{"id":9124,"date":"2024-03-25T16:02:16","date_gmt":"2024-03-25T08:02:16","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9124"},"modified":"2024-03-25T16:02:16","modified_gmt":"2024-03-25T08:02:16","slug":"2024-03-25-cvpr2024-clip-bevformer%ef%bc%9a%e6%98%be%e5%bc%8f%e7%9b%91%e7%9d%a3bevformer%e7%bb%93%e6%9e%84%ef%bc%8c%e6%8f%90%e5%8d%87%e9%95%bf%e5%b0%be%e6%a3%80%e6%b5%8b%e6%80%a7%e8%83%bd","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/25\/9124\/","title":{"rendered":"2024-03-25 CVPR2024 | 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class=\"wp-block-list\">\n<li>\u95ee\u9898\u4e00\uff1a\u7531\u4e8eBEVFormer\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u6574\u4f53\u6846\u67b6\u91c7\u7528\u7684\u662fEncoder-Decoder\u7684\u7f51\u7edc\u7ed3\u6784\uff0c\u5176\u4e3b\u8981\u601d\u60f3\u662f\u5229\u7528Encoder\u6a21\u5757\u83b7\u53d6BEV\u7a7a\u95f4\u4e0b\u7684\u7279\u5f81\uff0c\u7136\u540e\u5229\u7528Decoder\u6a21\u5757\u9884\u6d4b\u6700\u7ec8\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u5e76\u901a\u8fc7\u5c06\u8f93\u51fa\u7684\u611f\u77e5\u7ed3\u679c\u4e0e\u771f\u503c\u76ee\u6807\u8ba1\u7b97\u635f\u5931\u6765\u5b9e\u73b0\u6a21\u578b\u9884\u6d4b\u7684BEV\u7a7a\u95f4\u7279\u5f81\u7684\u8fc7\u7a0b\u3002\u4f46\u901a\u8fc7\u8fd9\u79cd\u7f51\u7edc\u6a21\u578b\u7684\u53c2\u6570\u66f4\u65b0\u65b9\u5f0f\u4f1a\u8fc7\u4e8e\u4f9d\u8d56Decoder\u6a21\u5757\u7684\u611f\u77e5\u6027\u80fd\uff0c\u5bfc\u81f4\u53ef\u80fd\u5b58\u5728\u6a21\u578b\u8f93\u51fa\u7684BEV\u7279\u5f81\u4e0e\u771f\u503cBEV\u7279\u5f81\u5e76\u4e0d\u5bf9\u9f50\u7684\u95ee\u9898\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u5236\u7ea6\u611f\u77e5\u6a21\u578b\u6700\u7ec8\u7684\u8868\u73b0\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u95ee\u9898\u4e8c\uff1a\u7531\u4e8eBEVFormer\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u7684Decoder\u6a21\u5757\u4f9d\u65e7\u6cbf\u7528Transformer\u4e2d\u7684\u81ea\u6ce8\u610f\u529b\u6a21\u5757-&gt;\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757-&gt;\u524d\u9988\u795e\u7ecf\u7f51\u7edc\u7684\u6b65\u9aa4\u5b8c\u6210Query\u7279\u5f81\u7684\u6784\u5efa\u8f93\u51fa\u6700\u7ec8\u7684\u68c0\u6d4b\u7ed3\u679c\uff0c\u5176\u6574\u4e2a\u8fc7\u7a0b\u4f9d\u65e7\u662f\u4e00\u4e2a\u9ed1\u76d2\u6a21\u578b\uff0c\u7f3a\u4e4f\u826f\u597d\u7684\u53ef\u89e3\u91ca\u6027\u3002\u540c\u65f6\uff0cObject Query\u4e0e\u771f\u503c\u76ee\u6807\u4e4b\u95f4\u7684\u4e00\u5bf9\u4e00\u5339\u914d\u8fc7\u7a0b\u5728\u6a21\u578b\u8bad\u7ec3\u7684\u8fc7\u7a0b\u4e2d\u4e5f\u5b58\u5728\u7740\u5f88\u5927\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6240\u4ee5\uff0c\u9488\u5bf9\u4e0a\u8ff0\u63d0\u5230\u7684BEVFormer\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u5b58\u5728\u7684\u4e24\u70b9\u95ee\u9898\uff0c\u6211\u4eec\u5728BEVFormer\u7b97\u6cd5\u6a21\u578b\u7684\u57fa\u7840\u4e0a\u8fdb\u884c\u6539\u8fdb\uff0c\u63d0\u51fa\u4e86\u57fa\u4e8e\u73af\u89c6\u56fe\u50cf\u7684BEV\u573a\u666f\u4e0b\u76843D\u68c0\u6d4b\u7b97\u6cd5\u6a21\u578bCLIP-BEVFormer\uff0c\u901a\u8fc7\u5229\u7528\u5bf9\u6bd4\u5b66\u4e60\u7684\u65b9\u5f0f\u6765\u589e\u5f3a\u6a21\u578b\u5bf9\u4e8eBEV\u7279\u5f81\u7684\u6784\u5efa\u80fd\u529b\uff0c\u5e76\u4e14\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86SOTA\u7684\u611f\u77e5\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u6587\u7ae0\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2403.08919.pdf<\/p>\n\n\n\n<h3 