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CNN\uff0c\u8868\u793a\u4e3a$X_v$={$x_1$,$x_2$,$x_3$&#8230;$x_n$}\uff0c\u5176\u4e2d\u6bcf\u4e2a$x_i$\u8868\u793a\u4e00\u4e2a\u7279\u5f81\u5411\u91cf$x_i$={$s_i$,$v_i$}\u3002$s_i$\u8868\u793a\u4f53\u7d20\u5316\u7acb\u65b9\u4f53\u7684\u4e2d\u5fc3\uff0c\u800c$v_i$\u8868\u793a\u57fa\u4e8e\u7edf\u8ba1\u7684\u5c40\u90e8\u4fe1\u606f\u3002<\/p>\n<p>\u5c40\u90e8\u5bc6\u5ea6\u662f\u4e00\u79cd\u5e38\u7528\u7684\u7279\u5f81\uff0c\u5b83\u7531\u5c40\u90e8\u4f53\u7d20\u4e2d\u76843D\u70b9\u7684\u6570\u91cf\u5b9a\u4e49\u3002\u5c40\u90e8\u504f\u79fb\u901a\u5e38\u5b9a\u4e49\u4e3a\u70b9\u7684\u5b9e\u9645\u5750\u6807\u548c\u5c40\u90e8\u4f53\u7d20\u4e2d\u5fc3\u4e4b\u95f4\u7684\u504f\u79fb\u3002\u8fd8\u6709\u4e00\u4e9b\u5176\u4ed6\u7279\u5f81\u5305\u62ec\u5c40\u90e8\u7ebf\u6027\u548c\u5c40\u90e8\u66f2\u7387\u3002<\/p>\n<p>\u6700\u8fd1\u7684\u5de5\u4f5c\u53ef\u80fd\u8003\u8651\u66f4\u5408\u7406\u7684\u79bb\u6563\u5316\u65b9\u5f0f\uff0c\u5982\u57fa\u4e8e\u5706\u67f1\u4f53\u7684\u4f53\u7d20\u5316\uff0c\u4f46\u4e0e\u4e0a\u9762\u63d0\u5230\u7684\u57fa\u4e8e\u70b9\u7684\u70b9\u4e91\u8868\u793a\u4e0d\u540c\uff0c\u57fa\u4e8e\u4f53\u7d20\u7684\u70b9\u4e91\u8868\u793a\u663e\u7740\u51cf\u5c11\u4e86\u975e\u7ed3\u6784\u5316\u70b9\u4e91\u7684\u5197\u4f59\u3002\u6b64\u5916\uff0c\u80fd\u591f\u4f7f\u75283D\u7a00\u758f\u5377\u79ef\u6280\u672f\uff0c\u611f\u77e5\u4efb\u52a1\u4e0d\u4ec5\u53ef\u4ee5\u83b7\u5f97\u66f4\u5feb\u7684\u8bad\u7ec3\u901f\u5ea6\uff0c\u800c\u4e14\u53ef\u4ee5\u83b7\u5f97\u66f4\u9ad8\u7684\u51c6\u786e\u6027\u3002<\/p>\n<p>\u57fa\u4e8e2D\u6620\u5c04\u7684\u70b9\u4e91\u8868\u793a<\/p>\n<p>\u6709\u4e9b\u5de5\u4f5c\u4e0d\u662f\u63d0\u51fa\u65b0\u7684\u7f51\u7edc\u7ed3\u6784\uff0c\u800c\u662f\u5229\u7528\u590d\u6742\u76842D CNN\u9aa8\u5e72\u6765\u7f16\u7801\u70b9\u4e91\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4ed6\u4eec\u8bd5\u56fe\u5c06LiDAR\u6570\u636e\u6295\u5f71\u5230\u56fe\u50cf\u7a7a\u95f4\u4e2d\uff0c\u4f5c\u4e3a\u4e24\u79cd\u5e38\u89c1\u7c7b\u578b\uff0c\u5305\u62ec\u76f8\u673a\u5e73\u9762\u56fe(CPM)\u548c\u9e1f\u77b0\u56fe(BEV)\u3002<\/p>\n<p>CPM\u53ef\u4ee5\u901a\u8fc7\u5916\u53c2\u6807\u5b9a\u6765\u83b7\u5f97\uff0c\u5c06\u6bcf\u4e2a3D\u70b9$(x,y,z)$\u6295\u5f71\u5230\u76f8\u673a\u5750\u6807\u7cfb$(u,v)$\u4e2d\u3002\u7531\u4e8eCPM\u5177\u6709\u4e0e\u76f8\u673a\u56fe\u50cf\u76f8\u540c\u7684\u683c\u5f0f\uff0c\u5b83\u4eec\u53ef\u4ee5\u81ea\u7136\u5730\u878d\u5408\uff0c\u4f7f\u7528CPM\u4f5c\u4e3a\u989d\u5916\u901a\u9053\u3002\u7136\u800c\uff0c\u7531\u4e8e\u6295\u5f71\u540eLiDAR\u7684