{"id":9149,"date":"2024-03-26T14:21:54","date_gmt":"2024-03-26T06:21:54","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9149"},"modified":"2024-03-26T14:21:54","modified_gmt":"2024-03-26T06:21:54","slug":"2024-03-26-%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%96%b0%e6%96%b9%e5%90%91%ef%bc%9fvidar%ef%bc%9a%e5%bc%80%e5%8d%b7%e5%8f%af%e6%89%a9%e5%b1%95%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%ef%bc%88opendrivelab","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/26\/9149\/","title":{"rendered":"2024-03-26 \u81ea\u52a8\u9a7e\u9a76\u65b0\u65b9\u5411\uff1fViDAR\uff1a\u5f00\u5377\u53ef\u6269\u5c55\u81ea\u52a8\u9a7e\u9a76\uff08OpenDriveLab\uff09"},"content":{"rendered":"\n<p>\u4e0e\u5e7f\u6cdb\u7814\u7a76\u7684\u901a\u7528\u89c6\u89c9(general vision)\u4e0d\u540c\uff0c\u9488\u5bf9\u53ef\u6269\u5c55\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76(scalable visual autonomous driving)\u7684\u9884\u8bad\u7ec3\u4ecd\u7136\u5f88\u5c11\u88ab\u63a2\u7d22\u3002\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u9700\u8981\u540c\u65f6\u5305\u542b\u8bed\u4e49\u3001\u4e09\u7ef4\u51e0\u4f55\u548c\u65f6\u95f4\u4fe1\u606f\u7684\u7279\u5f81\uff0c\u7528\u4e8e\u8054\u5408\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u8fd9\u7ed9\u9884\u8bad\u7ec3\u5e26\u6765\u5de8\u5927\u6311\u6218\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u9884\u8bad\u7ec3\u4efb\u52a1\uff0c\u79f0\u4e3a\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b(visual point cloud forecasting)\u2014\u2014\u4ece\u5386\u53f2\u89c6\u89c9\u8f93\u5165(historical visual input)\u9884\u6d4b\u672a\u6765\u7684\u70b9\u4e91\u3002\u8fd9\u9879\u4efb\u52a1\u7684\u5173\u952e\u4f18\u52bf\u5728\u4e8e\u5b83\u80fd\u591f\u534f\u540c\u5b66\u4e60\u8bed\u4e49\u3001\u4e09\u7ef4\u7ed3\u6784\u548c\u65f6\u95f4\u52a8\u6001\u3002\u56e0\u6b64\uff0c\u5b83\u5728\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\u4e2d\u663e\u793a\u51fa\u4e86\u4f18\u8d8a\u6027\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e00\u65b0\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86 ViDAR\uff0c\u8fd9\u662f\u4e00\u4e2a\u9884\u8bad\u7ec3\u4e0b\u6e38\u89c6\u89c9\u7f16\u7801\u5668\u7684\u901a\u7528\u6a21\u578b\u3002\u5b83\u9996\u5148\u901a\u8fc7\u7f16\u7801\u5668\u63d0\u53d6\u5386\u53f2\u5d4c\u5165(historical embeddings)\u8868\u793a\u3002\u7136\u540e\uff0c\u8fd9\u4e9b\u8868\u793a\u901a\u8fc7\u4e00\u4e2a\u65b0\u9896\u7684\u6f5c\u5728\u6e32\u67d3\u64cd\u4f5c\u7b26(Latent Rendering operator)\u88ab\u8f6c\u6362\u5230\u4e09\u7ef4\u51e0\u4f55\u7a7a\u95f4\uff0c\u4ee5\u8fdb\u884c\u672a\u6765\u70b9\u4e91\u7684\u9884\u6d4b\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u5728\u4e0b\u6e38\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u7684\u63d0\u5347\uff0c\u4f8b\u5982\uff0c\u5728\u4e09\u7ef4\u68c0\u6d4b\u4e2dNDS\u63d0\u9ad8\u4e863.1%\uff0c\u5728\u8fd0\u52a8\u9884\u6d4b\u4e2d\u7684\u8bef\u5dee\u51cf\u5c11\u4e86\u7ea610%\uff0c\u5728\u89c4\u5212\u4e2d\u7684\u78b0\u649e\u7387\u51cf\u5c11\u4e86\u7ea615%\u3002<br>ViDAR\u7684\u8bba\u6587\u8bbe\u8ba1<\/p>\n\n\n\n<p>\u8fd1\u671f\uff0c\u793e\u533a\u89c1\u8bc1\u4e86\u4ee5\u89c6\u89c9\u6216\u4ec5\u76f8\u673a\u4e3a\u8f93\u5165\u7684\u81ea\u52a8\u9a7e\u9a76\u7684\u5feb