{"id":9052,"date":"2024-03-21T16:52:58","date_gmt":"2024-03-21T08:52:58","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9052"},"modified":"2024-03-21T16:52:58","modified_gmt":"2024-03-21T08:52:58","slug":"2024-03-21-iclr-2024-unipad%ef%bc%9a%e4%b8%80%e7%a7%8d%e9%80%9a%e7%94%a8%e7%9a%84%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e9%a2%84%e8%ae%ad%e7%bb%83%e6%a8%a1%e5%bc%8f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/21\/9052\/","title":{"rendered":"2024-03-21 ICLR 2024 | UniPAD\uff1a\u4e00\u79cd\u901a\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u6a21\u5f0f"},"content":{"rendered":"\n
\"\"<\/figure>\n\n\n\n

UniPAD\u7814\u7a76\u4e86\u4e00\u4e2a\u5173\u952e\u95ee\u9898\uff1a\u5982\u4f55\u6709\u6548\u5730\u5229\u7528\u5927\u91cf\u672a\u6807\u8bb0\u76843D\u70b9\u4e91\u6570\u636e\u8fdb\u884c\u81ea\u76d1\u7763\u5b66\u4e60\uff0c\u4ee5\u589e\u5f3a\u5176\u57283D\u76ee\u6807\u68c0\u6d4b\u548c\u8bed\u4e49\u5206\u5272\u7b49\u4e0b\u6e38\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u6548\u7387\u3002\u8fd9\u4e2a\u95ee\u9898\u4e4b\u6240\u4ee5\u91cd\u8981\uff0c\u662f\u56e0\u4e3a\u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u8bb8\u591a\u5176\u4ed6\u9886\u57df\uff0c3D\u70b9\u4e91\u6570\u636e\u7684\u6709\u6548\u4f7f\u7528\u80fd\u591f\u6781\u5927\u63d0\u9ad8\u4efb\u52a1\u6267\u884c\u7684\u51c6\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u5c3d\u7ba12D\u56fe\u50cf\u9886\u57df\u7684\u81ea\u76d1\u7763\u5b66\u4e60\u5df2\u7ecf\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f46\u7531\u4e8e3D\u70b9\u4e91\u6570\u636e\u7684\u56fa\u6709\u7a00\u758f\u6027\u548c\u70b9\u5206\u5e03\u7684\u53d8\u5f02\u6027\uff0c\u5c06\u8fd9\u4e9b\u65b9\u6cd5\u6269\u5c55\u52303D\u70b9\u4e91\u4e0a\u9762\u4e34\u7740\u66f4\u5927\u7684\u6311\u6218\u3002<\/p>\n\n\n\n

\u4f20\u7edf\u7684\u9488\u5bf93D\u573a\u666f\u7406\u89e3\u7684\u9884\u8bad\u7ec3\u8303\u5f0f\u4e3b\u8981\u57fa\u4e8e\u5bf9\u6bd4\u5b66\u4e60\u548c\u906e\u853d\u81ea\u7f16\u7801\uff08MAE\uff09\u4e24\u5927\u7c7b\u65b9\u6cd5\uff0c\u5b83\u4eec\u6216\u9762\u4e34\u6837\u672c\u9009\u62e9\u7684\u654f\u611f\u6027\u548c\u5b9e\u9645\u5e94\u7528\u7684\u5c40\u9650\u6027\uff0c\u6216\u5728\u5904\u74063D\u70b9\u4e91\u6570\u636e\u7684\u4e0d\u89c4\u5219\u6027\u548c\u7a00\u758f\u6027\u65b9\u9762\u9047\u5230\u6311\u6218\u3002\u7279\u522b\u662f\uff0c3D\u70b9\u4e91\u7684\u906e\u853d\u81ea\u7f16\u7801\u4efb\u52a1\u5728\u7ec6\u7c92\u5ea6\u7684\u51e0\u4f55\u7ed3\u6784\u9884\u6d4b\u4e0a\u5f80\u5f80\u6548\u679c\u4e0d\u4f73\uff0c\u56e0\u4e3a\u4f20\u7edf\u65b9\u6cd5\u53ef\u80fd\u65e0\u6cd5\u6709\u6548\u6355\u83b73D\u7a7a\u95f4\u4e2d\u7684\u8fde\u7eed\u6027\u548c\u7ed3\u6784\u4fe1\u606f\u3002<\/p>\n\n\n\n