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sizes=\"(max-width: 1020px) 100vw, 1020px\" 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-210.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-210-300x135.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"92\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/251.png\" alt=\"\" class=\"wp-image-9127\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/251.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/251-300x41.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u771f\u503cBEV\u7684\u751f\u6210<\/strong><\/h4>\n\n\n\n<p>\u5728\u4e0a\u6587\u4e2d\u5df2\u7ecf\u6709\u63d0\u5230\uff0c\u73b0\u6709\u7684\u7edd\u5927\u591a\u6570\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u6ca1\u6709\u663e\u5f0f\u7684\u5bf9\u751f\u6210\u7684BEV\u7a7a\u95f4\u7279\u5f81\u8fdb\u884c\u76d1\u7763\uff0c\u5bfc\u81f4\u6a21\u578b\u751f\u6210\u7684BEV\u7279\u5f81\u53ef\u80fd\u5b58\u5728\u4e0e\u771f\u5b9e\u7684BEV\u7279\u5f81\u4e0d\u4e00\u81f4\u7684\u95ee\u9898\uff0c\u8fd9\u79cdBEV\u7a7a\u95f4\u7279\u5f81\u7684\u5206\u5e03\u5dee\u5f02\u4f1a\u5236\u7ea6\u6a21\u578b\u6700\u7ec8\u7684\u611f\u77e5\u6027\u80fd\u3002\u57fa\u4e8e\u8fd9\u4e00\u8003\u8651\u51fa\u53d1\uff0c\u6211\u4eec\u63d0\u51fa\u4e86Ground Truth BEV\u6a21\u5757\uff0c\u6211\u4eec\u8bbe\u8ba1\u8be5\u6a21\u5757\u7684\u6838\u5fc3\u601d\u8def\u662f\u60f3\u8ba9\u6a21\u578b\u751f\u6210\u7684BEV\u7279\u5f81\u53ef\u4ee5\u548c\u5f53\u524d\u771f\u503cBEV\u7279\u5f81\u8fdb\u884c\u5bf9\u9f50\uff0c\u4ece\u800c\u63d0\u9ad8\u6a21\u578b\u7684\u8868\u73b0\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"716\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/252.png\" alt=\"\" class=\"wp-image-9128\" style=\"width:899px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/252.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/252-279x300.png 279w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u771f\u503c\u76ee\u6807\u67e5\u8be2\u4ea4\u4e92<\/strong><\/h4>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"576\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/253.png\" alt=\"\" class=\"wp-image-9129\" style=\"width:912px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/253.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/253-300x257.