\u5206\u8fa8\u7387\u8f83\u4f4e\uff0cCPM\u4e2d\u8bb8\u591a\u50cf\u7d20\u7684\u7279\u5f81\u5df2\u7ecf\u635f\u574f\u3002\u56e0\u6b64\uff0c\u5df2\u7ecf\u63d0\u51fa\u4e86\u4e00\u4e9b\u65b9\u6cd5\u6765\u4e0a\u91c7\u6837\u7279\u5f81\u56fe\uff0c\u800c\u5176\u4ed6\u65b9\u6cd5\u5219\u91c7\u7528\u7559\u7a7a\u7684\u65b9\u5f0f\u3002<\/p>\n<p>\u4e0e\u76f4\u63a5\u5c06LiDAR\u4fe1\u606f\u6295\u5f71\u5230\u524d\u89c6\u56fe\u56fe\u50cf\u7a7a\u95f4\u7684CPM\u4e0d\u540c\uff0cBEV\u6620\u5c04\u63d0\u4f9b\u4e86\u573a\u666f\u7684\u4fef\u89c6\u56fe\u3002\u5b83\u88ab\u68c0\u6d4b\u548c\u5b9a\u4f4d\u4efb\u52a1\u4f7f\u7528\u7684\u539f\u56e0\u6709\u4e24\u70b9\u3002\u9996\u5148\uff0c\u4e0e\u5b89\u88c5\u5728\u6321\u98ce\u73bb\u7483\u540e\u9762\u7684\u76f8\u673a\u4e0d\u540c\uff0c\u5927\u591a\u6570LiDAR\u90fd\u5728\u8f66\u9876\u4e0a\uff0c\u906e\u6321\u8f83\u5c11\u3002\u5176\u6b21\uff0c\u5728BEV\u4e2d\uff0c\u6240\u6709\u7269\u4f53\u90fd\u653e\u5728\u5730\u9762\u4e0a\uff0c\u6a21\u578b\u53ef\u4ee5\u5728\u4e0d\u626d\u66f2\u957f\u5ea6\u548c\u5bbd\u5ea6\u7684\u60c5\u51b5\u4e0b\u751f\u6210\u9884\u6d4b\u3002BEV\u7ec4\u4ef6\u53ef\u80fd\u4f1a\u4e0d\u4e00\u81f4\uff0c\u4e00\u4e9b\u662f\u76f4\u63a5\u4ece\u9ad8\u5ea6\uff0c\u5bc6\u5ea6\u6216\u5f3a\u5ea6\u8f6c\u6362\u4e3a\u57fa\u4e8e\u70b9\u6216\u57fa\u4e8e\u4f53\u7d20\u7684\u7279\u5f81\uff0c\u800c\u5176\u4ed6\u5219\u901a\u8fc7\u7279\u5f81\u63d0\u53d6\u5668\u6a21\u5757\u5728\u67f1\u5b50\u4e2d\u5b66\u4e60LiDAR\u4fe1\u606f\u7684\u7279\u5f81\u3002<\/p>\n<p>\u878d\u5408\u65b9\u6cd5<\/p>\n<p><img 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decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic3.zhimg.com\/v2-9f5c58f5bab3996dbb9c054a4b107f12_b.jpg\" width=\"1854\" data-size=\"normal\" data-rawwidth=\"1854\" data-rawheight=\"1032\" data-original=\"https:\/\/pic3.zhimg.com\/v2-9f5c58f5bab3996dbb9c054a4b107f12_r.jpg\" \/>\u88682. KITTI[26]\u4e2d BEV \u4efb\u52a1\u6d4b\u8bd5\u96c6\u5bf9\u6bd4\u7ed3\u679c<img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-69c301d0cf192e162ce60e35b0a2f074_b.jpg\" width=\"1858\" data-size=\"normal\" data-rawwidth=\"1858\" data-rawheight=\"1106\" data-original=\"https:\/\/pic1.zhimg.com\/v2-69c301d0cf192e162ce60e35b0a2f074_r.jpg\" \/>\u88683. KITTI[26]\u4e2d 3D\u4efb\u52a1\u6d4b\u8bd5\u96c6\u5bf9\u6bd4\u7ed3\u679c<\/p>\n<p>\u5f3a\u878d\u5408<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-5e327a28f4855f36651525ce372a6c73_b.jpg\" width=\"1208\" data-size=\"normal\" data-rawwidth=\"1208\" data-rawheight=\"827\" data-original=\"https:\/\/pic4.zhimg.com\/v2-5e327a28f4855f36651525ce372a6c73_r.jpg\" \/>\u56fe3. 