{"id":8478,"date":"2024-03-04T17:21:04","date_gmt":"2024-03-04T09:21:04","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8478"},"modified":"2024-03-04T17:21:04","modified_gmt":"2024-03-04T09:21:04","slug":"2024-03-04-%e5%a4%a7%e5%b9%85%e8%b6%85%e8%b6%8amaptrv2-mapqr%ef%bc%9a%e6%9c%80%e6%96%b0sota%e5%9c%a8%e7%ba%bf%e9%ab%98%e7%b2%be%e5%9c%b0%e5%9b%be%e6%96%b9%e6%a1%88%ef%bc%8c%e6%9a%b4%e6%b6%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/04\/8478\/","title":{"rendered":"2024-03-04 \u5927\u5e45\u8d85\u8d8aMapTRv2 | MapQR\uff1a\u6700\u65b0SOTA\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u65b9\u6848\uff0c\u66b4\u6da8\u4e09\u4e2a\u70b9\uff08\u4e0a\u4ea4&#038;\u6e2f\u4e2d\u6587\uff09"},"content":{"rendered":"\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u9ad8\u7cbe\u5730\u56fe\u5728\u5b9a\u4f4d\u548c\u89c4\u5212\u4e2d\u626e\u6f14\u7740\u81f3\u5173\u91cd\u8981\u7684\u89d2\u8272\u3002\u6700\u8fd1\uff0c\u4e00\u4e9b\u65b9\u6cd5\u5728\u7c7b\u4f3cDETR\u7684\u6846\u67b6\u4e2d\u4fc3\u8fdb\u4e86\u7aef\u5230\u7aef\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u3002\u7136\u800c\uff0c\u63a2\u7d22\u67e5\u8be2\u673a\u5236\u7684\u6f5c\u5728\u80fd\u529b\u5374\u9c9c\u6709\u4eba\u5173\u6ce8\u3002\u672c\u6587\u4ecb\u7ecd\u4e86 MapQR\uff0c\u8fd9\u662f\u4e00\u79cd\u7aef\u5230\u7aef\u7684\u65b9\u6cd5\uff0c\u5f3a\u8c03\u589e\u5f3a\u67e5\u8be2\u80fd\u529b\u4ee5\u6784\u5efa\u5728\u7ebf\u77e2\u91cf\u5316\u5730\u56fe\u3002\u5c3d\u7ba1\u5730\u56fe\u6784\u5efa\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u70b9\u96c6\u9884\u6d4b\u4efb\u52a1\uff0c\u4f46 MapQR \u4f7f\u7528\u5b9e\u4f8b\u67e5\u8be2\u800c\u4e0d\u662f\u70b9\u67e5\u8be2\u3002\u8fd9\u4e9b\u5b9e\u4f8b\u67e5\u8be2\u88ab\u5206\u6563(scattered)\u7528\u4e8e\u70b9\u96c6\u7684\u9884\u6d4b\uff0c\u968f\u540e\u88ab\u805a\u96c6(gathered)\u7528\u4e8e\u6700\u7ec8\u7684\u5339\u914d\u3002\u8fd9\u79cd\u67e5\u8be2\u8bbe\u8ba1\uff0c\u79f0\u4e3a scatter-and-gather query \uff0c\u5171\u4eab\u540c\u4e00\u5730\u56fe\u5143\u7d20\u4e2d\u7684\u5185\u5bb9\u4fe1\u606f\uff0c\u5e76\u907f\u514d\u4e86\u70b9\u67e5\u8be2\u4e2d\u5185\u5bb9\u4fe1\u606f\u53ef\u80fd\u7684\u4e0d\u4e00\u81f4\u6027\u3002\u672c\u6587\u8fdb\u4e00\u6b65\u5229\u7528\u5148\u9a8c\u4fe1\u606f\u6765\u901a\u8fc7\u6dfb\u52a0\u4ece\u53c2\u8003\u70b9\u5d4c\u5165\u7684\u4f4d\u7f6e\u4fe1\u606f\u6765\u589e\u5f3a\u5b9e\u4f8b\u67e5\u8be2\u3002\u7ed3\u5408\u4e00\u4e2a\u7b80\u5355\u800c\u6709\u6548\u7684BEV\u7f16\u7801\u5668\u7684\u6539\u8fdb\uff0c\u6240\u63d0\u51fa\u7684 MapQR \u5728 nuScenes \u548c Argoverse 2 \u4e0a\u90fd\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u5e73\u5747\u7cbe\u5ea6\uff08mAP\uff09\u5e76\u4fdd\u6301\u4e86\u826f\u597d\u7684\u6548\u7387\u3002\u6b64\u5916\uff0c\u5c06\u672c\u6587\u7684\u67e5\u8be2\u8bbe\u8ba1\u96c6\u6210\u5230\u5176\u4ed6\u6a21\u578b\u4e2d\u53ef\u4ee5\u663e\u8457\u63d0\u5347\u5b83\u4eec\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"642\" height=\"699\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-18.png\" alt=\"\" class=\"wp-image-8479\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-18.png 642w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-18-276x300.png 276w\" sizes=\"(max-width: 642px) 100vw, 642px\" \/><\/figure>\n\n\n\n<p>\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/HXMap\/MapQR<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0cMapQR\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u65b0\u9896\u7684 scatter-and-gather