\u9488\u5bf9\u4e0a\u8ff0\u6311\u6218\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u9884\u8bad\u7ec3\u8303\u5f0f\uff0c\u4e13\u4e3a3D\u8868\u793a\u5b66\u4e60\u91cf\u8eab\u5b9a\u5236\u3002\u8be5\u65b9\u6cd5\u901a\u8fc73D\u53ef\u5fae\u5206\u795e\u7ecf\u6e32\u67d3\uff0c\u4ee5\u6295\u5f71\u76842D\u6df1\u5ea6\u56fe\u50cf\u4e0a\u91cd\u5efa\u7f3a\u5931\u7684\u51e0\u4f55\u7ed3\u6784\u4e3a\u76ee\u6807\uff0c\u907f\u514d\u4e86\u590d\u6742\u7684\u6b63\u8d1f\u6837\u672c\u5206\u914d\uff0c\u5e76\u9690\u5f0f\u63d0\u4f9b\u4e86\u8fde\u7eed\u7684\u76d1\u7763\u4fe1\u53f7\u6765\u5b66\u4e603D\u5f62\u72b6\u7ed3\u6784\u3002\u8fd9\u4e00\u65b9\u6cd5\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u8bad\u7ec3\u6548\u7387\u548c\u5185\u5b58\u4f7f\u7528\u7684\u7ecf\u6d4e\u6027\uff0c\u800c\u4e14\u901a\u8fc7\u521b\u65b0\u7684\u91c7\u6837\u7b56\u7565\uff0c\u5728\u7cbe\u786e\u6027\u4e0a\u53d6\u5f97\u4e86\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n

\u8be5\u7814\u7a76\u7684\u8d21\u732e\u4e3b\u8981\u4f53\u73b0\u5728\u4e09\u4e2a\u65b9\u9762\uff1a<\/p>\n\n\n\n

    \n
  1. \u9996\u6b21\u63a2\u7d22\u4e86\u4e00\u79cd\u65b0\u9896\u76843D\u53ef\u5fae\u5206\u6e32\u67d3\u65b9\u6cd5\uff0c\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u81ea\u76d1\u7763\u5b66\u4e60\u3002<\/li>\n\n\n\n
  2. \u8be5\u65b9\u6cd5\u6613\u4e8e\u6269\u5c55\uff0c\u4ee5\u9884\u8bad\u7ec32D\u80cc\u666f\u6a21\u578b\uff0c\u5e76\u901a\u8fc7\u521b\u65b0\u7684\u91c7\u6837\u7b56\u7565\uff0c\u5728\u6709\u6548\u6027\u548c\u6548\u7387\u4e0a\u663e\u793a\u51fa\u5176\u4f18\u8d8a\u6027\u3002<\/li>\n\n\n\n
  3. \u901a\u8fc7\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5e7f\u6cdb\u5b9e\u9a8c\uff0c\u8be5\u65b9\u6cd5\u5728\u591a\u79cd\u9884\u8bad\u7ec3\u7b56\u7565\u4e2d\u6027\u80fd\u6700\u4f18\uff0c\u5e76\u4e14\u5728\u4e03\u79cd\u80cc\u666f\u6a21\u578b\u548c\u4e24\u79cd\u611f\u77e5\u4efb\u52a1\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\uff0c\u4e3a\u8be5\u65b9\u6cd5\u7684\u6709\u6548\u6027\u63d0\u4f9b\u4e86\u6709\u529b\u8bc1\u636e\u3002<\/li>\n<\/ol>\n\n\n\n

    \u603b\u4f53\u800c\u8a00\uff0c\u8fd9\u9879\u7814\u7a76\u4e3a3D\u70b9\u4e91\u6570\u636e\u7684\u81ea\u76d1\u7763\u5b66\u4e60\u63d0\u51fa\u4e86\u4e00\u4e2a\u521b\u65b0\u7684\u65b9\u6cd5\u8bba\u6846\u67b6\uff0c\u6709\u6548\u89e3\u51b3\u4e86\u4e4b\u524d\u65b9\u6cd5\u5b58\u5728\u7684\u95ee\u9898\uff0c\u540c\u65f6\u57283D\u76ee\u6807\u68c0\u6d4b\u548c\u8bed\u4e49\u5206\u5272\u7b49\u5173\u952e\u4efb\u52a1\u4e0a\u5b9e\u73b0\u4e86\u663e\u8457\u7684\u6027\u80fd\u63d0\u5347\u3002<\/p>\n\n\n\n