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src=\"https:\/\/pic2.zhimg.com\/v2-b35a3ce75ea659b8fa047fa0f6e363a5_b.jpg\" width=\"775\" data-size=\"normal\" data-rawwidth=\"775\" data-rawheight=\"350\" data-original=\"https:\/\/pic2.zhimg.com\/v2-b35a3ce75ea659b8fa047fa0f6e363a5_r.jpg\" \/>\u56fe4. 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Fusion\u5c063D LiDAR\u70b9\u4e91\u8f6c\u6362\u4e3a2D\u56fe\u50cf\uff0c\u5e76\u5728\u56fe\u50cf\u5206\u652f\u4e2d\u878d\u5408\u7279\u5f81\u7ea7\u8868\u793a\uff0c\u5229\u7528\u6210\u719f\u7684CNN\u6280\u672f\u5b9e\u73b0\u66f4\u597d\u7684\u6027\u80fd\u3002Fast and Accurate 3D Object Detection\u5c06\u539f\u59cbRGB\u50cf\u7d20\u4e0e\u4f53\u7d20\u5316\u5f20\u91cf\u878d\u5408\u5728\u4e00\u8d77\uff0c\u800cKda3d[26]\u5219\u5c06\u4ece\u56fe\u50cf\u5206\u652f\u751f\u6210\u7684\u4f2a\u70b9\u4e91\u4e0eLiDAR\u5206\u652f\u4e2d\u7684\u539f\u59cb\u70b9\u4e91\u76f4\u63a5\u7ec4\u5408\u5728\u4e00\u8d77\uff0c\u5b8c\u6210\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002<\/p>\n<p>\u57fa\u4e8eVoxelNet\u7684MVX-Net\u63d0\u51fa\u4e86\u4e00\u79cd\u70b9\u878d\u5408\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u76f4\u63a5\u5c06\u5bf9\u5e94\u50cf\u7d20\u7684\u56fe\u50cf\u7279\u5f81\u5411\u91cf\u9644\u52a0\u5230\u4f53\u7d20\u5316\u5411\u91cf\u4e0a\u3002PointFusion\u63d0\u51fa\u4e86\u5bc6\u96c6\u878d\u5408\uff0c\u5373\u5c06\u6bcf\u4e2a\u539f\u59cb\u70b9\u4e0e\u56fe\u50cf\u5206\u652f\u4e2d\u7684\u5168\u5c40\u7279\u5f81\u76f8\u9644\u52a0\u3002Multimodal CNN Pedestrian Classification\u4e13\u6ce8\u4e8e\u4f7f\u7528CNN\u8fdb\u884c2D\u884c\u4eba\u68c0\u6d4b\u3002\u4f5c\u4e3a\u65e9\u671f\u878d\u5408\uff0c\u5b83\u5728\u8f93\u5165CNN\u4e4b\u524d\u76f4\u63a5\u878d\u5408\u4e0d\u540c\u5206\u652f\u3002MAFF-Net\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3a\u70b9\u5173\u6ce8\u878d\u5408\u7684\u878d\u5408\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5c06\u56fe\u50cf\u7279\u5f81\u878d\u5408\u5230LiDAR\u70b9\u4e91\u4e2d\u7684\u4f53\u7d20\u5316\u5f20\u91cf\u4e2d\u3002<\/p>\n<p>\u6df1\u5ea6\u878d\u5408<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-ad4c8ed13f1f3f3db515bc3e6385ee70_b.jpg\" width=\"723\" data-size=\"normal\" data-rawwidth=\"723\" data-rawheight=\"319\" data-original=\"https:\/\/pic1.zhimg.com\/v2-ad4c8ed13f1f3f3db515bc3e6385ee70_r.jpg\" \/>\u56fe5. \u6df1\u5ea6\u878d\u5408\u793a\u610f\u56fe<\/p>\n<p>\u6df1\u5ea6\u878d\u5408\u65b9\u6cd5\u5728LiDAR\u5206\u652f\u7684\u7279\u5f81\u5c42\u7ea7\u4e0a\u878d\u5408\u8de8\u6a21\u6001\u6570\u636