u50cf\u5c42\u9762\u7684\u4fe1\u606f\u4e4b\u540e\u3002\u518d\u6839\u636e\u76f8\u673a\u7684\u4e00\u4e9b3D\u7684\u6807\u5b9a\u51e0\u4f55\u53c2\u6570\u53bb\u83b7\u5f97\u76ee\u6807\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e0b\u7684\u51c6\u786e\u7684\u4f4d\u7f6e\u4fe1\u606f\u3002<\/p>\n

\u76f4\u5230 2014 \u5e74\uff0c\u4e00\u7bc7\u6807\u9898\u4e3a\u201cAutomatic Parking Based on a Bird\u2019s Eye View Vision System\u201d\u7684\u8bba\u6587\u53d1\u8868\uff0c\u6539\u53d8\u4e86\u8fd9\u4e00\u5c40\u9762\u3002\u8be5\u8bba\u6587\u7684\u6838\u5fc3\u5185\u5bb9\u662f\uff1a\u901a\u8fc7\u56db\u9897\u9c7c\u773c\u6444\u50cf\u5934\u611f\u77e5\u73af\u5883\u4fe1\u606f\uff0c\u5e76\u6765\u6784\u5efa\u4e00\u4e2a BEV \u89c6\u89c9\u7cfb\u7edf\uff0c\u5e76\u7531\u6b64\u5b9e\u73b0\u81ea\u52a8\u6cca\u8f66\u3002BEV\u6a2a\u7a7a\u51fa\u4e16\uff0c\u6210\u4e3a\u4e86\u5927\u5bb6\u4e89\u76f8\u7814\u7a76\u7684\u65b9\u5411\u3002<\/p>\n

\u611f\u77e5\u4e0b\u6e38\u7684\u89c4\u5212\u63a7\u5236\u6210\u4e3a\u4e86\u4e3b\u6d41\u505a\u6cd5\u3002\u800c\u968f\u7740\u6df1\u5ea6\u5b66\u4e60\u6280\u672f\u7684\u6301\u7eed\u8fdb\u6b65\uff0c\u57282021\u5e74\u5e95\u81f32022\u5e74\u95f4\uff0cBEV\u4e0eTransformer\u7684\u6df1\u5ea6\u878d\u5408\u9010\u6e10\u6210\u4e3a\u4e86\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5185\u7684\u4e3b\u6d41\u7814\u7a76\u8d8b\u52bf\u3002<\/p>\n

\u5f53\u65f6\uff0c\u5b66\u672f\u754c\u9762\u4e34\u5982\u4f55\u7ee7\u7eed\u6df1\u5316\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u521b\u65b0\u7684\u6311\u6218\uff0c\u8fd9\u8981\u6c42\u4ece\u7cfb\u7edf\u67b6\u6784\u548c\u8f6f\u4ef6\u5de5\u7a0b\u5c42\u9762\u6df1\u5165\u63a2\u8ba8\uff0c\u5e76\u524d\u77bb\u6027\u5730\u9884\u89c1\u884c\u4e1a\u53d1\u5c55\u8d8b\u52bf\u3002<\/p>\n

\u800c\u4ece\u5546\u4e1a\u5316\u89d2\u5ea6\u770b\uff0c2021\u5e74\u4e4b\u9645\uff0c\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u4f3c\u4e4e\u5df2\u89e6\u53ca\u4e86\u4e00\u4e2a\u74f6\u9888\u9636\u6bb5\uff0cL2\u7ea7\u522b\u7684\u8f85\u52a9\u9a7e\u9a76\u529f\u80fd\u57fa\u672c\u6ee1\u8db3\u4e86\u5927\u90e8\u5206\u65e5\u5e38\u9a7e\u9a76\u9700\u6c42\u3002\u5409\u5229\u6c7d\u8f66\u4e0eMobileye\u7684\u5408\u4f5c\u5c31\u662f\u8fd9\u4e00\u8d8b\u52bf\u7684\u4f53\u73b0\uff0c\u5f53\u65f6\u8ba1\u5212\u57282021\u5e74\u5b9e\u73b0L2+\u7ea7\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u91cf\u4ea7\u3002\u5176\u4ed6\u6c7d\u8f66\u5236\u9020\u5546\u5982\u65e5\u672c\u7684\u51e0\u5bb6\u5927\u578b\u8f66\u4f01\u4e5f\u57282022\u5e74\u524d\u540e\u5728\u5176\u4e3b\u529b\u8f66\u578b\u4e2d\u5e7f\u6cdb\u666e\u53caL2\u7ea7\u522b\u7684\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u3002<\/p>\n