\u901f\u53d1\u5c55\uff0c\u8f93\u5165\u6570\u636e\u4e3a\u5355\u76ee\u6216\u591a\u89c6\u89d2\u56fe\u50cf\u3002\u4ec5\u5229\u7528\u89c6\u89c9\u8f93\u5165\uff0c\u73b0\u6709\u65b9\u6cd5\u5c55\u793a\u4e86\u63d0\u53d6\u9e1f\u77b0\u56fe\uff08Bird\u2019s-Eye-View, BEV\uff09\u7279\u5f81\u7684\u5353\u8d8a\u80fd\u529b\uff0c\u5e76\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u65b9\u9762\u8868\u73b0\u826f\u597d\u3002\u5c3d\u7ba1\u5728\u5e94\u7528\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u7684\u8fdb\u6b65\uff0c\u8fd9\u4e9b\u6a21\u578b\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u4f9d\u8d56\u4e8e\u7cbe\u786e\u7684\u4e09\u7ef4\u6807\u6ce8\uff0c\u800c\u8fd9\u4e9b\u6807\u6ce8\u5f80\u5f80\u96be\u4ee5\u6536\u96c6\uff0c\u4f8b\u5982\u8bed\u4e49\u5360\u7528\u30013D boxes\u3001\u8f68\u8ff9\uff0c\u56e0\u6b64\u5728\u751f\u4ea7\u4e2d\u96be\u4ee5\u6269\u5c55(scale up)\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u6602\u8d35\u7684\u6807\u6ce8\u5de5\u4f5c\u6d41\u7a0b\uff0c\u9884\u8bad\u7ec3\u5df2\u7ecf\u6210\u4e3a\u6269\u5c55(scale up)\u4e0b\u6e38\u5e94\u7528\u7684\u5173\u952e\u65b9\u6cd5\u3002\u6838\u5fc3\u601d\u60f3\u662f\u5b9a\u4e49\u501f\u52a9\u5927\u91cf\u73b0\u6210\u6570\u636e\u7684 pretext tasks \u6765\u5b66\u4e60\u6709\u610f\u4e49\u7684\u8868\u793a\u3002\u8fd9\u79cd\u65b9\u6cd5\u53ef\u4ee5\u63d0\u5347\u4e0b\u6e38\u4efb\u52a1\u7684\u6027\u80fd\uff0c\u5373\u4f7f\u6807\u6ce8\u6570\u636e\u6709\u9650\u4e5f\u80fd\u53d1\u6325\u4f5c\u7528\u3002<\/p>\n\n\n\n<p>\u5c3d\u7ba1\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u5df2\u7ecf\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u9884\u8bad\u7ec3\u7814\u7a76\uff0c\u5176\u5728\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u5e94\u7528\u8fd8\u9c9c\u6709\u63a2\u7d22\u3002\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u5728\u9884\u8bad\u7ec3\u65b9\u9762\u63d0\u51fa\u4e86\u5de8\u5927\u6311\u6218\uff0c\u56e0\u4e3a\u5b83\u8981\u6c42\u7279\u5f81\u540c\u65f6\u4fdd\u6301\u8bed\u4e49\u3001\u4e09\u7ef4\u51e0\u4f55\u548c\u65f6\u95f4\u52a8\u6001\uff0c\u4ee5\u4fbf\u4e8e\u8054\u5408\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u3002\u56e0\u6b64\uff0c\u5927\u591a\u6570\u6a21\u578b\u4ecd\u7136\u4f9d\u8d56\u4e8e\u6709\u76d1\u7763\u7684\u9884\u8bad\u7ec3\uff0c\u6bd4\u5982\u4e09\u7ef4\u68c0\u6d4b\u6216\u5360\u7528\uff0c\u4f7f\u7528\u7684\u662f\u5f80\u5f80\u65e0\u6cd5\u5927\u89c4\u6a21\u83b7\u53d6\u7684\u6807\u6ce8\u6570\u636e\u3002\u4e00\u4e9b\u65b9\u6cd5\u63d0\u51fa\u4f30\u7b97\u6df1\u5ea6\u6216\u6e32\u67d3\u63a9\u7801\u573a\u666f(rendering masked scenes)\u4f5c\u4e3a\u9884\u8bad\u7ec3\u624b\u6bb5\u3002\u5b83\u4eec\u4f7f\u7528\u56fe\u50cf-\u6fc0\u5149\u96f7\u8fbe\u5bf9(Image-LiDAR pairs)\u4f5c\u4e3a\u5b9e\u73b0\u53ef\u6269\u5c55\u7684\u65e0\u6807\u6ce8\u9884\u8bad\u7ec3\u7684\u624b\u6bb5\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5728\u591a\u89c6\u89d2\u4e09\u7ef4\u51e0\u4f55\u6216\u65f6\u95f4\u5efa\u6a21\u65b9\u9762\u5b58\u5728\u56f0\u96be\uff08\u89c1\u56fe2\uff09\u3002\u6df1\u5ea6\u4f30\u8ba1\u4ece\u5355\u4e2a\u56fe\u50cf\u4e2d\u63d0\u53d6\u6df1\u5ea6\u4fe1\u606f\uff0c\u4f46\u5728\u591a\u89c6\u89d2\u51e0\u4f55\u4e2d\u53d7\u9650\uff1b\u6e32\u67d3\u6280\u672f\u4ece\u591a\u89c6\u89d2\u56fe\u50cf\u91cd\u5efa\u573a\u666f\uff0c\u4f46\u7f3a\u4e4f\u65f6\u95f4\u5efa\u6a21\u3002\u7136\u800c\uff0c\u5728\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u65f6\u95f4\u5efa\u6a21\u81f3\u5173\u91cd\u8981\uff0c\u4f8b\u5982UniAD\uff0c\u5c24\u5176\u662f\u5bf9\u4e8e\u9884\u6d4b\u548c\u89c4\u5212\u8fd9\u4e9b\u6700\u7ec8\u76ee\u6807\uff0c\u5b83\u4eec\u9700\u8981\u51c6\u786e\u7684\u573a\u666f\u6d41(scene