    \u65b9\u6cd5<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    Modal-specific Encoder<\/strong><\/p>\n\n\n\n

    \u5728\u8fd9\u4e2a\u6bb5\u843d\u4e2d\uff0c”Modal-specific Encoder”\uff08\u6a21\u6001\u7279\u5b9a\u7f16\u7801\u5668\uff09\u662f\u4e00\u79cd\u4e3a\u4e0d\u540c\u7c7b\u578b\u7684\u8f93\u5165\u6570\u636e\uff08\u4f8b\u5982LiDAR\u70b9\u4e91\u548c\u591a\u89c6\u56fe\u56fe\u50cf\uff09\u8bbe\u8ba1\u7684\u7f16\u7801\u5668\uff0c\u7528\u4e8e\u63d0\u53d6\u9ad8\u8d28\u91cf\u7684\u7279\u5f81\u8868\u793a\u3002\u8fd9\u79cd\u7f16\u7801\u5668\u9488\u5bf9\u6bcf\u79cd\u8f93\u5165\u6570\u636e\u7684\u7279\u6027\u8fdb\u884c\u4f18\u5316\uff0c\u4ee5\u6709\u6548\u5904\u7406\u6570\u636e\u7684\u7279\u5b9a\u7ed3\u6784\u548c\u4fe1\u606f\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u6b64\u5916\uff0c\u4e3a\u4e86\u5728\u4e0d\u727a\u7272\u9ad8\u7ea7\u4fe1\u606f\u7684\u540c\u65f6\u6355\u83b7\u7ec6\u7c92\u5ea6\u7684\u7ec6\u8282\uff0c\u4f7f\u7528\u4e86\u989d\u5916\u7684\u6a21\u6001\u7279\u5b9a\u7684FPN\uff08Feature Pyramid Networks\uff09\uff0c\u8fd9\u662f\u4e00\u79cd\u9ad8\u6548\u805a\u5408\u591a\u5c3a\u5ea6\u7279\u5f81\u7684\u65b9\u6cd5\uff0c\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86\u6a21\u578b\u5bf9\u4e8e\u4e0d\u540c\u5c3a\u5ea6\u4fe1\u606f\u7684\u5904\u7406\u80fd\u529b\u3002<\/p>\n\n\n\n

    Mask Generator<\/strong>\uff08\u906e\u7f69\u751f\u6210\u5668\uff09\u662f\u4e00\u79cd\u6570\u636e\u589e\u5f3a\u624b\u6bb5\uff0c\u901a\u8fc7\u9009\u62e9\u6027\u5730\u79fb\u9664\u8f93\u5165\u6570\u636e\u7684\u4e00\u90e8\u5206\u6765\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u548c\u8868\u793a\u80fd\u529b\u3002\u8fd9\u79cd\u65b9\u6cd5\u7075\u611f\u6765\u81ea\u4e4b\u524d\u7684\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\uff0c\u5982He\u7b49\u4eba\u63d0\u51fa\u7684MAE\uff0c\u901a\u8fc7\u589e\u52a0\u8bad\u7ec3\u96be\u5ea6\u6765\u589e\u5f3a\u6a21\u578b\u6027\u80fd\u3002\u5728\u8fd9\u4e2a\u6846\u67b6\u4e0b\uff0c\u906e\u7f69\u751f\u6210\u5668\u91c7\u7528\u5757\u72b6\u906e\u7f69\uff0c\u9488\u5bf9\u70b9\u4e91\u6216\u56fe\u50cf\uff0c\u751f\u6210\u906e\u7f69\u5e76\u5e94\u7528\u5230\u8f93\u51fa\u7279\u5f81\u56fe\u7684\u5927\u5c0f\u4e0a\uff0c\u7136\u540e\u5c06\u5176\u4e0a\u91c7\u6837\u5230\u539f\u59cb\u8f93\u5165\u5206\u8fa8\u7387\u3002\u5bf9\u4e8e\u70b9\u4e91\uff0c\u901a\u8fc7\u79fb\u9664\u88ab\u906e\u7f69\u533a\u57df\u7684\u4fe1\u606f\u6765\u83b7\u53d6\u53ef\u89c1\u533a\u57df\uff1b\u5bf9\u4e8e\u56fe\u50cf\uff0c\u5219\u91c7\u7528\u7a00\u758f\u5377\u79ef\uff0c\u4ec5\u5728\u53ef\u89c1\u4f4d\u7f6e\u8fdb\u884c\u8ba1\u7b97\u3002\u7f16\u7801\u540e\uff0c\u88ab\u906e\u7f69\u7684\u533a\u57df\u4ee5\u96f6\u586b\u5145\uff0c\u5e76\u4e0e\u53ef\u89c1\u7279\u5f81\u7ed3\u5408\u5f62\u6210\u89c4\u5219\u7684\u5bc6\u96c6\u7279\u5f81\u56fe\u3002<\/p>\n\n\n\n