query\u7684\u5728\u7ebf\u7aef\u5230\u7aef\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u3002\u8fd9\u79cd\u67e5\u8be2\u8bbe\u8ba1\uff0c\u7ed3\u5408\u4e86\u517c\u5bb9\u7684\u4f4d\u7f6e\u5d4c\u5165\uff0c\u5bf9\u4e8e\u5728\u7c7bDETR\u67b6\u6784\u4e2d\u57fa\u4e8e\u70b9\u96c6\u7684\u5b9e\u4f8b\u68c0\u6d4b\u662f\u6709\u76ca\u7684\uff1b<\/li>\n\n\n\n<li>\u6240\u63d0\u51fa\u7684\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u5728\u73b0\u6709\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u7684\u8868\u73b0\u4f18\u4e8e\u5148\u524d\u7684\u6280\u672f\uff1b<\/li>\n\n\n\n<li>\u5c06\u672c\u6587\u7684\u6838\u5fc3\u8bbe\u8ba1\u878d\u5165\u5230\u5176\u4ed6\u6700\u5148\u8fdb\u7684\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u4e2d\uff0c\u4e5f\u5e26\u6765\u4e86\u663e\u8457\u7684\u51c6\u786e\u6027\u63d0\u5347\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><strong><\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa<\/strong><\/h3>\n\n\n\n<p>\u9ad8\u6e05\u5730\u56fe\u65e8\u5728\u8f93\u51fa\u81ea\u52a8\u9a7e\u9a76\u5730\u56fe\u5143\u7d20\u7684\u7cbe\u786e\u77e2\u91cf\u5316\u8868\u793a\u3002\u5c3d\u7ba1\u4f20\u7edf\u7684\u79bb\u7ebfSLAM\u65b9\u6cd5\u7ef4\u62a4\u6210\u672c\u9ad8\uff0c\u4f46\u5728\u7ebf\u9ad8\u6e05\u5730\u56fe\u7684\u6784\u5efa\u8d8a\u6765\u8d8a\u53d7\u5230\u5173\u6ce8\u3002\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u53ef\u4ee5\u901a\u8fc7BEV\u7a7a\u95f4\u4e2d\u7684\u5206\u5272\u6216\u8f66\u9053\u68c0\u6d4b\u6765\u89e3\u51b3\uff0c\u4ece\u800c\u751f\u6210\u5149\u6805\u5316\u5730\u56fe\u3002HDMapNet\u8fdb\u4e00\u6b65\u5c06\u5206\u5272\u7ed3\u679c\u5206\u7ec4\u4e3a\u77e2\u91cf\u5316\u8868\u793a\u3002<\/p>\n\n\n\n<p>VectorMapNet\u63d0\u51fa\u4e86\u7b2c\u4e00\u4e2a\u7aef\u5230\u7aef\u77e2\u91cf\u5316\u5730\u56fe\u5b66\u4e60\u6846\u67b6\uff0c\u5e76\u5229\u7528\u81ea\u56de\u5f52\u5bf9\u70b9\u8fdb\u884c\u987a\u5e8f\u9884\u6d4b\u3002\u540e\u6765\uff0c\u7528\u4e8e\u77e2\u91cf\u5316\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u7684\u7aef\u5230\u7aef\u65b9\u6cd5\u53d8\u5f97\u6d41\u884c\u8d77\u6765\u3002MapTR\u5c06\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u89c6\u4e3a\u70b9\u96c6\u9884\u6d4b\u95ee\u9898\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7c7b\u4f3cDETR\u7684\u6846\u67b6\uff0c\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5176\u6539\u8fdb\u7248\u672cMapTRv2\u8bbe\u8ba1\u4e86\u89e3\u8026\u7684\u81ea\u6ce8\u610f\u89e3\u7801\u5668\u548c\u8f85\u52a9\u635f\u8017\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u6027\u80fd\u3002BeMapNet\u4e0d\u4f7f\u7528\u70b9\u96c6\u6765\u8868\u793a\u5730\u56fe\u5143\u7d20\uff0c\u800c\u662f\u4f7f\u7528\u5206\u6bb5Bezier\u66f2\u7ebf\uff0cPivotNet\u4f7f\u7528\u57fa\u4e8e\u67a2\u8f74\u7684\u70b9\u6765\u8fdb\u884c\u66f4\u7cbe\u7ec6\u7684\u5efa\u6a21\u3002\u6700\u8fd1\uff0cStreamMapNet\u5229\u7528\u591a\u70b9\u6ce8\u610f\u529b\u5b9e\u73b0\u5bbd\u611f\u77e5\u8303\u56f4\uff0c\u5e76\u5229\u7528\u957f\u5e8f\u5217\u65f6\u95f4\u878d\u5408\u3002\u4e0e\u4e4b\u524d\u7684\u5de5\u4f5c\u4e0d\u540c\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86\u5bf9\u57fa\u4e8e\u5b9e\u4f8b\u7684\u67e5\u8be2\u7684\u6df1\u5165\u5f00\u53d1\uff0c\u5e76\u8bbe\u8ba1\u4e86scatter-and-gather\u67e5\u8be2\uff0c\u4ee5\u51c6\u786e\u5730\u63a2\u6d4b\u5185\u5bb9\u548c\u4f4d\u7f6e\u4fe1\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u73af\u89c6Camera-to-BEV\u8f6c\u6362<\/strong><\/h3>\n\n\n\n<p>\u9ad8\u6e05\u5730\u56fe\u901a\u5e38\u662f\u5728BEV\u89c6\u56fe\u4e0b\u6784\u5efa\u7684\uff0c\u56e0\u6b64\u5728\u7ebf\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u5c06\u6444\u50cf\u673a\u89c6\u89d2\u7684\u89c6\u89c9\u7279\u5f81\u8f6c\u6362\u4e3aBEV\u7a7a\u95f4\u3002LSS\u5229\u7528\u6f5c\u5728\u6df1\u5ea6\u5206\u5e03\u5c062D\u56fe\u50cf\u7279\u5f81\u63d0\u5347\u52303D\u7a7a\u95f4\uff0c\u5e76\u5728\u7a0d\u540e\u4f7f\u7528\u6c60\u5316\u6765\u805a\u5408\u5230BEV\u7279\u5f81\u3002BEVformer\u4f9d\u8d56\u4e8etransformer\u67b6\u6784\uff0c\u5e76\u57fa\u4e8e\u89c6\u89c9\u6295\u5f71\u8bbe\u8ba1\u7a7a\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\u3002\u4e0eBEVformer\u4e2d\u4f7f\u7528\u7684\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u4e0d\u540c\uff0cGKT\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u51e0\u4f55\u5f15\u5bfc\u7684\u5185\u6838Transformer\u3002\u6b64\u5916\uff0c\u8fd8\u5bf9\u65f6\u95f4\u4fe1\u606f\u8fdb\u884c\u4e86\u63a2\u7d22\uff0c\u4ee5\u66f4\u597d\u5730\u5b66\u4e60BEV\u7279\u5f81\u3002\u6240\u6709\u8fd9\u4e9b\u65b9\u6cd5\u90fd\u53ef\u4ee5\u6709\u6548\u5730\u4ea7\u751fBEV\u7279\u5f81\uff0c\u5e76\u4e14\u6211\u4eec\u63d0\u51fa\u7684\u89e3\u7801\u5668\u4e0e\u6240\u6709\u8fd9\u4e9b\u65b9\u6cd5\u517c\u5bb9\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Detection