\u53ea\u4e0d\u8fc7\u5728\u5e94\u5bf9\u590d\u6742\u591a\u53d8\u7684\u4ea4\u901a\u573a\u666f\uff0c\u63d0\u4f9b\u66f4\u52a0\u6d41\u7545\u548c\u7a33\u5b9a\u7684\u9a7e\u9a76\u4f53\u9a8c\u4e0a\uff0c\u5404\u5bb6\u90fd\u663e\u5f97\u6349\u895f\u89c1\u8098\u3002<\/p>\n

\u674e\u5f18\u626c\u9510\u5730\u611f\u77e5\u5230\u4e86\u8fd9\u4e00\u8d8b\u52bf\uff0c\u575a\u4fe1\u7aef\u5230\u7aef\u5927\u6a21\u578b\u5177\u6709\u5e7f\u9614\u524d\u666f\uff0c\u662f\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u53d1\u5c55\u7684\u6709\u529b\u9014\u5f84\u3002<\/p>\n

\u4e00\u5f00\u59cb\u4ed6\u4eec\u5728\u611f\u77e5\u9636\u6bb5\u4f7f\u7528Transformer\uff0c\u800c\u5728\u9884\u6d4b\u548c\u63a7\u5236\u9636\u6bb5\u5219\u91c7\u7528\u4e86Resnet\u67b6\u6784\u3002\u5c1d\u8bd5\u5c06\u6240\u6709\u6a21\u5757\u6574\u5408\u8fdb\u5355\u4e00\u7f51\u7edc\u7ed3\u6784\uff0c\u4f46\u5728\u8fd9\u65f6\u5374\u906d\u9047\u4e86\u8bad\u7ec3\u4e0d\u7a33\u5b9a\u548c\u6027\u80fd\u4e0b\u6ed1\u7684\u95ee\u9898\u3002\u7edf\u4e00\u4e86\u5168\u7528 Transformer \u8fd9\u79cd\u7f51\u7edc\u7ed3\u6784\u4e4b\u540e\uff0c QPV \u7b49\u7b49\u8fd9\u4e9b\u51e0\u4e2a\u53d8\u91cf\u90fd\u80fd\u7edf\u4e00\u5230\u4e00\u8d77\u3002\u9700\u8981\u4e00\u6574\u5957\u7684\u8fd9\u79cd\u7cfb\u7edf\u7684\u7ea7\u8054\u4ee5\u53ca\u4e30\u5bcc\u6a21\u578b\u8bad\u7ec3\u7684\u8fd9\u79cd\u7ecf\u9a8c\u7684\u80cc\u666f\uff0c\u624d\u628a\u8fd9\u4e00\u5957\u8dd1\u901a\u3002<\/p>\n

\u5728UniAD\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u9996\u6b21\u5c06\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7b49\u4e09\u5927\u7c7b\u4e3b\u4efb\u52a1\u3001\u516d\u5c0f\u7c7b\u5b50\u4efb\u52a1\uff08\u76ee\u6807\u68c0\u6d4b\u3001\u76ee\u6807\u8ddf\u8e2a\u3001\u573a\u666f\u5efa\u56fe\u3001\u8f68\u8ff9\u9884\u6d4b\u3001\u6805\u683c\u9884\u6d4b\u548c\u8def\u5f84\u89c4\u5212\uff09\u6574\u5408\u5230\u7edf\u4e00\u7684\u57fa\u4e8e Transformer\u7684\u7aef\u5230\u7aef\u7f51\u7edc\u6846\u67b6\u4e0b\uff0c\u5b9e\u73b0\u4e86\u5168\u6808\u5173\u952e\u4efb\u52a1\u9a7e\u9a76\u901a\u7528\u6a21\u578b\u3002<\/p>\n

