{"id":9285,"date":"2024-04-01T17:41:29","date_gmt":"2024-04-01T09:41:29","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9285"},"modified":"2024-04-01T17:41:29","modified_gmt":"2024-04-01T09:41:29","slug":"2024-04-01-%e8%b6%85%e8%b6%8abevfusion%ef%bc%81graphbev%ef%bc%9a%e8%a7%a3%e5%86%b3%e5%a4%9a%e6%a8%a1%e6%80%81%e7%89%b9%e5%be%81%e4%b8%8d%e5%af%b9%e9%bd%90%e5%92%8c%e5%99%aa%e5%a3%b0%e9%97%ae%e9%a2%98","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/01\/9285\/","title":{"rendered":"2024-04-01 \u8d85\u8d8aBEVFusion\uff01GraphBEV\uff1a\u89e3\u51b3\u591a\u6a21\u6001\u7279\u5f81\u4e0d\u5bf9\u9f50\u548c\u566a\u58f0\u95ee\u9898\uff0c\u52a9\u529b\u91cf\u4ea7"},"content":{"rendered":"\n<p>\u5c06\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4fe1\u606f\u6574\u5408\u5230BEV\u8868\u793a\u4e2d\u5df2\u7ecf\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d3D\u76ee\u6807\u68c0\u6d4b\u53d1\u5c55\u7684\u91cd\u8981\u65b9\u5411\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u65b9\u6cd5\u5bb9\u6613\u53d7\u5230\u6fc0\u5149\u96f7\u8fbe\u4e0e\u76f8\u673a\u4f20\u611f\u5668\u6807\u5b9a\u53c2\u6570\u4e0d\u51c6\u786e\u7684\u5f71\u54cd\u3002\u8fd9\u79cd\u4e0d\u51c6\u786e\u6027\u5bfc\u81f4\u76f8\u673a\u5206\u652f\u7684\u6df1\u5ea6\u4f30\u8ba1\u9519\u8bef\uff0c\u6700\u7ec8\u5bfc\u81f4LiDAR\u548c\u76f8\u673aBEV\u7279\u5f81\u4e4b\u95f4\u7684\u4e0d\u5bf9\u9f50\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u9c81\u68d2\u7684\u878d\u5408\u6846\u67b6GraphBEV\u3002\u4e3a\u4e86\u89e3\u51b3\u70b9\u4e91\u6295\u5f71\u4e0d\u51c6\u786e\u5bfc\u81f4\u7684\u8bef\u5dee\uff0c\u5f15\u5165\u4e86\u4e00\u4e2aLocalAlign\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u901a\u8fc7\u56fe\u5339\u914d\u4f7f\u7528\u4e86\u9886\u57df\u611f\u77e5\u6df1\u5ea6\u7279\u5f81\u3002\u6b64\u5916\uff0c\u8fd8\u63d0\u51fa\u4e86\u4e00\u4e2aGlobalAlign\u6a21\u5757\u6765\u7ea0\u6b63\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673aBEV\u7279\u5f81\u4e4b\u95f4\u7684\u4e0d\u5bf9\u9f50\u3002\u6211\u4eec\u7684GraphBEV\u6846\u67b6\u5b9e\u73b0\u4e86SOTA\u7684\u6027\u80fd\uff0cmAP\u4e3a70.1%\uff0c\u5728nuScnes\u9a8c\u8bc1\u96c6\u4e0a\u8d85\u8fc7BEVFusion 1.6%\u3002\u91cd\u8981\u7684\u662f\uff0c\u5728\u566a\u58f0\u6761\u4ef6\u4e0b\uff0cGraphBEV\u6bd4BEVFusion\u9ad8\u51fa8.3%\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u4e3b\u8981\u8d21\u732e<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u7279\u5f81\u4e0d\u5bf9\u9f50\u662f\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u5b9e\u9645\u5e94\u7528\u4e2d\u7684\u4e00\u4e2a\u91cd\u5927\u6311\u6218\uff0c\u4e3b\u8981\u662f\u7531LiDAR\u548c\u76f8\u673a\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u6807\u5b9a\u8bef\u5dee\u5f15\u8d77\u7684\uff0c\u5982\u56fe1(a)\u6240\u793a\u3002\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u4ece\u65e9\u671f\u7684\u70b9\u7ea7\u548c\u7279\u5f81\u7ea7\u65b9\u6cd5\u53d1\u5c55\u5230\u76ee\u524d\u6d41\u884c\u7684BEVFusion\u7b49BEV\u878d\u5408\u65b9\u6cd5\u3002\u5c3d\u7ba1\u5728nuScenes\u7b49\u566a\u58f0\u8f83\u5c0f\u7684\u6570\u636e\u96c6\u4e0a\u6709\u6548\uff0c\u4f46\u5728\u5e26\u566a\u6570\u636e\u96c6\u4e0a\uff0cBEVFusion\u7684\u6027\u80fd\u4f1a\u5927\u5e45\u4e0b\u964d\uff0c\u5982\u56fe1(c)\u6240\u793a\u3002\u8fd9\u79cd\u6027\u80fd\u4e0b\u964d\u4e3b\u8981\u662f\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