    “Modal-specific Encoder”\u548c”Mask Generator”\u5171\u540c\u6784\u6210\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u6846\u67b6\uff0c\u901a\u8fc7\u6a21\u6001\u7279\u5b9a\u7684\u7279\u5f81\u63d0\u53d6\u548c\u521b\u65b0\u7684\u6570\u636e\u589e\u5f3a\u6280\u672f\uff0c\u663e\u8457\u63d0\u5347\u4e86\u81ea\u76d1\u7763\u5b66\u4e60\u5728\u5904\u7406\u590d\u67423D\u70b9\u4e91\u548c\u56fe\u50cf\u6570\u636e\u65f6\u7684\u6548\u7387\u548c\u6027\u80fd\u3002<\/p>\n\n\n\n

    <\/strong>Unified 3D Volumetric Representation<\/strong><\/h3>\n\n\n\n

    Unified 3D Volumetric Representation\uff08\u7edf\u4e00\u76843D\u4f53\u79ef\u8868\u793a\uff09\u662f\u4e00\u79cd\u5c06\u6765\u81ea\u4e0d\u540c\u6a21\u6001\u7684\u6570\u636e\uff08\u5982LiDAR\u70b9\u4e91\u548c\u591a\u89c6\u56fe\u56fe\u50cf\uff09\u8f6c\u6362\u4e3a\u7edf\u4e00\u76843D\u4f53\u79ef\u7a7a\u95f4\u8868\u793a\u7684\u65b9\u6cd5\u3002\u8fd9\u79cd\u8868\u793a\u65b9\u6cd5\u7684\u76ee\u7684\u662f\u4e3a\u4e86\u5728\u9884\u8bad\u7ec3\u65b9\u6cd5\u4e2d\u517c\u5bb9\u4e0d\u540c\u7684\u8f93\u5165\u6a21\u6001\uff0c\u540c\u65f6\u5c3d\u53ef\u80fd\u4fdd\u7559\u6bcf\u79cd\u6a21\u6001\u539f\u59cb\u89c6\u56fe\u4e2d\u7684\u4fe1\u606f\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    Neural Rendering Decoder<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u5728\u8fd9\u5f20\u8868\u683c\u7684\u5b9e\u9a8c\u7ed3\u679c\u4e2d\uff0c+UniPAD\u7684\u65b9\u6cd5\u5728\u4e0d\u540c\u6a21\u6001\u7684\u8f93\u5165\u6570\u636e\u4e0a\u8868\u73b0\u51fa\u8272\u3002\u8fd9\u4e9b\u6a21\u6001\u5305\u62ecLIDAR (L)\u3001Camera (C)\u3001Camera Stereo (CS) \u548c Multi-input (C+L)\uff0c\u5bf9\u5e94\u4e8e\u4e0d\u540c\u76843D\u76ee\u6807\u68c0\u6d4b\u548c\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u3002\u901a\u8fc7\u4f7f\u7528UniPAD\u65b9\u6cd5\uff0c\u6211\u4eec\u770b\u5230\u5728\u5404\u79cd\u4e0d\u540c\u7684\u914d\u7f6e\u548c\u6570\u636e\u8f93\u5165\u6a21\u6001\u4e2d\uff0c\u6027\u80fd\u666e\u904d\u5f97\u5230\u63d0\u5347\u3002<\/p>\n\n\n\n