<\/p>\n

\u5728 nuScenes \u771f\u5b9e\u573a\u666f\u6570\u636e\u96c6\u4e0b\uff0cUniAD\u7684\u6240\u6709\u4efb\u52a1\u5747\u8fbe\u5230\u9886\u57df\u6700\u4f73\u6027\u80fd\uff08State-of-the-art\uff09\uff0c\u5c24\u5176\u662f\u9884\u6d4b\u548c\u89c4\u5212\u6548\u679c\u8fdc\u8d85\u4e4b\u524d\u7684\u6700\u4f73\u65b9\u6848\u3002\u5176\u4e2d\uff0c\u591a\u76ee\u6807\u8ddf\u8e2a\u51c6\u786e\u7387\u8d85\u8d8aSOTA 20%\uff0c\u8f66\u9053\u7ebf\u9884\u6d4b\u51c6\u786e\u7387\u63d0\u534730%\uff0c\u9884\u6d4b\u8fd0\u52a8\u4f4d\u79fb\u548c\u89c4\u5212\u7684\u8bef\u5dee\u5219\u5206\u522b\u964d\u4f4e\u4e8638%\u548c28%\u3002<\/p>\n

\u8be5\u6210\u679c\u4e00\u65e6\u5927\u89c4\u6a21\u5e94\u7528\u5176\u5b9e\u4e5f\u4f1a\u4e00\u5b9a\u7a0b\u5ea6\u89e3\u51b3\u6587\u7ae0\u5f00\u5934\u63d0\u53ca\u7684\u51b3\u7b56\u548c\u611f\u77e5\u6253\u67b6\u7684\u77db\u76fe\u3002<\/p>\n

3<\/strong><\/p>\n

\u8d70\u5411\u4ea7\u4e1a\u7684\u4e09\u5927\u62e6\u8def\u864e<\/strong><\/p>\n

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\u6838\u5fc3\u6311\u6218\u9996\u5148\u662f\u5982\u4f55\u5b9e\u73b0\u6a21\u578b\u7684\u8f7b\u91cf\u5316\u90e8\u7f72\u4ee5\u53ca\u83b7\u53d6\u9ad8\u8d28\u91cf\u7684\u8bad\u7ec3\u6570\u636e\u3002\u53e6\u4e00\u65b9\u9762\uff0cUniAD\u4f5c\u4e3a\u4e00\u9879\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u6210\u679c\uff0c\u80fd\u5426\u4e0a\u8f66\u5176\u5b9e\u4e5f\u53d7\u5236\u4e8e\u8f66\u4f01\u7684\u63a8\u8fdb\u610f\u613f\u3002\u8fd9\u4e09\u70b9\u6b63\u662fUniAD\u5927\u89c4\u6a21\u90e8\u7f72\u9014\u4e2d\u7684\u4e09\u5927\u62e6\u8def\u864e\u3002<\/p>\n

\u5f53UniAD\u5ba3\u5e03\u5f00\u6e90\u65f6\uff0c\u5916\u754c\u666e\u904d\u5173\u6ce8\u5176\u5982\u4f55\u80fd\u5728\u77ed\u65f6\u95f4\u5185\u8fc5\u901f\u8fbe\u5230\u9ad8\u6c34\u5e73\u5e76\u6210\u529f\u5b9e\u73b0\u5728\u8f66\u8f86\u4e0a\u7684\u5e94\u7528\u3002<\/p>\n