Transformers<\/strong><\/h3>\n\n\n\n<p>DETR\u6784\u5efa\u4e86\u7b2c\u4e00\u4e2a\u5e26\u6709Transformer\u7684\u7aef\u5230\u7aef\u5bf9\u8c61\u68c0\u6d4b\u5668\uff0c\u6d88\u9664\u4e86\u5bf9\u8bb8\u591a\u624b\u5de5\u8bbe\u8ba1\u7ec4\u4ef6\u7684\u9700\u6c42\u3002\u5728\u5bf9\u8c61\u68c0\u6d4b\u4efb\u52a1\u4e2d\uff0c\u5b83\u5c06\u5bf9\u8c61\u6846\u8868\u793a\u4e3a\u4e00\u7ec4\u67e5\u8be2\uff0c\u5e76\u76f4\u63a5\u4f7f\u7528Transformer\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\u5c06\u67e5\u8be2\u4e0e\u56fe\u50cf\u4ea4\u4e92\uff0c\u4ee5\u9884\u6d4b\u8fb9\u754c\u6846\u96c6\u3002\u968f\u540e\u7684\u5de5\u4f5c\u8fdb\u4e00\u6b65\u4f18\u5316\u4e86\u8fd9\u79cd\u8303\u5f0f\u548c\u6027\u80fd\u3002\u5728\u53ef\u53d8\u5f62DETR\u4e2d\uff0c\u5f15\u5165\u4e86\u591a\u5c3a\u5ea6\u7279\u5f81\uff0c\u4ee5\u89e3\u51b3\u666e\u901aDETR\u5bf9\u5c0f\u7269\u4f53\u68c0\u6d4b\u7ed3\u679c\u8f83\u5dee\u7684\u95ee\u9898\u3002\u5728Conditional DETR\u548cDAB-DETR\u4e2d\uff0c\u901a\u8fc7\u5411\u53ef\u5b66\u4e60\u67e5\u8be2\u6dfb\u52a0\u4f4d\u7f6e\u5d4c\u5165\u6765\u52a0\u901fDETR\u7684\u6536\u655b\u3002\u5728DN-DETR\u548cDINO\u4e2d\uff0c\u5c06\u5e26\u6709\u566a\u58f0\u7684\u5b9e\u9645\u76d2\u5b50\u8f93\u5165\u5230\u89e3\u7801\u5668\u4e2d\uff0c\u4ece\u800c\u5efa\u7acb\u66f4\u7a33\u5b9a\u7684\u914d\u5bf9\u5173\u7cfb\u4ee5\u52a0\u901f\u6536\u655b\u3002DETR\u7684\u8303\u5f0f\u5df2\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5bf9\u8c61\u68c0\u6d4b\u4efb\u52a1\u4ee5\u5916\u7684\u9886\u57df\u3002\u4f8b\u5982\uff0c\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u901a\u5e38\u91c7\u7528\u7c7b\u4f3cDETR\u7684\u6a21\u578b\u3002\u6211\u4eec\u7684\u6a21\u578b\u4e5f\u662f\u4e00\u4e2a\u7c7b\u4f3cDETR\u7684\u6a21\u578b\u3002\u5229\u7528\u5730\u56fe\u5143\u7d20\u7684\u70b9\u96c6\u8868\u793a\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u53ef\u4ee5\u5728Transformer\u89e3\u7801\u5668\u4e2d\u5206\u6563\u548c\u805a\u96c6\u7684\u67e5\u8be2\uff0c\u5e76\u5c06\u4f4d\u7f6e\u4fe1\u606f\u96c6\u6210\u5230\u67e5\u8be2\u7684\u521d\u59cb\u5316\u4e2d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u8be6\u89e3MapQR<\/strong><strong><\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6574\u4f53\u67b6\u6784<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"891\" height=\"308\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-19.png\" alt=\"\" class=\"wp-image-8480\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-19.png 891w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-19-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-19-768x265.png 768w\" sizes=\"(max-width: 891px) 100vw, 891px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u65b9\u6cd5\u7684\u6a21\u578b\u4ee5\u73af\u89c6\u56fe\u50cf\u5e8f\u5217\u4e3a\u8f93\u5165\uff0c\u7aef\u5230\u7aef\u5730\u6784\u5efaHD\u5730\u56fe\uff0c\u76ee\u7684\u662f\u751f\u6210\u9884\u6d4b\u70b9\u96c6\u6765\u8868\u793a\u5730\u56fe\u5143\u7d20\u7684\u5b9e\u4f8b\u3002\u5730\u56fe\u5143\u7d20\u7684\u6bcf\u4e2a\u5b9e\u4f8b\u5305\u62ec\u7c7b\u6807\u7b7e\u548c\u4e00\u7ec4\u9884\u6d4b\u70b9\u3002\u6bcf\u4e2a\u9884\u6d4b\u70b9\u90fd\u5305\u62ec\u660e\u786e\u7684\u4f4d\u7f6e\u4fe1\u606f\uff0c\u4ee5\u521b\u5efa\u8868\u793a\u5b9e\u4f8b\u7684\u5f62\u72b6\u548c\u4f4d\u7f6e\u7684\u591a\u6bb5\u7ebf\u3002\u6211\u4eec\u7684\u6a21\u578b\u7684\u603b\u4f53\u67b6\u6784\u5982\u56fe2\u6240\u793a\uff0c\u5728\u7ed3\u6784\u4e0a\u4e0e\u5176\u4ed6\u7aef\u5230\u7aef\u6a21\u578b\u76f8\u4f3c\u3002<\/p>\n\n\n\n<p>\u5c06\u73af\u89c6\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u6211\u4eec\u9996\u5148\u901a\u8fc7\u5171\u4eab\u76842D\u4e3b\u5e72\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\u3002\u76f8\u673a\u7684\u900f\u89c6\u56fe\uff08PV\uff09\u7684\u8fd9\u4e9b\u56fe\u50cf\u7279\u5f81\u901a\u8fc7\u9988\u9001\u5230\u89c6\u56fe\u8f6c\u6362\u6a21\u5757\uff08\u901a\u5e38\u79f0\u4e3aBEV\u7f16\u7801\u5668\uff09\u4e2d\u800c\u88ab\u8f6c\u6362\u4e3aBEV\u8868\u793a\u3002\u6240\u5f97\u5230\u7684BEV\u7279\u5f81\u8868\u793a\u4e3aFbev\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Decoder