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>\u5b9a\u91cf\u5206\u6790\u90e8\u5206<\/strong><\/h4>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5206\u522b\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u4ece3D\u611f\u77e5\u6548\u679c\u3001\u6570\u636e\u96c6\u4e2d\u76ee\u6807\u7c7b\u522b\u7684\u957f\u5c3e\u5206\u5e03\u60c5\u51b5\u4ee5\u53ca\u9c81\u68d2\u6027\u7b49\u89d2\u5ea6\u51fa\u53d1\u8fdb\u884c\u4e86\u76f8\u5173\u5b9e\u9a8c\uff0c\u4e0b\u8868\u662f\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u4e0e\u5176\u4ed63D\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u7cbe\u5ea6\u5bf9\u6bd4\u60c5\u51b5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"356\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-211-1024x356.png\" alt=\"\" class=\"wp-image-9130\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-211-1024x356.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-211-300x104.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-211-768x267.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-211.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u8fd9\u90e8\u5206\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u5206\u522b\u8bc4\u4f30\u4e86\u4e0d\u540c\u6a21\u578b\u914d\u7f6e\u60c5\u51b5\u4e0b\u7684\u611f\u77e5\u6027\u80fd\uff0c\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u5c06CLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u5e94\u7528\u4e8eBEVFormer\u7684tiny\u548cbase\u53d8\u4f53\u4e2d\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u63a2\u7d22\u4e86\u5c06\u9884\u8bad\u7ec3\u7684CLIP\u6a21\u578b\u6216\u8005MLP\u5c42\u4f5c\u4e3a\u771f\u503c\u76ee\u6807\u7f16\u7801\u5668\u5bf9\u4e8e\u6a21\u578b\u611f\u77e5\u6027\u80fd\u7684\u5f71\u54cd\u3002\u901a\u8fc7\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u65e0\u8bba\u662f\u539f\u5148\u7684tiny\u8fd8\u662fbase\u53d8\u4f53\uff0c\u5728\u5e94\u7528\u4e86\u6211\u4eec\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u540e\uff0cNDS\u548cmAP\u6307\u6807\u5747\u6709\u7a33\u5b9a\u7684\u6027\u80fd\u63d0\u5347\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u901a\u8fc7\u5b9e\u9a8c\u7ed3\u679c\u6211\u4eec\u53ef\u4ee5\u53d1\u73b0\uff0c\u5bf9\u4e8e\u771f\u503c\u76ee\u6807\u7f16\u7801\u5668\u9009\u62e9MLP\u5c42\u8fd8\u662f\u8bed\u8a00\u6a21\u578b\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u5bf9\u4e8e\u6b64\u5e76\u4e0d\u654f\u611f\uff0c\u8fd9\u79cd\u7075\u6d3b\u6027\u53ef\u4ee5\u4f7f\u5f97\u6211\u4eec\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u66f4\u5177\u6709\u9002\u5e94\u80fd\u529b\u5e76\u4e14\u65b9\u4fbf\u4e0a\u8f66\u90e8\u7f72\u3002\u603b\u4e4b\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u7684\u5404\u7c7b\u53d8\u4f53\u7684\u6027\u80fd\u6307\u6807\u4e00\u81f4\u8868\u660e\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u5177\u6709\u5f88\u597d\u7684\u611f\u77e5\u9c81\u68d2\u6027\uff0c\u53ef\u4ee5\u5728\u4e0d\u540c\u6a21\u578b\u590d\u6742\u5ea6\u548c\u53c2\u6570\u91cf\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u51fa\u8272\u7684\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684CLIP-BEVFormer\u57283D\u611f\u77e5\u4efb\u52a1\u4e0a\u7684\u6027\u80fd\u5916\uff0c\u6211\u4eec\u8fd8\u8fdb\u884c\u4e86\u957f\u5c3e\u5206\u5e03\u7684\u5b9e\u9a8c\u6765\u8bc4\u4f30\u6211\u4eec\u7684\u7b97\u