flow)\u548c\u7269\u4f53\u8fd0\u52a8\u6765\u8fdb\u884c\u51b3\u7b56\u3002\u7531\u4e8e\u7f3a\u4e4f\u65f6\u95f4\u5efa\u6a21\uff0c\u73b0\u6709\u65b9\u6cd5\u5bf9\u4e8e\u9884\u8bad\u7ec3\u7aef\u5230\u7aef\u7cfb\u7edf\u6765\u8bf4\u8fd8\u4e0d\u591f\u5145\u5206\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u672c\u6587\u63a2\u7d22\u4e86\u4e13\u4e3a\u7aef\u5230\u7aef\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u91cf\u8eab\u5b9a\u5236\u7684\u9884\u8bad\u7ec3\u65b9\u6cd5\uff0c\u4e0d\u4ec5\u5305\u62ec\u611f\u77e5\uff0c\u8fd8\u5305\u62ec\u9884\u6d4b\u548c\u89c4\u5212\u3002\u672c\u6587\u6784\u5efa\u4e86\u4e00\u4e2a\u65b0\u7684 pretext tasks \u2014\u2014\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\uff08\u89c1\u56fe2\uff09\uff0c\u4ee5\u5145\u5206\u5229\u7528\u539f\u59cb\u56fe\u50cf-\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u80cc\u540e\u7684\u8bed\u4e49\u3001\u4e09\u7ef4\u51e0\u4f55\u548c\u65f6\u95f4\u52a8\u6001\u4fe1\u606f\uff0c\u5e76\u8003\u8651\u5230\u53ef\u6269\u5c55\u6027(being scalable)\u3002\u5b83\u4ece\u5386\u53f2\u89c6\u89c9\u56fe\u50cf\u4e2d\u9884\u6d4b\u672a\u6765\u7684\u70b9\u4e91\u3002<\/p>\n\n\n\n<p>\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u7684\u4e3b\u8981\u7406\u5ff5\u5728\u4e8e\u5bf9\u8bed\u4e49\u3001\u4e09\u7ef4\u7ed3\u6784\u548c\u65f6\u95f4\u5efa\u6a21\u7684\u540c\u65f6\u76d1\u7763\u3002\u901a\u8fc7\u8feb\u4f7f\u6a21\u578b\u4ece\u5386\u53f2\u6570\u636e\u9884\u6d4b\u672a\u6765\uff0c\u5b83\u76d1\u7763\u4e86\u573a\u666f\u6d41\u548c\u7269\u4f53\u8fd0\u52a8\u7684\u63d0\u53d6\uff0c\u8fd9\u5bf9\u4e8e\u65f6\u95f4\u5efa\u6a21\u548c\u672a\u6765\u4f30\u8ba1\u81f3\u5173\u91cd\u8981\u3002\u540c\u65f6\uff0c\u5b83\u6d89\u53ca\u4ece\u56fe\u50cf\u91cd\u5efa\u70b9\u4e91\uff0c\u8fd9\u76d1\u7763\u4e86\u591a\u89c6\u89d2\u51e0\u4f55\u548c\u8bed\u4e49\u5efa\u6a21\u3002\u56e0\u6b64\uff0c\u6765\u81ea\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u7684\u7279\u5f81\u5d4c\u5165\u4e86\u51e0\u4f55\u548c\u65f6\u95f4\u63d0\u793a(geometric and temporal hints)\u7684\u4fe1\u606f\uff0c\u8fd9\u5bf9\u4e8e\u540c\u65f6\u8fdb\u884c\u611f\u77e5\u3001\u8ddf\u8e2a\u548c\u89c4\u5212\u90fd\u662f\u6709\u76ca\u7684\u3002<\/p>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u4e86 ViDAR\uff0c\u4e00\u79cd\u7528\u4e8e\u9884\u8bad\u7ec3\u7684\u901a\u7528\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u65b9\u6cd5(a general visual point cloud forecasting approach)\uff08\u89c1\u56fe2\uff09\u3002ViDAR \u5305\u62ec\u4e09\u4e2a\u90e8\u5206\uff1a\u5386\u53f2\u7f16\u7801\u5668\uff08History Encoder\uff09\u3001\u6f5c\u5728\u6e32\u67d3\u64cd\u4f5c\u7b26\uff08Latent Rendering operator\uff09\u548c\u672a\u6765\u89e3\u7801\u5668\uff08Future