e\uff0c\u4f46\u5bf9\u56fe\u50cf\u5206\u652f\u8fdb\u884c\u6570\u636e\u5c42\u7ea7\u548c\u7279\u5f81\u5c42\u7ea7\u878d\u5408\u3002\u4f8b\u5982\uff0c\u4e00\u4e9b\u65b9\u6cd5\u4f7f\u7528\u7279\u5f81\u63d0\u53d6\u5668\u5206\u522b\u83b7\u53d6LiDAR\u70b9\u4e91\u548c\u76f8\u673a\u56fe\u50cf\u7684\u5d4c\u5165\uff08embedding\uff09\u8868\u793a\uff0c\u5e76\u901a\u8fc7\u4e00\u7cfb\u5217\u4e0b\u6e38\u6a21\u5757\u878d\u5408\u4e24\u79cd\u6a21\u6001\u7684\u7279\u5f81\u3002\u7136\u800c\uff0c\u4e0e\u5176\u4ed6\u5f3a\u878d\u5408\u65b9\u6cd5\u4e0d\u540c\uff0c\u6df1\u5ea6\u878d\u5408\u6709\u65f6\u4ee5\u7ea7\u8054\u65b9\u5f0f\u878d\u5408\u7279\u5f81\uff0c\u5176\u65e2\u5229\u7528\u539f\u59cb\u4fe1\u606f\uff0c\u53c8\u5229\u7528\u9ad8\u5c42\u8bed\u4e49\u4fe1\u606f\u3002\u6df1\u5ea6\u878d\u5408\u793a\u610f\u56fe\u5982\u56fe5\u6240\u793a\u3002<\/p>\n<p>Pointfusion[33]\u63d0\u51fa\u4e86\u5168\u5c40\u878d\u5408\uff0c\u5c06\u5168\u5c40LiDAR\u7279\u5f81\u4e0e\u56fe\u50cf\u5206\u652f\u4e2d\u7684\u5168\u5c40\u7279\u5f81\u8fdb\u884c\u50cf\u7d20\u7ea7\u76f8\u52a0\u3002MVX-Net[32]\u63d0\u51fa\u4e86\u4f53\u7d20\u878d\u5408\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5c06ROI\u6c60\u5316\u56fe\u50cf\u7279\u5f81\u5411\u91cf\u9644\u52a0\u5230LiDAR\u70b9\u4e91\u4e2d\u6bcf\u4e2a\u4f53\u7d20\u7684\u5bc6\u96c6\u7279\u5f81\u5411\u91cf\u3002MAFF-Net[35]\u63d0\u51fa\u4e86\u53e6\u4e00\u79cd\u540d\u4e3a\u5bc6\u96c6\u5173\u6ce8\u878d\u5408\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u878d\u5408\u4e86\u591a\u4e2a\u5206\u652f\u7684\u4f2a\u56fe\u50cf\u3002SCANet\u63d0\u51fa\u4e86\u4e24\u79cd\u6df1\u5ea6\u878d\u5408\u65b9\u6cd5\u3002EPNet[36]\u662f\u4e00\u79cd\u6df1\u5ea6LIDAR-Image\u878d\u5408\uff0c\u4f30\u7b97\u76f8\u5e94\u56fe\u50cf\u7279\u5f81\u7684\u91cd\u8981\u6027\u4ee5\u51cf\u5c11\u566a\u58f0\u5f71\u54cd\u3002[3]\u5c55\u793a\u4e86\u4e00\u79cd\u6781\u7aef\u5929\u6c14\u4e2d\u7684\u591a\u6a21\u6001\u6570\u636e\u96c6\uff0c\u5e76\u4ee5\u6df1\u5ea6\u878d\u5408\u7684\u65b9\u5f0f\u878d\u5408\u4e86\u6bcf\u4e2a\u5206\u652f\uff0c\u5927\u5927\u63d0\u9ad8\u4e86\u81ea\u52a8\u9a7e\u9a76\u6a21\u578b\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p>\u540e\u671f\u878d\u5408<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic1.zhimg.com\/v2-60dc9e045e8277537d2034c13bf2c96c_b.jpg\" width=\"768\" data-size=\"normal\" data-rawwidth=\"768\" data-rawheight=\"344\" data-original=\"https:\/\/pic1.zhimg.com\/v2-60dc9e045e8277537d2034c13bf2c96c_r.jpg\" \/>\u56fe6. \u540e\u671f\u878d\u5408\u793a\u610f\u56fe<\/p>\n<p>\u540e\u671f\u878d\u5408\uff0c\u4e5f\u53eb\u5bf9\u8c61