with Scatter-and-Gather Query<\/strong><\/h3>\n\n\n\n<p>\u8be5\u67b6\u6784\u7684\u89e3\u7801\u5668\u662f\u6211\u4eec\u7684\u6838\u5fc3\u8bbe\u8ba1\uff0c\u7531\u5806\u53e0\u7684transformer\u5c42\u7ec4\u6210\uff0c\u5176\u7ec6\u8282\u5982\u56fe3\u6240\u793a\u3002\u6211\u4eec\u7684\u89e3\u7801\u5668\u7684\u6539\u8fdb\u4e3b\u8981\u56f4\u7ed5\u7740\u67e5\u8be2\u8bbe\u8ba1\uff0c\u5305\u62ecScatter-and-Gather Query\u53ca\u5176\u517c\u5bb9\u7684\u4f4d\u7f6e\u5d4c\u5165\u3002<\/p>\n\n\n\n<p><strong>Scatter-and-Gather Query<\/strong>\u3002\u5728\u6211\u4eec\u7684\u65b9\u6cd5\u4e2d\uff0c\u6211\u4eec\u5efa\u8bae\u53ea\u4f7f\u7528\u4e00\u79cd\u67e5\u8be2\u7c7b\u578b\uff0c\u5373\u5b9e\u4f8b\u67e5\u8be2\uff0c\u4f5c\u4e3a\u89e3\u7801\u5668\u7684\u8f93\u5165\u3002\u6211\u4eec\u5b9a\u4e49\u4e86\u4e00\u7ec4\u5b9e\u4f8b\u67e5\u8be2\uff0c\u6bcf\u4e2a\u5730\u56fe\u5143\u7d20\uff08\u7d22\u5f15\u4e3ai\uff09\u5bf9\u5e94\u4e8e\u4e00\u4e2a\u5b9e\u4f8b\u67e5\u8be2q\u3002N\u8868\u793a\u5b9e\u4f8b\u67e5\u8be2\u7684\u6570\u91cf\uff0c\u914d\u7f6e\u4e3a\u8d85\u8fc7\u573a\u666f\u4e2d\u5448\u73b0\u7684\u5730\u56fe\u5143\u7d20\u7684\u5178\u578b\u6570\u91cf\u3002\u7b97\u5b50scatter\u83b7\u53d6\u8f93\u5165\u6570\u636e\u5411\u91cf\uff0c\u5e76\u5c06\u5176\u590d\u5236\u5230\u591a\u4e2a\u526f\u672c\u4e2d\u3002\u516c\u5f0f\u5316\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"274\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-20.png\" alt=\"\" class=\"wp-image-8481\"\/><\/figure>\n\n\n\n<p>\u7ecf\u8fc7\u8f6c\u6362\u5668\u5c42\u540e\uff0c\u4f7f\u7528\u805a\u96c6\u64cd\u4f5c\u7b26\u5c06\u5206\u6563\u7684\u67e5\u8be2\u805a\u5408\u4e3a\u5355\u4e2a\u5b9e\u4f8b\u67e5\u8be2\uff0c\u8be5\u64cd\u4f5c\u7b26\u7531MLP\u7ec4\u6210\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"324\" height=\"32\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-21.png\" alt=\"\" class=\"wp-image-8482\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-21.png 324w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-21-300x30.png 300w\" sizes=\"(max-width: 324px) 100vw, 324px\" \/><\/figure>\n\n\n\n<p>\u4e00\u4e2a\u5b8c\u6574\u7684\u89e3\u7801\u5668\u5c42\u7531\u4e00\u4e2a\u81ea\u6ce8\u610f\u529b\uff08SA\uff09\u6a21\u5757\u548c\u4e00\u4e2a\u4ea4\u53c9\u6ce8\u610f\uff08CA\uff09\u6a21\u5757\u7ec4\u6210\u3002\u5728\u6bcf\u4e2a\u89e3\u7801\u5668\u5c42\u4e2d\uff0c\u81ea\u6ce8\u610f\u7528\u4e8e\u5728\u5b9e\u4f8b\u67e5\u8be2\u4e4b\u95f4\u4ea4\u6362\u4fe1\u606f\u3002\u81ea\u5173\u6ce8\u7684\u8f93\u51fa\u5206\u6563\u6210\u591a\u4e2a\u526f\u672c\uff0c\u5373\u5206\u6563\u67e5\u8be2\uff0c\u5e76\u7528\u4f5c\u4ea4\u53c9\u5173\u6ce8\u7684\u8f93\u5165\u3002\u5229\u7528BEV\u7279\u5f81\u8ba1\u7b97\u6ce8\u610f\u529b\u5f97\u5206\uff0c\u4ee5\u53d6\u6837\u6765\u81eaBEV\u7a7a\u95f4\u7684\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u4e0eMapTR\u7cfb\u5217\u76f8\u6bd4\uff0c\u6240\u63d0\u51fa\u7684\u89e3\u7801\u5668\u7684\u8be6\u7ec6\u67b6\u6784\u5982\u56fe3\u6240\u793a\u3002MapTR\u4f7f\u7528\u70b9\u67e5\u8be2\u4f5c\u4e3a\u89e3\u7801\u5668\u5c42\u7684\u8f93\u5165\uff0c\u5e76\u8ba1\u7b97\u5b83\u4eec\u4e4b\u95f4\u7684\u81ea\u6ce8\u610f\u529b\u5206\u6570\u3002\u8fd9\u4f7f\u5f97\u81ea\u6ce8\u610f\u529b\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u6bd4\u6211\u4eec\u7684\u6a21\u578b\u9ad8\u5f97\u591a\uff0c\u56e0\u4e3a\u6d89\u53ca\u7684\u67e5\u8be2\u8981\u591a\u5f97\u591a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"753\" height=\"376\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-22.png\" alt=\"\" class=\"wp-image-8483\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-22.png 753w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-22-300x150.png 300w\" sizes=\"(max-width: 753px) 100vw, 