    \u5f53\u4e13\u6ce8\u4e8eLiDAR\u6a21\u6001\u65f6\uff0c+UniPAD\u7248\u672c\u7684UVT-RL\u65b9\u6cd5\u8fbe\u5230\u4e8670.6%\u7684NDS\uff08Normalized Detection Score\uff09\u548c65.0%\u7684mAP\uff08mean Average Precision\uff09\uff0c\u8fd9\u662f\u8fd9\u4e2a\u7c7b\u522b\u4e2d\u6700\u9ad8\u7684\u5f97\u5206\u3002\u8fd9\u8868\u660eUniPAD\u65b9\u6cd5\u5728\u5904\u7406\u70b9\u4e91\u6570\u636e\u65f6\u975e\u5e38\u6709\u6548\uff0c\u80fd\u591f\u63d0\u9ad8\u6a21\u578b\u7684\u68c0\u6d4b\u6027\u80fd\u548c\u7cbe\u786e\u5ea6\u3002\u5728Camera\u6a21\u6001\u4e2d\uff0cUVT-RC+UniPAD\u7248\u672c\u6bd4\u8d77\u539f\u59cb\u7684UVT-RC\u65b9\u6cd5\uff0c\u5728NDS\u548cmAP\u4e0a\u4e5f\u6709\u660e\u663e\u7684\u63d0\u5347\u3002\u4f8b\u5982\uff0c\u539f\u59cb\u7684UVT-RC\u65b9\u6cd5\u7684NDS\u4e3a45.0%\uff0c\u800cUVT-RC+UniPAD\u7684NDS\u4e3a47.4%\uff0c\u5728mAP\u4e0a\u4e5f\u4ece37.2%\u63d0\u9ad8\u5230\u4e8641.5%\u3002\u5f53\u6570\u636e\u8f93\u5165\u662fCamera Stereo\u65f6\uff0c\u6211\u4eec\u770b\u5230UVT-CS+UniPAD\u5728NDS\u4e0a\u5f97\u5230\u4e86\u663e\u8457\u7684\u63d0\u5347\uff0c\u4ece\u539f\u6765\u7684UVT-CS\u768448.3%\u63d0\u5347\u81f350.2%\uff0c\u5728mAP\u4e0a\u4e5f\u4ece39.2%\u63d0\u5347\u81f342.8%\u3002\u8fd9\u8868\u660eUniPAD\u65b9\u6cd5\u80fd\u591f\u5229\u7528\u7acb\u4f53\u89c6\u89c9\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u4ee5\u63d0\u9ad8\u6027\u80fd\u3002<\/p>\n\n\n\n

    \u6700\u540e\uff0c\u5728\u4f7f\u7528\u591a\u79cd\u8f93\u5165\u6a21\u6001\uff08Camera+LiDAR\uff09\u7684\u914d\u7f6e\u4e2d\uff0cUVT-M+UniPAD\u65b9\u6cd5\u5728NDS\u4e0a\u5b9e\u73b0\u4e8673.2%\uff0c\u5728mAP\u4e0a\u5b9e\u73b0\u4e8669.9%\uff0c\u8fd9\u662f\u6240\u6709\u5217\u51fa\u914d\u7f6e\u4e2d\u7684\u6700\u9ad8\u5206\u3002\u8fd9\u8868\u660eUniPAD\u65b9\u6cd5\u80fd\u591f\u6709\u6548\u5730\u6574\u5408\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u6a21\u578b\u5728\u590d\u6742\u573a\u666f\u4e0b\u7684\u8868\u73b0\u3002UniPAD\u65b9\u6cd5\u7684\u5f15\u5165\u4e3a\u5404\u79cd\u57fa\u7ebf\u65b9\u6cd5\u5e26\u6765\u4e86\u6027\u80fd\u7684\u663e\u8457\u63d0\u5347\uff0c\u8fd9\u8bc1\u660e\u4e86UniPAD\u5728\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\u878d\u5408\u548c\u81ea\u76d1\u7763\u9884\u8bad\u7ec3\u65b9\u9762\u7684\u6709\u6548\u6027\u3002\u8fd9\u4e9b\u6539\u8fdb\u53ef\u80fd\u662f\u7531\u4e8eUniPAD\u65b9\u6cd5\u80fd\u591f\u66f4\u597d\u5730\u7406\u89e3\u548c\u6574\u5408\u6765\u81ea\u4e0d\u540c\u6a21\u6001\u7684\u6570\u636e\uff0c\u4ece\u800c\u4e3a3D\u76ee\u6807\u68c0\u6d4b\u548c\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u548c\u66f4\u51c6\u786e\u7684\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u6d88\u878d\u5b9e\u9a8c\u901a\u5e38\u7528\u6765\u7406\u89e3\u4e0d\u540c\u7ec4\u4ef6\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u3002\u6839\u636e\u63d0\u4f9b\u7684\u8868\u683c\u5185\u5bb9\uff0c\u6211\u4eec\u53ef\u4ee5\u603b\u7ed3\u4ee5\u4e0b\u5173\u4e8e\u4f53\u79ef\u57fa\u795e\u7ecf\u6e32\u67d3\u7684\u6d88\u878d\u7814\u7a76\u7ed3\u679c\uff1a<\/p>\n\n\n\n