6cd5\u5728\u9762\u5bf9\u6570\u636e\u96c6\u4e2d\u5b58\u5728\u957f\u5c3e\u5206\u5e03\u60c5\u51b5\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u6cdb\u5316\u80fd\u529b\uff0c\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u4e0b\u8868<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"277\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-212-1024x277.png\" alt=\"\" class=\"wp-image-9131\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-212-1024x277.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-212-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-212-768x208.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-212.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8868\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0cnuScenes\u6570\u636e\u96c6\u4e2d\u8868\u73b0\u51fa\u4e86\u6781\u5927\u7684\u7c7b\u522b\u6570\u91cf\u4e0d\u5747\u8861\u7684\u95ee\u9898\uff0c\u5176\u4e2d\u4e00\u4e9b\u7c7b\u522b\u5982\uff08\u5efa\u7b51\u8f66\u8f86\u3001\u516c\u4ea4\u8f66\u3001\u6469\u6258\u8f66\u3001\u81ea\u884c\u8f66\u7b49\uff09\u5360\u6bd4\u5f88\u4f4e\uff0c\u4f46\u662f\u5bf9\u4e8e\u5c0f\u6c7d\u8f66\u7684\u5360\u6bd4\u975e\u5e38\u9ad8\u3002\u6211\u4eec\u901a\u8fc7\u8fdb\u884c\u957f\u5c3e\u5206\u5e03\u7684\u76f8\u5173\u5b9e\u9a8c\u6765\u8bc4\u4f30\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u5728\u7279\u5f81\u7c7b\u522b\u4e0a\u7684\u611f\u77e5\u6027\u80fd\uff0c\u4ece\u800c\u9a8c\u8bc1\u5176\u89e3\u51b3\u4e0d\u592a\u5e38\u89c1\u7c7b\u522b\u7684\u5904\u7406\u80fd\u529b\u3002\u901a\u8fc7\u4e0a\u8ff0\u7684\u5b9e\u9a8c\u6570\u636e\u53ef\u4ee5\u770b\u51fa\uff0c\u63d0\u51fa\u7684CLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u5728\u6240\u6709\u7c7b\u522b\u4e0a\u5747\u5b9e\u73b0\u4e86\u6027\u80fd\u7684\u63d0\u5347\uff0c\u5e76\u4e14\u5728\u5bf9\u4e8e\u5360\u6bd4\u6781\u5c11\u7684\u7c7b\u522b\u4e0a\uff0cCLIP-BEVFormer\u7b97\u6cd5\u6a21\u578b\u5c55\u793a\u51fa\u4e86\u660e\u663e\u7684\u5b9e\u8d28\u6027\u6539\u8fdb\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u5728\u771f\u5b9e\u73af\u5883\u4e0b\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9700\u8981\u9762\u4e34\u786c\u4ef6\u6545\u969c\u3001\u6076\u52a3\u5929\u6c14\u72b6\u51b5\u6216\u8005\u4eba\u9020\u969c\u788d\u7269\u5bb9\u6613\u5f15\u53d1\u7684\u4f20\u611f\u5668\u6545\u969c\u7b49\u95ee\u9898\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u7684\u9c81\u68d2\u6027\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u4e3a\u4e86\u6a21\u62df\u4f20\u611f\u5668\u7684\u6545\u969c\u95ee\u9898\uff0c\u6211\u4eec\u5728\u6a21\u578b\u5b9e\u65bd\u63a8\u7406\u7684\u8fc7\u7a0b\u4e2d\u968f\u673a\u5bf9\u4e00\u4e2a\u76f8\u673a\u7684\u6444\u50cf\u5934\u8fdb\u884c\u906e\u6321\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u4e8e\u76f8\u673a\u53ef\u80fd\u51fa\u73b0\u6545\u969c\u7684\u573a\u666f\u8fdb\u884c\u6a21\u62df\uff0c\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u5982\u4e0b\u8868\u6240\u793a<\/p>\n\n\n\n<figure 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