753px\" \/><\/figure>\n\n\n\n<p>\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6240\u63d0\u51fa\u7684\u67e5\u8be2\u8bbe\u8ba1\u53ef\u4ee5\u786e\u4fdd\u540c\u4e00\u5730\u56fe\u5143\u7d20\u4e2d\u5185\u5bb9\u7684\u4e00\u81f4\u6027\u3002\u540c\u65f6\uff0c\u8fd9\u79cd\u8bbe\u8ba1\u51cf\u5c11\u4e86\u67e5\u8be2\u6b21\u6570\uff0c\u4ee5\u51cf\u5c11\u81ea\u5173\u6ce8\u7684\u8ba1\u7b97\u6d88\u8017\u3002\u56e0\u6b64\uff0c\u5b83\u5141\u8bb8\u53c2\u4e0e\u66f4\u591a\u7684\u5b9e\u4f8b\u67e5\u8be2\uff0c\u800c\u4e0d\u4f1a\u663e\u8457\u589e\u52a0\u5185\u5b58\u6d88\u8017\u3002\u8be6\u7ec6\u7684\u5b9e\u9a8c\u7ed3\u679c\u89c1\u88684\u3002<\/p>\n\n\n\n<p><strong>\u4f4d\u7f6e\u5d4c\u5165<\/strong>\u3002\u5982\u56fe3\u6240\u793a\uff0c\u6211\u4eec\u6a21\u578b\u7684\u89e3\u7801\u5668\u4e0e\u5176\u4ed6SOTA\u6a21\u578b\u4e4b\u95f4\u7684\u53e6\u4e00\u4e2a\u5173\u952e\u533a\u522b\u662f\u4f4d\u7f6e\u5d4c\u5165\u7684\u4f7f\u7528\u3002\u5982DAB-DETR\u6240\u793a\uff0c\u67e5\u8be2\u7531\u5185\u5bb9\u90e8\u5206\u548c\u4f4d\u7f6e\u90e8\u5206\u7ec4\u6210\u3002\u901a\u8fc7\u8bbe\u8ba1\u5b9e\u4f8b\u67e5\u8be2\u7684\u5206\u6563\u548c\u805a\u96c6\u65b9\u6848\uff0c\u540c\u4e00\u5730\u56fe\u5143\u7d20\u5bf9\u5e94\u7684\u5206\u6563\u67e5\u8be2\u53ef\u4ee5\u5171\u4eab\u5185\u5bb9\u4fe1\u606f\u3002\u90a3\u4e48\u53e6\u4e00\u4e2a\u503c\u5f97\u63a2\u7d22\u7684\u65b9\u9762\u5e94\u8be5\u662f\u4f4d\u7f6e\u4fe1\u606f\u3002\u5728Conditional DETR\u548cDAB-DETR\u4e2d\uff0c\u4f4d\u7f6e\u90e8\u5206\u662f\u6839\u636e\u53c2\u8003\u70b9\u6216\u6846\u5750\u6807\u663e\u5f0f\u7f16\u7801\u7684\uff0c\u56e0\u6b64\u5b83\u4e0d\u4e0e\u5185\u5bb9\u90e8\u5206\u8026\u5408\uff0c\u5e76\u6709\u52a9\u4e8e\u5206\u522b\u5bf9\u4e24\u4e2a\u90e8\u5206\u8fdb\u884c\u5b66\u4e60\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u7684\u70b9\u96c6\u8868\u793a\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u66f4\u5408\u9002\u7684\u4f4d\u7f6e\u5d4c\u5165\u65b9\u5f0f\uff0c\u5982\u56fe3\u6240\u793a\u3002\u5728\u89e3\u7801\u5668\u5c42\u4e2d\uff0c\u6bcf\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u7ecf\u8fc7\u81ea\u5173\u6ce8\u6a21\u5757\u540e\u88ab\u5206\u6563\u4e3an\u4e2a\u5206\u6563\u7684\u67e5\u8be2\u3002\u6bcf\u4e2a\u5206\u6563\u7684\u67e5\u8be2\u4ece\u5176\u53c2\u8003\u70b9\u6dfb\u52a0\u4e0d\u540c\u7684\u4f4d\u7f6e\u5d4c\u5165\u3002\u4f4d\u7f6e\u5d4c\u5165\u5206\u6563\u67e5\u8be2\u662f\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u751f\u6210\u7684\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"257\" height=\"30\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-23.png\" alt=\"\" class=\"wp-image-8484\"\/><\/figure>\n\n\n\n<p>\u6211\u4eec\u4ee5\u4e0eDAB-DETR\u76f8\u540c\u7684\u65b9\u5f0f\u91cd\u8f7dPE\u8fd0\u7b97\u7b26\u6765\u8ba1\u7b97\u4f4d\u7f6e\u7f16\u7801\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"323\" height=\"22\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-24.png\" alt=\"\" class=\"wp-image-8485\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-24.png 323w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-24-300x20.png 300w\" sizes=\"(max-width: 323px) 100vw, 323px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u8fd8\u5c1d\u8bd5\u5728\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u4e4b\u524d\u5c06\u4f4d\u7f6e\u5d4c\u5165\u6dfb\u52a0\u5230\u5b9e\u4f8b\u67e5\u8be2\u4e2d\uff0c\u4f8b\u5982\u4f7f\u7528\u53ef\u5b66\u4e60\u67e5\u8be2\u6216\u4ece\u8986\u76d6\u53c2\u8003\u70b9\u96c6\u7684\u6700\u5c0f\u7ed1\u5b9a\u6846\u8fdb\u884c\u7f16\u7801\u3002\u7136\u800c\uff0c\u5b83\u6ca1\u6709\u53d6\u5f97\u79ef\u6781\u6210\u679c\uff0c\u8fd9\u4e9b\u6210\u679c\u5df2\u5217\u5165\u8865\u5145\u6750\u6599\u3002\u56e0\u6b64\uff0c\u5728\u6211\u4eec\u7684\u6a21\u578b\u4e2d\u6392\u9664\u4e86\u5b9e\u4f8b\u67e5\u8be2\u7684\u4f4d\u7f6e\u5d4c\u5165\u3002<\/p>\n\n\n\n<p>\u603b\u4e4b\uff0cscatter-and-collection\u67e5\u8be2\u673a\u5236\u4e2d\u7b2ci\u4e2a\u5b9e\u4f8b\u67e5\u8be2\u7684\u8ba1\u7b97\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"366\" height=\"54\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-25.png\" alt=\"\" class=\"wp-image-8486\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-25.png 