      \n
    1. \u906e\u7f69\u6bd4\u4f8b (Mask ratio):<\/strong> \u4f7f\u75280.3\u7684\u906e\u7f69\u6bd4\u4f8b\u5728NDS\u548cmAP\u4e0a\u5206\u522b\u53d6\u5f97\u4e8632.9%\u548c32.6%\u7684\u5f97\u5206\uff0c\u8868\u73b0\u51fa\u662f\u8fd9\u4e00\u7cfb\u5217\u5b9e\u9a8c\u4e2d\u7684\u6700\u4f73\u8bbe\u7f6e\u3002\u8fd9\u8868\u660e\u5728\u8f93\u5165\u6570\u636e\u4e2d\u906e\u853d30%\u7684\u90e8\u5206\u53ef\u4ee5\u63d0\u4f9b\u6700\u4f73\u7684\u8bad\u7ec3\u96be\u5ea6\uff0c\u6709\u5229\u4e8e\u6a21\u578b\u5b66\u4e60\u3002<\/li>\n\n\n\n
    2. \u89e3\u7801\u5668\u6df1\u5ea6 (Decoder depth):<\/strong> \u89e3\u7801\u5668\u7684\u6df1\u5ea6\u5f71\u54cd\u6a21\u578b\u7684\u6027\u80fd\u3002\u4e00\u4e2a\u5177\u6709\uff086, 4\uff09\u5c42\u7684\u89e3\u7801\u5668\u5728NDS\u4e0a\u8fbe\u5230\u4e8632.9%\uff0c\u8fd9\u662f\u6d4b\u8bd5\u7684\u914d\u7f6e\u4e2d\u6700\u9ad8\u7684\uff0c\u8868\u660e\u4e00\u4e2a\u8f83\u6df1\u7684\u89e3\u7801\u5668\u53ef\u4ee5\u63d0\u9ad8\u7cbe\u5ea6\u3002<\/li>\n\n\n\n
    3. \u89e3\u7801\u5668\u5bbd\u5ea6 (Decoder width):<\/strong> \u89e3\u7801\u5668\u7684\u5bbd\u5ea6\u5bf9\u6027\u80fd\u7684\u5f71\u54cd\u8f83\u5c0f\u3002\u4e0d\u540c\u7ef4\u5ea6\u7684\u89e3\u7801\u5668\u5728NDS\u548cmAP\u4e0a\u7684\u5f97\u5206\u5dee\u5f02\u4e0d\u5927\uff0c\u6700\u9ad8\u5206\u6570\u4e0e\u6700\u4f4e\u5206\u6570\u76f8\u5dee\u4e0d\u52300.5%\u3002<\/li>\n\n\n\n
    4. \u6e32\u67d3\u6280\u672f (Rendering technique):<\/strong> \u5728\u6d4b\u8bd5\u7684\u4e09\u79cd\u4e0d\u540c\u7684\u6e32\u67d3\u65b9\u6cd5\u4e2d\uff0cNeuS\u65b9\u6cd5\uff08NDS 32.9%, mAP 32.6%\uff09\u7565\u80dc\u4e00\u7b79\uff0c\u8868\u660e\u826f\u597d\u8bbe\u8ba1\u7684\u6e32\u67d3\u6280\u672f\u5bf9\u4e8e\u8868\u793a\u5b66\u4e60\u662f\u6709\u76ca\u7684\u3002<\/li>\n\n\n\n