Decoder\uff09\u3002\u5386\u53f2\u7f16\u7801\u5668\u662f\u9884\u8bad\u7ec3\u7684\u76ee\u6807\u7ed3\u6784\u3002\u5b83\u53ef\u4ee5\u662f\u4efb\u4f55\u89c6\u89c9BEV\u7f16\u7801\u5668\uff0c\u7528\u4e8e\u5c06\u89c6\u89c9\u5e8f\u5217\u5d4c\u5165\u5230BEV\u7a7a\u95f4\u3002\u8fd9\u4e9bBEV\u7279\u5f81\u88ab\u9001\u5165\u6f5c\u5728\u6e32\u67d3\u64cd\u4f5c\u7b26\u3002\u6f5c\u5728\u6e32\u67d3\u5728\u4f7f ViDAR \u63d0\u5347\u4e0b\u6e38\u6027\u80fd\u65b9\u9762\u53d1\u6325\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u5b83\u89e3\u51b3\u4e86 \u5c04\u7ebf\u5f62\u72b6BEV\u7279\u5f81\u95ee\u9898(ray-shaped BEV features issue)\uff0c\u5efa\u6a21\u4e09\u7ef4\u51e0\u4f55\u6f5c\u5728\u7a7a\u95f4\uff0c\u5e76\u8fde\u63a5\u7f16\u7801\u5668\u4e0e\u89e3\u7801\u5668\u3002\u672a\u6765\u89e3\u7801\u5668\u662f\u4e00\u4e2a\u81ea\u56de\u5f52 transformer \uff0c\u5b83\u5229\u7528\u5386\u53f2BEV\u7279\u5f81\u8fed\u4ee3\u5730\u9884\u6d4b\u4efb\u610f\u65f6\u95f4\u6233\u7684\u672a\u6765\u70b9\u4e91\u3002<\/p>\n\n\n\n<p>ViDAR \u4e3a\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5168\u9762\u7684\u89e3\u51b3\u65b9\u6848\u3002\u672c\u6587\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u6d4b\u8bd5\u4e86 ViDAR\uff0c\u5305\u62ec\u70b9\u4e91\u9884\u6d4b\u548c\u4e0b\u6e38\u9a8c\u8bc1\u3002\u5c3d\u7ba1\u4f7f\u7528\u7684\u662f\u89c6\u89c9\u8f93\u5165\uff0cViDAR\u5728\u70b9\u4e91\u9884\u6d4b\u65b9\u9762\u4ecd\u7136\u8d85\u8fc7\u4e86\u4f7f\u7528\u70b9\u4e91\u7684\u5148\u524d\u9884\u6d4b\u65b9\u6cd5\uff0c\u5bf9\u4e8e1\u79d2\u540e\u672a\u6765\u7684\u70b9\u4e91\u4f30\u8ba1\uff0cChamfer Distance \u51cf\u5c11\u4e86\u7ea633%\u3002ViDAR \u4e5f\u63d0\u9ad8\u4e86\u4e0b\u6e38\u6027\u80fd\u3002\u4ec5\u4f7f\u7528\u56fe\u50cf-\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\uff0cViDAR\u51fa\u4eba\u610f\u6599\u5730\u8d85\u8fc7\u4e863D\u68c0\u6d4b\u9884\u8bad\u7ec3\uff0c\u4f8b\u5982\uff0c\u5728\u76f8\u540c\u6570\u636e\u89c4\u6a21\u4e0b\uff0c\u68c0\u6d4b\u7684mAP\u63d0\u9ad8\u4e861.1%\uff0c\u8bed\u4e49\u5360\u7528\u9884\u6d4b\u7684mIoU\u63d0\u9ad8\u4e862.5%\u3002\u5982\u679c\u4e5f\u57fa\u4e8e3D\u68c0\u6d4b\u9884\u8bad\u7ec3\uff0cViDAR\u5c06\u5148\u524d\u65b9\u6cd5\u7684mAP\u63d0\u9ad8\u4e864.3%\uff0cmIoU\u63d0\u9ad8\u4e864.6%\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u5728\u51e0\u4f55\u548c\u65f6\u95f4\u4fe1\u606f\u7684\u8054\u5408\u6355\u83b7\u4e0a\u8fdb\u884c\u4e86\u6709\u6548\u7684\u9884\u8bad\u7ec3\uff0cViDAR\u5728\u6240\u6709\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u4e0a\u90fd\u663e\u8457\u63d0\u5347\u4e86UniAD\u7684\u6027\u80fd\uff0c\u5305\u62ec\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff08\u89c1\u56fe1\uff09\u3002\u5b9e\u9a8c\u7ed3\u679c\u9a8c\u8bc1\u4e86\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u80fd\u591f\u5b9e\u73b0\u53ef\u6269\u5c55\u7684\u81ea\u52a8\u9a7e\u9a76(scalable autonomous driving)\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"460\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-215-1024x460.png\" alt=\"\" class=\"wp-image-9150\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-215-1024x460.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-215-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-215-768x345.