\u7ea7\u878d\u5408\uff0c\u6307\u7684\u662f\u878d\u5408\u6bcf\u79cd\u6a21\u6001\u7ba1\u9053\u7ed3\u679c\u7684\u65b9\u6cd5\u3002\u4f8b\u5982\uff0c\u4e00\u4e9b\u540e\u671f\u878d\u5408\u65b9\u6cd5\u5229\u7528LiDAR\u70b9\u4e91\u5206\u652f\u548c\u76f8\u673a\u56fe\u50cf\u5206\u652f\u7684\u8f93\u51fa\uff0c\u5e76\u57fa\u4e8e\u4e24\u79cd\u6a21\u6001\u7684\u7ed3\u679c\u8fdb\u884c\u6700\u7ec8\u9884\u6d4b\u3002\u6ce8\u610f\uff0c\u8fd9\u4e24\u4e2a\u5206\u652f\u5efa\u8bae\u5e94\u8be5\u5177\u6709\u4e0e\u6700\u7ec8\u7ed3\u679c\u76f8\u540c\u7684\u6570\u636e\u683c\u5f0f\uff0c\u4f46\u8d28\u91cf\u3001\u6570\u91cf\u548c\u7cbe\u5ea6\u4e0d\u540c\u3002\u540e\u671f\u878d\u5408\u53ef\u4ee5\u88ab\u89c6\u4e3a\u4e00\u79cd\u96c6\u6210\u65b9\u6cd5\uff0c\u5229\u7528\u591a\u6a21\u6001\u4fe1\u606f\u6765\u4f18\u5316\u6700\u7ec8\u7ed3\u679c\u3002\u540e\u671f\u878d\u5408\u793a\u610f\u56fe\u5982\u56fe6\u6240\u793a\u3002\u5982\u4e0a\u6240\u8ff0\uff0c[39]\u5229\u7528\u540e\u671f\u878d\u5408\u6765\u7b2c\u4e8c\u6b21\u7ec6\u5316\u6bcf\u4e2a3D\u533a\u57df\u63d0\u8bae\u7684\u5206\u6570\uff0c\u7ed3\u5408\u56fe\u50cf\u5206\u652f\u4e2d\u76842D\u63d0\u8bae\u548cLiDAR\u5206\u652f\u4e2d\u76843D\u63d0\u8bae\u3002\u6b64\u5916\uff0c\u5bf9\u4e8e\u6bcf\u4e2a\u91cd\u53e0\u533a\u57df\uff0c\u5b83\u4f7f\u7528\u4e86\u7f6e\u4fe1\u5ea6\u5206\u6570\u3001\u8ddd\u79bb\u548cIoU\u7b49\u7edf\u8ba1\u7279\u5f81\u8fdb\u884c\u53bb\u91cd\u3002Multimodal vehicle detection\u4e13\u6ce8\u4e8e2D\u76ee\u6807\u68c0\u6d4b\uff0c\u901a\u8fc7\u7ed3\u5408\u4e86\u4e24\u4e2a\u5206\u652f\u7684\u63d0\u8bae\uff0c\u4ee5\u53ca\u7f6e\u4fe1\u5ea6\u5206\u6570\u7b49\u7279\u5f81\uff0c\u6a21\u578b\u8f93\u51fa\u6700\u7ec8\u7684IoU\u5206\u6570\u3002Road Detection through CRF\u3001multi-modal crf model\u901a\u8fc7\u7ed3\u5408\u5206\u5272\u7ed3\u679c\u6765\u89e3\u51b3\u9053\u8def\u68c0\u6d4b\u95ee\u9898\u3002\u5982[34]\u4e2d\u7684\u540e\u671f\u878d\u5408\uff0c\u5b83\u5c06\u540c\u4e003D\u68c0\u6d4b\u63d0\u8bae\u7684\u4e0d\u540c\u5206\u652f\u7684\u5206\u6570\u8ba1\u7b97\u51fa\u4e00\u4e2a\u6700\u7ec8\u5206\u6570\u3002<\/p>\n<p>\u975e\u5bf9\u79f0\u878d\u5408<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-8996e0785eaf6fbeef0966b33c290c5b_b.jpg\" width=\"718\" data-size=\"normal\" data-rawwidth=\"718\" data-rawheight=\"348\" data-original=\"https:\/\/pic4.zhimg.com\/v2-8996e0785eaf6fbeef0966b33c290c5b_r.jpg\" \/>\u56fe7. \u975e\u5bf9\u79f0\u878d\u5408\u793a\u610f\u56fe<\/p>\n<p>\u9664\u4e86\u65e9\u671f\u878d\u5408\u3001\u6df1\u5ea6\u878d\u5408\u548c\u540e\u671f\u878d\u5408\u4e4b\u5916\uff0c\u4e00\u4e9b\u65b9\u6cd5\u7528\