366w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-25-300x44.png 300w\" sizes=\"(max-width: 366px) 100vw, 366px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>BEV Encoder: GKT with Flexible Height<\/strong><\/h3>\n\n\n\n<p>BEV\u7f16\u7801\u5668\u5b66\u4e60\u9690\u5f0f\u6216\u663e\u5f0f\u5730\u9002\u5e943D\u7a7a\u95f4\u3002\u4f8b\u5982\uff0cBEVFormer\u4e3a\u6bcf\u4e2aBEV\u67e5\u8be2\u4ece\u56fa\u5b9a\u9ad8\u5ea6\u91c7\u68373D\u53c2\u8003\u70b9\uff0c\u540c\u65f6\u4ece\u6295\u5f71\u76842D\u4f4d\u7f6e\u5b66\u4e60\u53ef\u9002\u5e94\u7684\u504f\u79fb\u3002\u4e0eBEVFormer\u7c7b\u4f3c\uff0cGKT\u4f7f\u7528\u56fa\u5b9a\u7684\u5185\u6838\u6765\u63d0\u53d6\u6295\u5f71\u76842D\u56fe\u50cf\u4f4d\u7f6e\u5468\u56f4\u7684\u7279\u5f81\u3002\u7531\u4e8eGKT\u4f9d\u8d56\u4e8e\u56fa\u5b9a\u7684\u4e09\u7ef4\u53d8\u6362\uff0c\u56e0\u6b64\u7f3a\u4e4f\u4e00\u5b9a\u7684\u7075\u6d3b\u6027\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u4e0eBEVFormer\u76f8\u6bd4\uff0c\u5b83\u4ecd\u5177\u6709\u663e\u8457\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u4e00\u6b65\u589e\u52a0GKT\u7684\u7075\u6d3b\u6027\uff0c\u6211\u4eec\u5728\u4e3a\u6bcf\u4e2aBEV\u67e5\u8be2\u751f\u62103D\u53c2\u8003\u70b9\u65f6\u9884\u6d4b\u5230\u539f\u59cb\u56fa\u5b9a\u9ad8\u5ea6\u7684\u81ea\u9002\u5e94\u9ad8\u5ea6\u504f\u79fb\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"267\" height=\"33\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-26.png\" alt=\"\" class=\"wp-image-8487\"\/><\/figure>\n\n\n\n<p>\u5728\u6295\u5f71\u52302D\u56fe\u50cf\u4e4b\u540e\uff0c\u6211\u4eec\u4ecd\u7136\u4f7f\u7528\u56fa\u5b9a\u7684kernel\u6765\u63d0\u53d6\u7279\u5f81\u3002\u6211\u4eec\u53d1\u73b0\u8fd9\u79cd\u7b80\u5355\u7684\u4fee\u6539\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u9884\u6d4b\u7ed3\u679c\u3002\u5b83\u751a\u81f3\u4f18\u4e8e\u5728MapTRv2\u4e2d\u4f7f\u7528\u8f85\u52a9\u6df1\u5ea6\u635f\u5931\u7684BEVPoolv2\u3002\u5b9e\u9a8c\u8bc1\u660e\u4e86\u5b83\u5728\u70e7\u8680\u7814\u7a76\u4e2d\u7684\u4f18\u8d8a\u6027\u3002\u6211\u4eec\u5c06\u8fd9\u79cd\u6539\u8fdb\u7684GKT\u8868\u793a\u4e3aGKT-h\uff0c\u5176\u4e2d\u540e\u7f00\u201ch\u201d\u8868\u793a\u9ad8\u5ea6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5339\u914d\u635f\u5931\u548c\u8bad\u7ec3\u635f\u5931<\/strong><\/h3>\n\n\n\n<p>\u5339\u914d\u635f\u5931\u548cmapTR\u4fdd\u6301\u4e00\u81f4\uff0c\u8bad\u7ec3\u635f\u5931\u4e0eMapTRv2\u4fdd\u6301\u4e00\u81f4\u3002<\/p>\n\n\n\n<p>\u7531\u4e8e\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u4e3b\u8981\u4f7f\u7528\u4e00\u79cd\u65b0\u9896\u7684\u67e5\u8be2\u8bbe\u8ba1\uff0c\u6211\u4eec\u5c06\u6240\u63d0\u51fa\u7684\u65b9\u5f0f\uff08\u5206\u6563\u548c\u805a\u96c6\u67e5\u8be2+\u4f4d\u7f6e\u5d4c\u5165+GKT-h\uff09\u79f0\u4e3aMapQR\u3002\u8fd9\u91cc\u7684QR\u662f\u67e5\u8be2\u7684\u7f29\u5199\u3002\u6709\u65f6\u6211\u4eec\u8fd8\u60f3\u5f3a\u8c03\u6838\u5fc3\u8d21\u732e\u7684\u5927\u5c0f\uff0c\u5373\u5177\u6709\u4f4d\u7f6e\u5d4c\u5165\u7684\u5206\u6563\u548c\u805a\u96c6\u67e5\u8be2\u3002\u8be5\u90e8\u5206\u7b80\u79f0\u4e3aSGQ\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u5b9e\u9a8c<\/strong><strong><\/strong><\/h2>\n\n\n\n<p><strong>nuScenes\u6548\u679c<\/strong>\u3002\u5728\u4e4b\u524d\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u4e4b\u540e\uff0c\u901a\u8fc7\u4e0d\u540c\u7684\u65b9\u6cd5\u9884\u6d4b2D\u77e2\u91cf\u5316\u5730\u56fe\u5143\u7d20\u3002\u5b9e\u9a8c\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u76f8\u540c\u7684\u8bbe\u7f6e\uff08\u5373\u4e3b\u5e72\u548c\u8bad\u7ec3\u65f6\u671f\uff09\u4e0b\uff0c\u6240\u63d0\u51fa\u7684MapQR\u5728mAP1\u548cmAP2\u65b9\u9762\u90fd\u4ee5\u5f88\u5927\u7684\u4f18\u52bf\u4f18\u4e8e\u6240\u6709\u5176\u4ed6SOTA\u65b9\u6cd5\u3002\u4e0eMapTR\u548cMapTRv2\u76f8\u6bd4\uff0cBeMapNet\u548cPivotNet\u7531\u4e8e\u5176\u7cbe\u7ec6\u7684\u5efa\u6a21\uff0c\u5728\u8f83\u5c0f\u7684\u9608\u503c\uff08\u5373mAP1\uff09\u4e0b\u83b7\u5f97