    5. \u91c7\u6837\u7b56\u7565 (Sampling strategy):<\/strong> \u6df1\u5ea6\u611f\u77e5\u91c7\u6837\u5728NDS\u548cmAP\u4e0a\u5747\u53d6\u5f97\u4e8632.9%\u548c32.6%\u7684\u6700\u4f73\u5f97\u5206\uff0c\u4f18\u4e8e\u6269\u5f20\u91c7\u6837\u548c\u968f\u673a\u91c7\u6837\uff0c\u8fd9\u663e\u793a\u51fa\u9009\u62e9\u6027\u5730\u91c7\u6837\u66f4\u4e3a\u91cd\u8981\u7684\u533a\u57df\u53ef\u4ee5\u63d0\u5347\u6e32\u67d3\u8d28\u91cf\u548c\u6a21\u578b\u6027\u80fd\u3002<\/li>\n\n\n\n
    6. \u7279\u5f81\u6295\u5f71 (Feature projection):<\/strong> \u7279\u5f81\u6295\u5f71\u5bf9\u4e8e\u589e\u5f3a\u4f53\u7d20\u8868\u793a\u81f3\u5173\u91cd\u8981\u3002\u4e0e\u57fa\u7ebf\u6a21\u578b\u76f8\u6bd4\uff0c\u53bb\u6389\u6295\u5f71\u5c42\u4f1a\u5bfc\u81f4NDS\u548cmAP\u7684\u6027\u80fd\u4e0b\u964d\uff0c\u8fd9\u8868\u660e\u7279\u5f81\u6295\u5f71\u5bf9\u4e8e\u4fdd\u6301\u9ad8\u8d28\u91cf\u7684\u4f53\u7d20\u8868\u793a\u662f\u5fc5\u8981\u7684\u3002<\/li>\n\n\n\n
    7. \u9884\u8bad\u7ec3\u7ec4\u4ef6 (Pre-trained components):<\/strong> \u6a21\u578b\u7684\u9884\u8bad\u7ec3\u7ec4\u4ef6\u5bf9\u4e8e\u5fae\u8c03\u81f3\u5173\u91cd\u8981\u3002\u53ea\u6709\u7f16\u7801\u5668\u7684\u6a21\u578b\uff08NDS 32.0%, mAP 31.8%\uff09\u6bd4\u53ea\u6709\u57fa\u7ebf\u7684\u6a21\u578b\uff08NDS 25.2%, mAP 23.0%\uff09\u6027\u80fd\u6709\u663e\u8457\u63d0\u5347\uff0c\u800c\u52a0\u5165FPN\u548cVT\uff08Volume Transformer\uff09\u540e\uff0c\u6a21\u578b\u5728NDS\u4e0a\u8fdb\u4e00\u6b65\u63d0\u5347\u5230\u4e8632.9%\uff0c\u5728mAP\u4e0a\u63d0\u5347\u5230\u4e8632.6%\uff0c\u8bc1\u660e\u4e86\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u52a0\u5165\u8fd9\u4e9b\u7ec4\u4ef6\u80fd\u591f\u663e\u8457\u63d0\u5347\u6a21\u578b\u7684\u6027\u80fd\u3002<\/li>\n<\/ol>\n\n\n\n