\u5b9e\u9645\u4e0a\uff0c\u8fd9\u4e00\u95ee\u9898\u7684\u590d\u6742\u6027\u8fdc\u8d85\u51fa\u4eba\u4eec\u7684\u521d\u6b65\u8ba4\u8bc6\u3002\u674e\u5f18\u626c\u5766\u8a00\uff0c\u5c3d\u7ba1\u57fa\u4e8eTransformer\u67b6\u6784\u7684UniAD\u5728\u8ffd\u6c42\u5353\u8d8a\u6027\u80fd\u7684\u8fc7\u7a0b\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u6210\u679c\uff0c\u4f46\u4e5f\u65e0\u53ef\u907f\u514d\u5730\u53d7\u9650\u4e8eTransformer\u6a21\u578b\u672c\u8eab\u56fa\u6709\u7684\u95ee\u9898\uff0c\u5c24\u5176\u662f\u5728\u6a21\u578b\u90e8\u7f72\u73af\u8282\uff0c\u56e0\u5176\u5de8\u5927\u7684\u53c2\u6570\u91cf\u5e26\u6765\u4e86\u4e25\u5cfb\u6311\u6218\u3002<\/p>\n

\u5728\u6b64\u80cc\u666f\u4e0b\uff0c\u4f17\u591a\u6c7d\u8f66\u5236\u9020\u5546\u53ca\u76f8\u5173\u4f01\u4e1a\u6b63\u96c6\u4e2d\u529b\u91cf\uff0c\u7740\u529b\u4e8e\u5728\u786e\u4fdd\u9ad8\u6027\u80fd\u7684\u524d\u63d0\u4e0b\uff0c\u5c06\u6a21\u578b\u9ad8\u6548\u90e8\u7f72\u4e8e\u8f66\u8f7d\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u7279\u522b\u662f\u50cfNVIDIA Orin\u7b49\u9ad8\u6027\u80fd\u6c7d\u8f66\u82af\u7247\u4ee5\u53ca\u9ad8\u901a\u9a81\u9f99819\u7b49\u65b0\u578b\u82af\u7247\u5e73\u53f0\u3002<\/p>\n

\u674e\u5f18\u626c\u56e2\u961f\u6240\u7814\u53d1\u7684\u591a\u9879\u7b97\u6cd5\u5728\u5173\u952e\u6027\u80fd\u6307\u6807FPS\u4e0a\u6709\u663e\u8457\u63d0\u5347\uff0c\u5df2\u5b9e\u73b0\u6bcf\u79d2\u5904\u7406\u8d85\u8fc720\u5e27\u56fe\u50cf\uff0c\u8fd9\u610f\u5473\u7740\u7cfb\u7edf\u62e5\u6709\u66f4\u5f3a\u7684\u5b9e\u65f6\u5904\u7406\u80fd\u529b\u548c\u66f4\u5feb\u7684\u54cd\u5e94\u901f\u5ea6\u3002<\/p>\n

\u56de\u987e\u521d\u671f\uff0cUniAD\u521d\u6b21\u53d1\u5e03\u65f6\uff0c\u5176FPS\u4ec5\u4e3a8\u81f39\u5e27\u3002\u7ecf\u8fc7\u5b66\u754c\u4e0e\u4ea7\u4e1a\u754c\u5171\u540c\u52aa\u529b\uff0c\u5982\u4eca\u5df2\u5c06\u8be5\u6570\u503c\u63d0\u5347\u81f3\u8d85\u8fc720\u5e27\u7684\u9ad8\u5ea6\u3002<\/p>\n