\u4e86\u66f4\u597d\u7684\u7ed3\u679c\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u4e0d\u9700\u8981\u5bf9\u5730\u56fe\u5143\u7d20\u8fdb\u884c\u7cbe\u7ec6\u5efa\u6a21\u7684\u60c5\u51b5\u4e0b\u53ef\u4ee5\u4f18\u4e8e\u6240\u6709\u8fd9\u4e9b\u65b9\u6cd5\u3002\u8fd9\u610f\u5473\u7740\u6211\u4eec\u7684\u5b9e\u4f8b\u67e5\u8be2\u548c\u6539\u8fdb\u7684\u7f16\u7801\u5668\u6709\u5229\u4e8e\u66f4\u51c6\u786e\u7684\u9884\u6d4b\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u7684\u63a8\u7406\u901f\u5ea6\u7ea6\u4e3a18FPS\uff0c\u6ee1\u8db3\u4e86\u8bb8\u591a\u573a\u666f\u7684\u6548\u7387\u8981\u6c42\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6240\u63d0\u51fa\u7684SGQ\u89e3\u7801\u5668\u7684\u6709\u6548\u6027\uff0c\u5b83\u88ab\u96c6\u6210\u5230MapTR\u548cMapTRv2\u4e2d\uff0c\u5e76\u4e14\u9664\u4e86\u89e3\u7801\u5668\u4e4b\u5916\u7684\u6240\u6709\u5176\u4ed6\u8bbe\u7f6e\u90fd\u4fdd\u6301\u4e0d\u53d8\u3002\u76f8\u5e94\u7684\u65b9\u6cd5\u5206\u522b\u8868\u793a\u4e3aMapTR+SGQ\u548cMapTRv2+SGQ\u3002\u5b83\u4eec\u7684\u6027\u80fd\u548c\u76f8\u5bf9\u6539\u8fdb\u4e5f\u5217\u5728\u88681\u4e2d\u3002\u5bf9\u4e8eMapTR+SGQ\uff0c\u5f53\u4f7f\u7528ResNet50\u8bad\u7ec324\u4e2a\u65f6\u671f\u65f6\uff0c\u6211\u4eec\u7684\u89e3\u7801\u5668\u6709\u52a9\u4e8e\u63d0\u9ad8\u4e24\u4e2a\u9608\u503c\u76847.0%mAP\u4ee5\u4e0a\u3002\u5728\u5176\u4ed6\u8bbe\u7f6e\u4e0b\uff0cSGQ\u89e3\u7801\u5668\u4e5f\u53ef\u4ee5\u663e\u8457\u589e\u5f3aMapTR\u3002\u867d\u7136MapTRv2\u5728\u89e3\u7801\u5668\u4e2d\u4f7f\u7528\u89e3\u8026\u7684\u81ea\u6ce8\u610f\u548c\u4e00\u4e9b\u8f85\u52a9\u76d1\u7763\u6765\u6539\u5584\u7ed3\u679c\uff0c\u4f46\u7b80\u5355\u5730\u7528\u6211\u4eec\u7684\u89e3\u7801\u5668\u66ff\u6362\u5b83\u4eec\u7684\u89e3\u7801\u5668\u4ecd\u7136\u53ef\u4ee5\u66f4\u8fdb\u4e00\u6b65\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u5728\u66f4\u4e25\u683c\u9608\u503c\u4e0b\u7684\u8bc4\u4f30\u3002\u5bf9\u4e8e\u63a8\u7406\u901f\u5ea6\uff0c\u4e0e\u539f\u59cb\u7684MapTR\u6216MapTRv2\u76f8\u6bd4\uff0c\u5f15\u5165\u6211\u4eec\u7684\u89e3\u7801\u5668\u53ea\u4f1a\u7a0d\u5fae\u6162\u4e00\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"767\" height=\"552\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-27.png\" alt=\"\" class=\"wp-image-8488\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-27.png 767w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-27-300x216.png 300w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/figure>\n\n\n\n<p>\u4e00\u4e9b\u5b9a\u6027\u7ed3\u679c\u5982\u56fe4\u6240\u793a\u3002\u5728\u7b2c\u4e00\u884c\u4e2d\uff0c\u6bd4\u8f83\u65b9\u6cd5\u5bf9\u4e8e\u524d\u5411\u611f\u6d4b\u5177\u6709\u53ef\u63a5\u53d7\u7684\u7ed3\u679c\uff0c\u800c\u53ea\u6709\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5bf9\u4e8e\u73af\u89c6\u611f\u77e5\u83b7\u5f97\u4e86\u4ee4\u4eba\u6ee1\u610f\u7684\u7ed3\u679c\u3002\u7b2c\u4e8c\u884c\u5c55\u793a\u4e86\u4e00\u4e2a\u590d\u6742\u7684\u4ea4\u53c9\u573a\u666f\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u6bd4\u6bd4\u8f83\u65b9\u6cd5\u83b7\u5f97\u4e86\u66f4\u4ee4\u4eba\u6ee1\u610f\u7684\u7ed3\u679c\u3002\u66f4\u591a\u7684\u7ed3\u679c\u53ef\u4ee5\u5728\u8865\u5145\u6750\u6599\u4e2d\u627e\u5230\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"888\" height=\"483\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-28.png\" alt=\"\" class=\"wp-image-8489\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-28.png 888w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-28-300x163.