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-215.png 1026w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1. ViDAR \u662f\u4e00\u4e2a\u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u6846\u67b6\uff0c\u5b83\u5229\u7528\u4ece\u5386\u53f2\u89c6\u89c9\u8f93\u5165\u4e2d\u4f30\u8ba1\u672a\u6765\u70b9\u4e91\u4f5c\u4e3a pretext tasks \u3002\u672c\u6587\u5c06\u8fd9\u79cd\u65b0\u7684 pretext tasks \u79f0\u4e3a\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b(visual point cloud forecasting)\u3002\u5728 ViDAR \u7684\u5e2e\u52a9\u4e0b\uff0c\u672c\u6587\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u7684\u591a\u79cd\u4e0b\u6e38\u5e94\u7528\u4e2d\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6539\u8fdb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"526\" height=\"427\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-216.png\" alt=\"\" class=\"wp-image-9151\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-216.png 526w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-216-300x244.png 300w\" sizes=\"(max-width: 526px) 100vw, 526px\" \/><\/figure>\n\n\n\n<p>\u56fe2. \u89c6\u89c9\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u8303\u5f0f\u4ee5\u53ca\u672c\u6587\u7684 ViDAR \u67b6\u6784\u4e4b\u95f4\u7684\u6bd4\u8f83\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0c\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u5171\u540c\u5efa\u6a21\u4e86\u591a\u89c6\u89d2\u51e0\u4f55\u548c\u65f6\u95f4\u52a8\u6001\u3002\u7136\u540e\u672c\u6587\u63d0\u51fa\u4e86 ViDAR\uff0c\u4f7f\u7528\u56fe\u50cf-\u6fc0\u5149\u96f7\u8fbe\u5e8f\u5217\u6765\u9884\u8bad\u7ec3\u89c6\u89c9\u7f16\u7801\u5668\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"503\" height=\"295\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-217.png\" alt=\"\" class=\"wp-image-9152\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-217.png 503w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-217-300x176.png 300w\" sizes=\"(max-width: 503px) 100vw, 503px\" \/><\/figure>\n\n\n\n<p>\u56fe3. \u5c04\u7ebf\u5f62\u72b6\u7279\u5f81(Ray-shaped Features)\u4e0e\u51e0\u4f55\u7279\u5f81\u3002\u5c04\u7ebf\u5f62\u72b6\u7279\u5f81\u5728\u540c\u4e00\u5c04\u7ebf\u4e0a\u7684BEV\u7f51\u683c\u4e2d\u663e\u793a\u51fa\u76f8\u4f3c\u7684\u7279\u5f81\u54cd\u5e94\uff1b\u800c\u6765\u81ea\u6f5c\u5728\u6e32\u67d3\u7684\u51e0\u4f55\u7279\u5f81\u4fdd\u6301\u4e86\u533a\u5206\u6027\u7684\u4e09\u7ef4\u51e0\u4f55\u5f62\u72b6\uff0c\u5e76\u4e14\u80fd\u591f\u5728\u6f5c\u5728\u7a7a\u95f4\u4e2d\u63cf\u8ff0\u4e09\u7ef4\u4e16\u754c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"513\" height=\"298\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-218.png\" alt=\"\" class=\"wp-image-9153\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-218.png 513w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-218-300x174.png 300w\" sizes=\"(max-width: 513px) 100vw, 513px\" \/><\/figure>\n\n\n\n<p>\u56fe4. \u591a\u7ec4\u6f5c\u5728\u6e32\u67d3\u5305\u62ec\u51e0\u4e2a\u5e76\u884c\u8fd0\u884c\u7684\u6f5c\u5728\u6e32\u67d3\uff0c\u7528\u4e8e\u4e0d\u540c\u7684\u901a\u9053\u3002\u6f5c\u5728\u6e32\u67d3\u901a\u8fc7\u6761\u4ef6\u6982\u7387\u51fd\u6570\u548c\u7279\u5f81\u63d0\u53d6\u51fd\u6570\u6765\u6355\u83b7\u51e0\u4f55\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"346\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-219.png\" alt=\"\" class=\"wp-image-9154\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-219.