u4e0d\u540c\u7684\u65b9\u5f0f\u6765\u5904\u7406\u8de8\u6a21\u6001\u5206\u652f\uff0c\u56e0\u6b64\u6211\u4eec\u5b9a\u4e49\u4e86\u4ece\u4e00\u4e2a\u5206\u652f\u878d\u5408\u5bf9\u8c61\u7ea7\u4fe1\u606f\uff0c\u800c\u4ece\u5176\u4ed6\u5206\u652f\u878d\u5408\u6570\u636e\u7ea7\u6216\u7279\u5f81\u7ea7\u4fe1\u606f\u7684\u4e0d\u5bf9\u79f0\u878d\u5408\u65b9\u6cd5\u3002\u4e0e\u5f3a\u878d\u5408\u4e2d\u7684\u5176\u4ed6\u65b9\u6cd5\u4e0d\u540c\uff0c\u975e\u5bf9\u79f0\u878d\u5408\u4e2d\u81f3\u5c11\u6709\u4e00\u4e2a\u5206\u652f\u5360\u4e3b\u5bfc\u5730\u4f4d\uff0c\u800c\u5176\u4ed6\u5206\u652f\u63d0\u4f9b\u8f85\u52a9\u4fe1\u606f\u6765\u8fdb\u884c\u6700\u7ec8\u4efb\u52a1\u3002\u975e\u5bf9\u79f0\u878d\u5408\u793a\u610f\u56fe\u5982\u56fe7\u6240\u793a\u3002\u7279\u522b\u662f\u4e0e\u540e\u671f\u878d\u5408\u76f8\u6bd4\uff0c\u5c3d\u7ba1\u5b83\u4eec\u53ef\u80fd\u4f7f\u7528[39]\u63d0\u53d6\u76f8\u540c\u7684\u7279\u5f81\uff0c\u4f46\u975e\u5bf9\u79f0\u878d\u5408\u53ea\u6709\u4e00\u4e2a\u5206\u652f\u7684\u63d0\u8bae\uff0c\u800c\u540e\u671f\u878d\u5408\u6709\u6240\u6709\u5206\u652f\u7684\u63d0\u8bae\u3002<\/p>\n<p>\u8fd9\u79cd\u878d\u5408\u65b9\u6cd5\u662f\u5408\u7406\u7684\uff0c\u56e0\u4e3a\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u5728\u76f8\u673a\u6570\u636e\u4e0a\u7684\u8868\u73b0\u975e\u5e38\u51fa\u8272\uff0c\u5b83\u80fd\u5728\u70b9\u4e91\u4e2d\u8fc7\u6ee4\u8bed\u4e49\u4e0a\u65e0\u7528\u7684\u70b9\uff0c\u5e76\u5728\u9525\u4f53\u89c6\u89d2\u4e0b\u63d0\u53473D LiDAR\u4e3b\u5e72\u7684\u6027\u80fd\uff0c\u5982[9]\u3002\u5b83\u63d0\u53d6\u539f\u59cb\u70b9\u4e91\u4e2d\u7684\u9525\u4f53\uff0c\u5e76\u914d\u5408\u76f8\u5e94\u7684\u50cf\u7d20RGB\u4fe1\u606f\u8f93\u51fa3D\u8fb9\u754c\u6846\u7684\u53c2\u6570\u3002\u7136\u800c\uff0c\u4e00\u4e9b\u5de5\u4f5c\u53e6\u8f9f\u8e4a\u5f84\uff0c\u4f7f\u7528LiDAR\u4e3b\u5e72\u6765\u6307\u5bfc\u591a\u89c6\u56fe\u98ce\u683c\u76842D\u4e3b\u5e72\uff0c\u5e76\u83b7\u5f97\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002virtual multi-view synthesis\u4e13\u6ce8\u4e8e\u57fa\u4e8e3D\u68c0\u6d4b\u63d0\u8bae\u63d0\u53d6\u7684\u591a\u89c6\u56fe\u56fe\u50cf\u7684\u884c\u4eba\u68c0\u6d4b\uff0c\u8fdb\u4e00\u6b65\u4f7f\u7528CNN\u6765\u7ec6\u5316\u5148\u524d\u7684\u63d0\u8bae\u3002[23]\u548cMLOD\u4f7f\u7528\u5176\u4ed6\u5206\u652f\u4e2d\u7684ROI\u7279\u5f81\u6765\u7ec6\u5316\u4ec5\u7531LiDAR\u5206\u652f\u9884\u6d4b\u76843D\u63d0\u8bae\u3002Pose-rcnn\u4e13\u6ce8\u4e8e2D\u68c0\u6d4b\uff0c\u5229\u7528LiDAR\u5206\u652f\u4e2d\u76843D\u533a\u57df\u63d0\u8bae\uff0c\u5e76\u91cd\u65b0\u6295\u5f71\u52302D\u63d0\u8bae\uff0c\u518d\u7ed3\u5408\u56fe\u50cf\u7279\u5f81\u8fdb\u884c\u8fdb\u4e00\u6b65\u7ec6\u5316\u30023D