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-28-768x418.png 768w\" sizes=\"(max-width: 888px) 100vw, 888px\" \/><\/figure>\n\n\n\n<p><strong>Argoverse 2\u7684\u7ed3\u679c<\/strong>\u3002\u5728\u88682\u4e2d\uff0c\u6211\u4eec\u63d0\u4f9b\u4e86Argoverse 2\u7684\u5b9e\u9a8c\u7ed3\u679c\u3002\u8fd9\u4e9b\u6d4b\u8bd5\u90fd\u662f\u4ee5ResNet50\u4e3a\u9aa8\u5e72\u8bad\u7ec3\u76846\u4e2a\u65f6\u671f\u3002\u7531\u4e8eArgoverse 2\u63d0\u4f9b3D\u77e2\u91cf\u5316\u5730\u56fe\u5143\u7d20\u4f5c\u4e3a\u5730\u9762\u5b9e\u51b5\uff0c\u56e0\u6b64\u53ef\u4ee5\u50cfMapTRv2\u4e2d\u90a3\u6837\u76f4\u63a5\u9884\u6d4b3D\u5730\u56fe\u5143\u7d20\uff08dim\uff1d3\uff09\u3002\u5bf9\u4e8e2D\u548c3D\u9884\u6d4b\uff0c\u6240\u63d0\u51fa\u7684MapQR\u90fd\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u5c24\u5176\u662f\u5bf9\u4e8e\u66f4\u4e25\u683c\u7684\u9608\u503c\uff08mAP1\uff09\u3002\u8865\u5145\u6750\u6599\u4e2d\u5305\u542b\u4e86\u66f4\u8be6\u7ec6\u7684\u5b9e\u9a8c\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"358\" height=\"244\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-29.png\" alt=\"\" class=\"wp-image-8490\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-29.png 358w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-29-300x204.png 300w\" sizes=\"(max-width: 358px) 100vw, 358px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"360\" height=\"179\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-30.png\" alt=\"\" class=\"wp-image-8491\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-30.png 360w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-30-300x149.png 300w\" sizes=\"(max-width: 360px) 100vw, 360px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"364\" height=\"480\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-31.png\" alt=\"\" class=\"wp-image-8492\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-31.png 364w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-31-228x300.png 228w\" sizes=\"(max-width: 364px) 100vw, 364px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"364\" height=\"480\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-32.png\" alt=\"\" class=\"wp-image-8493\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-32.png 364w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-32-228x300.png 228w\" sizes=\"(max-width: 364px) 100vw, 364px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u7ed3\u8bba<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u5728\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u4e2d\u83b7\u5f97\u66f4\u597d\u6027\u80fd\u7684\u67e5\u8be2\u673a\u5236\u3002\u53d7\u7c7bDETR\u4f53\u7cfb\u7ed3\u6784\u524d\u6cbf\u7814\u7a76\u7684\u542f\u53d1\uff0c\u6211\u4eec\u4e3a\u89e3\u7801\u5668\u8bbe\u8ba1\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5206\u6563\u548c\u805a\u96c6\u67e5\u8be2\u3002\u56e0\u6b64\uff0c\u5728\u4ea4\u53c9\u5173\u6ce8\u4e2d\uff0c\u9488\u5bf9\u540c\u4e00\u5b9e\u4f8b\u7684\u6bcf\u4e2a\u70b9\u67e5\u8be2\u5171\u4eab\u5177\u6709\u4e0d\u540c\u4f4d\u7f6e\u4fe1\u606f\u7684\u76f8\u540c\u5185\u5bb9\u4fe1\u606f\uff0c\u8fd9\u4e9b\u4f4d\u7f6e\u4fe1\u606f\u5d4c\u5165\u4e8e\u4e0d\u540c\u7684\u53c2\u8003\u70b9\u3002\u6211\u4eec\u8bc1\u660e\u4e86SOTA\u65b9\u6cd5\u7684\u6027\u80fd\u53ef\u4ee5\u901a\u8fc7\u5c06\u5b83\u4eec\u4e0e\u6211\u4eec\u7684\u89e3\u7f16\u7801\u5668\u76f8\u7ed3\u5408\u6765\u8fdb\u4e00\u6b65\u63d0\u9ad8\u3002\u968f\u7740\u6211\u4eec\u5bf9BEV\u7f16\u7801\u5668\u7684\u6539\u8fdb\uff0c\u6211\u4eec\u7684\u65b0\u6846\u67b6MapQR\u4e5f\u5728nuScenes\u548cArgoverse 2\u4e2d\u83b7\u5f97\u4e86\u6700\u4f73\u7ed3\u679c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u53c2\u8003<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>[1] Leveraging Enhanced Queries of Point Sets for Vectorized Map Construction<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u9ad8\u7cbe\u5730\u56fe\u5728\u5b9a\u4f4d\u548c\u89c4\u5212\u4e2d\u626e\u6f14\u7740\u81f3 [&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-8478","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\/8478"}],"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=8478"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8478\/revisions"}],"predecessor-version":[{"id":8494,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/8478\/revisions\/8494"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=8478"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=8478"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=8478"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}