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-219-300x205.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<p>\u56fe5. \u672a\u6765\u89e3\u7801\u5668\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"509\" height=\"388\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-220.png\" alt=\"\" class=\"wp-image-9155\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-220.png 509w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-220-300x229.png 300w\" sizes=\"(max-width: 509px) 100vw, 509px\" \/><\/figure>\n\n\n\n<p>\u56fe6. \u5728\u6709\u9650\u76d1\u7763\u6570\u636e\u4e0a\u5bf9 ViDAR \u8fdb\u884c\u5fae\u8c03\u7684\u9a8c\u8bc1\u3002\u672c\u6587\u901a\u8fc7\u5728\u4e0b\u6e38\u5fae\u8c03\u8fc7\u7a0b\u4e2d\u51cf\u5c11\u53ef\u7528\u7684\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u6807\u6ce8\uff08\u4ece\u5b8c\u6574\u8bad\u7ec3\u96c6\u52301\/8\u7684\u5b50\u96c6\uff09\u6765\u9a8c\u8bc1 ViDAR \u5728\u76d1\u7763\u6548\u7387\u4e0a\u7684\u8868\u73b0\uff0c\u5e76\u89c2\u5bdf\u5230\u5728\u6bcf\u4e2a\u5b50\u96c6\u4e0a\u7684\u6301\u7eed\u6539\u8fdb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"516\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-221.png\" alt=\"\" class=\"wp-image-9156\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-221.png 516w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-221-300x140.png 300w\" sizes=\"(max-width: 516px) 100vw, 516px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"513\" height=\"223\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-222.png\" alt=\"\" class=\"wp-image-9157\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-222.png 513w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-222-300x130.png 300w\" sizes=\"(max-width: 513px) 100vw, 513px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"343\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-223.png\" alt=\"\" class=\"wp-image-9158\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-223.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-223-300x203.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"517\" height=\"282\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-224.png\" alt=\"\" class=\"wp-image-9159\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-224.png 517w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-224-300x164.png 300w\" sizes=\"(max-width: 517px) 100vw, 517px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"511\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-225.png\" alt=\"\" class=\"wp-image-9160\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-225.png 511w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-225-300x100.png 300w\" sizes=\"(max-width: 511px) 100vw, 511px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"283\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-226.png\" alt=\"\" class=\"wp-image-9161\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-226.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-226-300x167.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"214\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-227.png\" alt=\"\" class=\"wp-image-9162\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-227.