\u5728\u8ffd\u6c42\u8f7b\u91cf\u5316\u90e8\u7f72\u7684\u8fc7\u7a0b\u4e2d\uff0c\u8f66\u8f7d\u82af\u7247\u672c\u8eab\u7684\u7279\u6027\u4e5f\u662f\u4e00\u4e2a\u91cd\u8981\u8003\u91cf\u56e0\u7d20\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u82af\u7247\u5e76\u975e\u5355\u7eaf\u8ffd\u6c42\u6781\u81f4\u7b97\u529b\uff0c\u800c\u662f\u66f4\u770b\u91cd\u7a33\u5b9a\u6027\u4ee5\u53ca\u529f\u8017\u63a7\u5236\uff0c\u8981\u6c42\u5728\u8f83\u4f4e\u529f\u8017\u8303\u56f4\u5185\uff08\u901a\u5e38\u4e3a\u5341\u51e0\u74e6\u5de6\u53f3\uff09\u6301\u7eed\u7a33\u5b9a\u5de5\u4f5c\u3002\u540c\u65f6\u8fd8\u8981\u5177\u5907\u826f\u597d\u7684\u6563\u70ed\u6027\u80fd\u4ee5\u9002\u5e94\u4e25\u82db\u7684\u8f66\u8f7d\u73af\u5883\u3002\u76f8\u8f83\u4e8e\u666e\u901a\u6d88\u8d39\u7ea7\u82af\u7247\uff0c\u8f66\u89c4\u7ea7\u82af\u7247\u9700\u5728\u66f4\u6076\u52a3\u6761\u4ef6\u4e0b\u8fd0\u884c\uff0c\u5982\u5bbd\u6e29\u8303\u56f4\uff08\u96f6\u4e0b40\u6444\u6c0f\u5ea6\u81f3\u96f6\u4e0a155\u6444\u6c0f\u5ea6\uff09\uff0c\u4ee5\u53ca\u5e94\u5bf9\u5149\u7ebf\u3001\u632f\u52a8\u3001\u7c89\u5c18\u3001\u7535\u78c1\u5e72\u6270\u7b49\u591a\u79cd\u590d\u6742\u60c5\u51b5\u3002<\/p>\n

\u8fd9\u5c31\u8981\u6c42\u82af\u7247\u5373\u4f7f\u5728\u6781\u7aef\u98a0\u7c38\u73af\u5883\u4e2d\u4e5f\u80fd\u4fdd\u6301\u7a33\u5b9a\u5de5\u4f5c\uff0c\u800c\u8fd9\u867d\u4e0d\u5c5e\u4e8e\u7b97\u6cd5\u56e2\u961f\u7684\u4f20\u7edf\u7814\u7a76\u8303\u7574\uff0c\u5374\u4e5f\u662f\u5fc5\u987b\u89e3\u51b3\u7684\u9002\u914d\u95ee\u9898\u3002\u82e5\u82af\u7247\u7b97\u529b\u4e0d\u8db3\uff0c\u65e0\u6cd5\u652f\u6301\u591a\u79cd\u7b97\u6cd5\uff0c\u6216\u8005\u751f\u6001\u7cfb\u7edf\u4e0d\u591f\u6210\u719f\uff0c\u5728\u8bbe\u8ba1\u7f51\u7edc\u7ed3\u6784\u65f6\uff0c\u5c31\u5fc5\u987b\u7cbe\u7b80\u8bbe\u8ba1\uff0c\u751a\u81f3\u53ea\u80fd\u5c40\u9650\u4e8e\u82af\u7247\u652f\u6301\u7684\u73b0\u6709\u5e93\u4e2d\u7684\u7b97\u6cd5\u3002<\/p>\n

\u9488\u5bf9\u51b3\u7b56\u4e0e\u611f\u77e5\u4e00\u4f53\u5316\u7684\u9700\u6c42\uff0c\u5176\u5bf9\u8ba1\u7b97\u80fd\u529b\u7684\u8981\u6c42\u4e00\u5f00\u59cb\u5c31\u975e\u5e38\u9ad8\u3002\u4ee5\u9ad8\u7aef\u914d\u7f6e\u4e3a\u4f8b\uff0c\u5355\u9897\u82af\u7247\u53ef\u80fd\u5177\u5907200TOPS\u7684\u7b97\u529b\uff0c\u4e24\u9897\u82af\u7247\u7ec4\u5408\u53ef\u8fbe400TOPS\uff0c\u4f46\u8fd9\u4ec5\u4ec5\u662f\u7406\u8bba\u4e0a\u7684\u5cf0\u503c\u3002\u5728\u5b9e\u9645\u8fd0\u884c\u4e2d\uff0c\u5f80\u5f80\u9700\u8981\u4e0a\u5343TOPS\u4e43\u81f3\u66f4\u9ad8\u7684\u6709\u6548\u7b97\u529b\uff0c\u56e0\u6b64\u9700\u8981\u8fdb\u884c\u9488\u5bf9\u6027\u7684\u4f18\u5316\u9002\u914d\u3002\u51e1\u6b64\u79cd\u79cd\uff0c\u7686\u5bf9\u6c7d\u8f66\u5382\u5546\u4e0e\u82af\u7247\u5382\u5546\u90fd\u63d0\u51fa\u4e86\u66f4\u9ad8\u7684\u8981\u6c42\u3002<\/p>\n