      \u901a\u8fc7\u8fd9\u4e9b\u6d88\u878d\u5b9e\u9a8c\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u51fa\u6bcf\u4e2a\u7ec4\u4ef6\u548c\u53c2\u6570\u9009\u62e9\u5982\u4f55\u5f71\u54cd\u6700\u7ec8\u7684\u6a21\u578b\u6027\u80fd\uff0c\u5e76\u4e14\u53ef\u4ee5\u5f97\u51fa\u54ea\u4e9b\u7ec4\u4ef6\u5bf9\u4e8e\u6a21\u578b\u6700\u4e3a\u5173\u952e\u3002\u8fd9\u6837\u7684\u5206\u6790\u6709\u52a9\u4e8e\u7814\u7a76\u8005\u4eec\u7406\u89e3\u548c\u4f18\u5316\u4ed6\u4eec\u7684\u6a21\u578b\u7ed3\u6784\u3002<\/p>\n\n\n\n

      \u8ba8\u8bba<\/strong><\/h2>\n\n\n\n

      \u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u5904\u74063D\u70b9\u4e91\u548c\u591a\u89c6\u56fe\u56fe\u50cf\u6570\u636e\u65f6\u8868\u73b0\u51fa\u4e86\u663e\u8457\u7684\u4f18\u52bf\u3002\u901a\u8fc7\u5c06\u6570\u636e\u7edf\u4e00\u8f6c\u6362\u62103D\u4f53\u79ef\u8868\u793a\uff0c\u5e76\u4f7f\u7528\u5148\u8fdb\u7684\u795e\u7ecf\u6e32\u67d3\u6280\u672f\uff0c\u8be5\u65b9\u6cd5\u5728\u9884\u8bad\u7ec3\u9636\u6bb5\u5c31\u80fd\u5b66\u4e60\u5230\u4e30\u5bcc\u7684\u51e0\u4f55\u548c\u7eb9\u7406\u7279\u5f81\uff0c\u8fd9\u5728\u540e\u7eed\u7684\u4e0b\u6e38\u4efb\u52a1\u4e2d\u8bc1\u660e\u662f\u6709\u76ca\u7684\u3002\u7279\u522b\u662f\u901a\u8fc7\u6df1\u5ea6\u611f\u77e5\u91c7\u6837\uff0c\u8be5\u65b9\u6cd5\u4f18\u5148\u5904\u7406\u66f4\u4e3a\u91cd\u8981\u7684\u6570\u636e\u533a\u57df\uff0c\u4ece\u800c\u6709\u6548\u63d0\u9ad8\u4e86\u6a21\u578b\u7684\u6e32\u67d3\u8d28\u91cf\u548c\u6574\u4f53\u6027\u80fd\u3002\u6b64\u5916\uff0c\u7279\u5f81\u6295\u5f71\u548c\u4f53\u79ef\u53d8\u6362\u5668\u7684\u5e94\u7528\u8fdb\u4e00\u6b65\u52a0\u5f3a\u4e86\u4f53\u79ef\u8868\u793a\uff0c\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u5728\u9884\u8bad\u7ec3\u540e\u66f4\u597d\u5730\u8fdb\u884c\u5fae\u8c03\u3002<\/p>\n\n\n\n

      \u5c3d\u7ba1\u5982\u6b64\uff0c\u65b9\u6cd5\u4e5f\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\u3002\u4f8b\u5982\uff0c\u5c3d\u7ba1\u89e3\u7801\u5668\u7684\u6df1\u5ea6\u548c\u5bbd\u5ea6\u8c03\u6574\u663e\u793a\u51fa\u5bf9\u6a21\u578b\u6027\u80fd\u6709\u7ec6\u5fae\u7684\u5f71\u54cd\uff0c\u4f46\u8fd9\u4e5f\u610f\u5473\u7740\u5728\u8d44\u6e90\u6709\u9650\u7684\u60c5\u51b5\u4e0b\uff0c\u9009\u62e9\u5408\u9002\u7684\u6a21\u578b\u89c4\u6a21\u548c\u590d\u6742\u5ea6\u662f\u4e00\u9879\u6311\u6218\u3002\u6b64\u5916\uff0c\u5c3d\u7ba1\u6df1\u5ea6\u611f\u77e5\u91c7\u6837\u7b56\u7565\u5728\u6027\u80fd\u4e0a\u53d6\u5f97\u4e86\u6700\u4f73\u7ed3\u679c\uff0c\u4f46\u5b83\u4e5f\u4f9d\u8d56\u4e8e\u9ad8\u8d28\u91cf\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u8fd9\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u53ef\u80fd\u53d7\u5230\u4f20\u611f\u5668\u8d28\u91cf\u548c\u73af\u5883\u56e0\u7d20\u7684\u5f71\u54cd\u3002\u6700\u540e\uff0c\u867d\u7136\u9884\u8bad\u7ec3\u7ec4\u4ef6\u8bc1\u660e\u662f\u63d0\u9ad8\u6027\u80fd\u7684\u5173\u952e\uff0c\u4f46\u6bcf\u4e2a\u7ec4\u4ef6\u7684\u8bbe\u8ba1\u548c\u96c6\u6210\u90fd\u9700\u8981\u4ed4\u7ec6\u7684\u8003\u91cf\uff0c\u4ee5\u786e\u4fdd\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u548c\u5b9e\u9645\u5e94\u7528\u7684\u6709\u6548\u6027\u3002\u8fd9\u4e9b\u6311\u6218\u9700\u8981\u672a\u6765\u7684\u7814\u7a76\u5de5\u4f5c\u6765\u8fdb\u4e00\u6b65\u63a2\u8ba8\u548c\u89e3\u51b3\u3002<\/p>\n\n\n\n

      \u7ed3\u8bba<\/strong><\/h2>\n\n\n\n

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      [1]  UNIPAD: A UNIVERSAL PRE-TRAINING PARADIGM FOR AUTONOMOUS DRIVING<\/p>\n","protected":false},"excerpt":{"rendered":"

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