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-227-300x127.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"514\" height=\"249\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-228.png\" alt=\"\" class=\"wp-image-9163\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-228.png 514w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-228-300x145.png 300w\" sizes=\"(max-width: 514px) 100vw, 514px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"516\" height=\"314\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-229.png\" alt=\"\" class=\"wp-image-9164\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-229.png 516w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-229-300x183.png 300w\" sizes=\"(max-width: 516px) 100vw, 516px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"156\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-230-1024x156.png\" alt=\"\" class=\"wp-image-9165\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-230-1024x156.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-230-300x46.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-230-768x117.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-230.png 1049w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"518\" height=\"192\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-231.png\" alt=\"\" class=\"wp-image-9166\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-231.png 518w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-231-300x111.png 300w\" sizes=\"(max-width: 518px) 100vw, 518px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u603b\u7ed3<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b(visual point cloud forecasting)\uff0c\u8fd9\u662f\u4e00\u79cd\u4ece\u5386\u53f2\u89c6\u89c9\u56fe\u50cf\u9884\u6d4b\u672a\u6765\u70b9\u4e91\u7684\u65b0\u578b\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u9884\u8bad\u7ec3\u4efb\u52a1\u3002\u672c\u6587\u5f00\u53d1\u4e86 ViDAR\uff0c\u4e00\u4e2a\u7528\u4e8e\u9884\u8bad\u7ec3\u89c6\u89c9BEV\u7f16\u7801\u5668\u7684\u901a\u7528\u6a21\u578b\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u6f5c\u5728\u6e32\u67d3\u64cd\u4f5c\u7b26\u6765\u89e3\u51b3\u5c04\u7ebf\u5f62\u72b6\u7279\u5f81\u95ee\u9898\u3002\u603b\u4e4b\uff0c\u672c\u6587\u7684\u5de5\u4f5c\u8bc1\u660e\u4e86\u89c6\u89c9\u70b9\u4e91\u9884\u6d4b\u80fd\u591f\u5b9e\u73b0\u53ef\u6269\u5c55\u7684\u81ea\u52a8\u9a7e\u9a76(scalable autonomous driving)<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0e\u5e7f\u6cdb\u7814\u7a76\u7684\u901a\u7528\u89c6\u89c9(general visi [&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-9149","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\/9149"}],"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=9149"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9149\/revisions"}],"predecessor-version":[{"id":9167,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9149\/revisions\/9167"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9149"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9149"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9149"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}