Object Proposals using Stereo Imagery\u901a\u8fc7\u7edf\u8ba1\u548c\u57fa\u4e8e\u89c4\u5219\u7684\u4fe1\u606f\u63d0\u51fa3D\u6f5c\u5728\u8fb9\u754c\u6846\u3002\u7ed3\u5408\u56fe\u50cf\u7279\u5f81\uff0c\u5b83\u8f93\u51fa\u6700\u7ec8\u76843D\u63d0\u8bae\u3002LiDAR guided model\u4e13\u6ce8\u4e8e\u5c0f\u7269\u4f53\u68c0\u6d4b\uff0c\u901a\u8fc7\u7279\u522b\u6536\u96c6\u7684\u6570\u636e\u96c6\u5b9e\u73b0\uff0c\u5b83\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a2D\u8bed\u4e49\u5206\u5272\u4efb\u52a1\uff0c\u7ed3\u5408LiDAR\u7684\u63d0\u8bae\u548c\u539f\u59cbRGB\u56fe\u50cf\u6765\u8f93\u51fa\u6700\u7ec8\u7ed3\u679c\u3002<\/p>\n<p>\u5f31\u878d\u5408<\/p>\n<p><img decoding=\"async\" class=\"origin_image zh-lightbox-thumb\" src=\"https:\/\/pic4.zhimg.com\/v2-e82d179849c34693e9c5e89192935053_b.jpg\" width=\"662\" data-size=\"normal\" data-rawwidth=\"662\" data-rawheight=\"205\" data-original=\"https:\/\/pic4.zhimg.com\/v2-e82d179849c34693e9c5e89192935053_r.jpg\" \/>\u56fe8. 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Pipeline\u4e2d\uff0c\u901a\u8fc7\u56fe\u50cf\u5206\u652f\u4e2d\u76842D\u68c0\u6d4b\u63d0\u8bae\u751f\u6210\u591a\u4e2a3D\u6846\u63d0\u8bae\uff0c\u7136\u540e\u6a21\u578b\u8f93\u51fa\u5177\u6709\u68c0\u6d4b\u5206\u6570\u7684\u6700\u7ec83D\u68c0\u6d4b\u6846\u3002RoarNet\u4f7f\u7528\u56fe\u50cf\u9884\u6d4b2D\u8fb9\u754c\u6846\u548c3D\u59ff\u6001\u53c2\u6570\uff0c\u5e76\u8fdb\u4e00\u6b65\u4f7f\u7528\u5bf9\u5e94\u533a\u57df\u4e2d\u7684LiDAR\u70b9\u4e91\u8fdb\u884c\u7ec6\u5316\u3002<\/p>\n<p>\u5176\u4ed6\u878d\u5408\u65b9\u6cd5<\/p>\n<p>\u6709\u4e9b\u5de5\u4f5c\u4e0d\u80fd\u7b80\u5355\u5730\u88ab\u5b9a\u4e49\u4e3a\u4e0a\u9762\u63d0\u5230\u7684\u878d\u5408\u7c7b\u578b\uff0c\u56e0\u4e3a\u5b83\u4eec\u5728\u6574\u4e2a\u6a21\u578b\u6846\u67b6\u4e2d\u62e5\u6709\u591a\u79cd\u878d\u5408\u65b9\u6cd5\uff0c\u5982\u6df1\u5ea6\u878d\u5408\u548c\u540e\u671f\u878d\u5408\u7684\u7ed3\u5408[22]\uff0c\u800c[[25]]]()\u5219\u5c06\u65e9\u671f\u878d\u5408\u548c\u6df1\u5ea6\u878d\u5408\u7ed3\u5408\u5728\u4e00\u8d77\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5728\u6a21\u578b\u8bbe\u8ba1\u89c6\u56fe\u4e0a\u5b58\u5728\u5197\u4f59\uff0c\u8fd9\u4e0d\u662f\u878d\u5408\u6a21\u5757\u7684\u4e3b\u6d41\u3002<\/p>\n<p>\u591a\u6a21\u6001\u878d\u5408\u7684\u673a\u4f1a<\/p>\n<p>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u611f\u77e5\u4efb\u52a1\u7684\u591a\u6a21\u6001\u878d\u5408\u65b9\u6cd5\u8fd1\u5e74\u6765\u53d6\u5f97\u4e86\u5feb\u901f\u7684\