\u9664\u4e86\u8f7b\u91cf\u5316\u90e8\u7f72\u662f\u4e00\u5927\u96be\u9898\u4e4b\u5916\uff0c\u6a2a\u5728UniAD\u9762\u524d\u7684\uff0c\u8fd8\u6709\u9ad8\u8d28\u91cf\u6570\u636e\u8fd9\u4e00\u8001\u5927\u96be\u95ee\u9898\u3002<\/p>\n

\u5728\u901a\u7528\u89c6\u89c9\u9886\u57df\uff0c\u73b0\u6709\u7684\u6570\u636e\u96c6\u5f80\u5f80\u7f3a\u4e4f\u8db3\u591f\u7684\u4e09\u7ef4\u6570\u636e\u6216\u591a\u89d2\u5ea6\u4fe1\u606f\u3002\u800c\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u573a\u666f\u6765\u8bf4\uff0c\u5c24\u5176\u662f\u4e00\u4e9b\u91cd\u8981\u4f46\u51fa\u73b0\u9891\u7387\u8f83\u4f4e\u7684\u7279\u6b8a\u60c5\u5883\u6570\u636e\u5c24\u4e3a\u5173\u952e\u3002\u6bd4\u5982\u8f66\u8f86\u5728\u964d\u96ea\u73af\u5883\u4e0b\u7a81\u7136\u8fdb\u5165\u534a\u5f00\u653e\u5f0f\u96a7\u9053\uff0c\u6216\u662f\u9047\u5230\u5177\u6709\u6f6e\u6c50\u8f66\u9053\u5c5e\u6027\u7684\u5de6\u8f6c\u4fe1\u53f7\u706f\u7b49\u60c5\u51b5\u3002<\/p>\n

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\u9664\u6b64\u4e4b\u5916\uff0c\u7aef\u5230\u7aef\u6280\u672f\u7684\u63a8\u884c\u8fd8\u9762\u4e34\u7740\u7ed3\u6784\u6027\u963b\u529b\u3002\u7279\u522b\u662f\u5728\u5df2\u6709\u660e\u786e\u5206\u5de5\u7684\u4f20\u7edf\u8f66\u4f01\u4e2d\uff0c\u5b83\u4eec\u5f80\u5f80\u8bbe\u6709\u72ec\u7acb\u7684\u4e8c\u7ea7\u6216\u4e09\u7ea7\u90e8\u95e8\uff0c\u5206\u522b\u4e13\u6ce8\u4e8e\u9884\u6d4b\u3001\u8def\u5f84\u89c4\u5212\u3001\u63a7\u5236\u7b49\u4e13\u9879\u4efb\u52a1\u3002\u82e5\u63a8\u884c\u7aef\u5230\u7aef\u6280\u672f\uff0c\u5219\u610f\u5473\u7740\u53ef\u80fd\u9700\u8981\u6574\u5408\u591a\u4e2a\u90e8\u95e8\u7684\u529f\u80fd\uff0c\u7ec4\u5efa\u4e00\u4e2a\u65b0\u7684\u7efc\u5408\u6027\u90e8\u95e8\uff0c\u7c7b\u4f3c\u4e8e\u8bbe\u7acb\u672a\u6765\u6280\u672f\u7814\u7a76\u9662\u3002\u56fd\u5185\u4f20\u7edf\u8f66\u4f01\u5982\u4e00\u6c7d\u3001\u5e7f\u6c7d\u7b49\uff0c\u5b83\u4eec\u7684\u76f8\u5173\u7814\u7a76\u548c\u6280\u672f\u5f00\u53d1\u901a\u5e38\u5c31\u5728\u7c7b\u4f3c\u7684\u7814\u7a76\u9662\u4f53\u7cfb\u4e0b\u5c55\u5f00\u3002<\/p>\n

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