u8fdb\u5c55\uff0c\u4ece\u66f4\u9ad8\u7ea7\u7684\u7279\u5f81\u8868\u793a\u5230\u66f4\u590d\u6742\u7684\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b[7,8]\u3002\u7136\u800c\uff0c\u4ecd\u6709\u4e00\u4e9b\u95ee\u9898\u9700\u8981\u89e3\u51b3\u3002\u6211\u4eec\u5728\u8fd9\u91cc\u6982\u62ec\u4e86\u672a\u6765\u8981\u505a\u7684\u4e00\u4e9b\u5173\u952e\u548c\u5fc5\u8981\u7684\u5de5\u4f5c\uff0c\u5206\u4e3a\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762\u3002<\/p>\n<p>\u66f4\u591a\u7684\u5148\u8fdb\u878d\u5408\u65b9\u6cd5<\/p>\n<p>\u76ee\u524d\u7684\u878d\u5408\u6a21\u578b\u5b58\u5728\u5bf9\u9f50\u95ee\u9898\u548c\u4fe1\u606f\u4e22\u5931\u95ee\u9898\u3002\u6b64\u5916\uff0c\u5e73\u9762\u878d\u5408\u64cd\u4f5c\u4e5f\u963b\u788d\u4e86\u611f\u77e5\u4efb\u52a1\u6027\u80fd\u7684\u8fdb\u4e00\u6b65\u63d0\u9ad8\u3002\u6211\u4eec\u5c06\u5b83\u4eec\u5f52\u7eb3\u4e3a\u4e24\u4e2a\u65b9\u9762\uff1a\u50cf\u7d20\u4e0d\u5bf9\u9f50\u548c\u4fe1\u606f\u4e22\u5931\uff0c\u66f4\u5408\u7406\u7684\u878d\u5408\u64cd\u4f5c\u3002<\/p>\n<p>\u50cf\u7d20\u4e0d\u5bf9\u9f50\u548c\u4fe1\u606f\u4e22\u5931<\/p>\n<p>\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7684\u672c\u8d28\u548c\u5916\u5728\u662f\u622a\u7136\u4e0d\u540c\u7684\u3002\u4e24\u79cd\u6a21\u6001\u7684\u6570\u636e\u90fd\u9700\u8981\u5728\u65b0\u7684\u5750\u6807\u7cfb\u4e0b\u91cd\u65b0\u7ec4\u7ec7\u3002\u4f20\u7edf\u7684\u65e9\u671f\u548c\u6df1\u5ea6\u878d\u5408\u65b9\u6cd5\u4f7f\u7528\u5916\u5728\u6821\u51c6\u77e9\u9635\u5c06\u6240\u6709\u6fc0\u5149\u96f7\u8fbe\u70b9\u76f4\u63a5\u6295\u5f71\u5230\u5bf9\u5e94\u7684\u50cf\u7d20\u6216\u53cd\u4e4b[[6],[30],[32]]()\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4f20\u611f\u5668\u566a\u58f0\uff0c\u8fd9\u79cd\u50cf\u7d20\u7684\u5bf9\u9f50\u5e76\u4e0d\u591f\u51c6\u786e\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u770b\u51fa\uff0c\u9664\u4e86\u8fd9\u79cd\u4e25\u683c\u5bf9\u5e94\u5173\u7cfb\u4e4b\u5916\uff0c\u4e00\u4e9b\u5229\u7528\u5468\u56f4\u4fe1\u606f\u4f5c\u4e3a\u8865\u5145\u7684\u5de5\u4f5c[27]\u53ef\u4ee5\u53d6\u5f97\u66f4\u597d\u7684\u6027\u80fd\u3002<\/p>\n<p>\u6b64\u5916\uff0c\u5728\u8f93\u5165\u548c\u7279\u5f81\u7a7a\u95f4\u8f6c\u6362\u8fc7\u7a0b\u4e2d\u8fd8\u5b58\u5728\u4e00\u4e9b\u5176\u4ed6\u4fe1\u606f\u4e22\u5931\u3002\u901a\u5e38\uff0c\u7ef4\u5ea6\u964d\u7ef4\u64cd\u4f5c\u5c06\u4e0d\u53ef\u907f\u514d\u5730\u5bfc\u81f4\u5927\u91cf\u4fe1\u606f\u4e22\u5931\uff0c\u4f8b\u5982\uff0c\u5c063D\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6620\u5c04\u52302D 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