u6807\u5b9a\u8bef\u5dee\uff0c\u800c\u9053\u8def\u632f\u52a8\u7b49\u56e0\u7d20\u53c8\u52a0\u5267\u4e86\u8fd9\u79cd\u8bef\u5dee\u3002\u8fd9\u4e9b\u56fa\u6709\u8bef\u5dee\u65e0\u6cd5\u901a\u8fc7\u5728\u7ebf\u6807\u5b9a\u6765\u7ea0\u6b63\uff0c\u8fd9\u662f\u4e00\u4e2a\u91cd\u5927\u6311\u6218\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"961\" height=\"323\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image.png\" alt=\"\" class=\"wp-image-9286\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image.png 961w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-768x258.png 768w\" sizes=\"(max-width: 961px) 100vw, 961px\" \/><\/figure>\n\n\n\n<p>\u56fe1:(a)\u7279\u5f81\u4e0d\u5bf9\u9f50\u4e3b\u8981\u662f\u7531\u4e8e\u5ffd\u7565\u4e86LiDAR\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u6807\u5b9a\u8bef\u5dee\uff0c\u5bfc\u81f4LiDAR\u5230\u76f8\u673a\u63d0\u4f9b\u4e86\u4e0d\u51c6\u786e\u7684\u6df1\u5ea6\u3002(b)\u6211\u4eec\u63d0\u51faGraphBEV\uff0c\u901a\u8fc7\u57fa\u4e8e\u56fe\u7684\u90bb\u57df\u4fe1\u606f\u6784\u5efa\u6765\u589e\u5f3a\u6fc0\u5149\u96f7\u8fbe\u5230\u76f8\u673a\u7684\u6295\u5f71\u6df1\u5ea6\u4e0e\u76f8\u90bb\u6df1\u5ea6\uff0c\u4ee5\u4e30\u5bcc\u4e0a\u4e0b\u6587\u6df1\u5ea6\u7279\u5f81\u5b66\u4e60<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u5728\u8fd9\u9879\u7814\u7a76\u4e2d\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u878d\u5408\u6846\u67b6\uff0c\u540d\u4e3aGraphBEV\uff0c\u6765\u89e3\u51b3\u4e0a\u8ff0\u7279\u5f81\u672a\u5bf9\u9f50\u95ee\u9898\u3002\u603b\u7684\u6765\u8bf4\u6211\u4eec\u7684\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3aGraphBEV\u7684\u9c81\u68d2\u878d\u5408\u6846\u67b6\uff0c\u4ee5\u89e3\u51b3\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u8f93\u5165\u4e4b\u95f4\u7684\u6295\u5f71\u8bef\u5dee\u5f15\u8d77\u7684\u7279\u5f81\u504f\u5dee\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u6df1\u5165\u5206\u6790\u7279\u5f81\u4e0d\u5bf9\u9f50\u7684\u6839\u672c\u539f\u56e0\uff0c\u5728GraphBEV\u4e2d\u63d0\u51fa\u4e86LocalAlign\u548cGlobalAlign\u6a21\u5757\uff0c\u4ee5\u89e3\u51b3\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673aBEV\u7279\u5f81\u4e4b\u95f4\u4e0d\u7cbe\u786e\u6df1\u5ea6\u7684\u5c40\u90e8\u4e0d\u5bf9\u9f50\u548c\u5168\u5c40\u4e0d\u5bf9\u9f50\u3002<\/li>\n\n\n\n<li>\u5927\u91cf\u7684\u5b9e\u9a8c\u9a8c\u8bc1\u4e86GraphBEV\u7684\u6709\u6548\u6027\uff0c\u5728nuScenes\u4e0a\u5c55\u793a\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cGraphBEV\u5728\u65e0\u566a\u8bbe\u7f6e\u548c\u5e26\u566a\u6761\u4ef6\u4e0b\u90fd\u4fdd\u6301\u76f8\u5f53\u7684\u6027\u80fd\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>\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u76843D\u76ee\u6807\u68c0\u6d4b<\/strong><\/h3>\n\n\n\n<p>\u57fa\u4e8eLiDAR\u76843D\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u6839\u636e\u70b9\u4e91\u8868\u793a\u53ef\u5206\u4e3a\u4e09\u79cd\u4e3b\u8981\u7c7b\u578b\uff1a<strong>\u57fa\u4e8e\u70b9<\/strong>\u3001<strong>\u57fa\u4e8e\u4f53\u7d20<\/strong>\u548c<strong>\u57fa\u4e8ePV\uff08\u70b9\u4f53\u7d20\uff09<\/strong>\u3002\u57fa\u4e8e\u70b9\u7684\u65b9\u6cd5\u6269\u5c55\u4e86PointNet\u7684\u539f\u7406\uff0c\u4f7f\u7528\u5806\u53e0\u7684\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u76f4\u63a5\u5904\u7406\u539f\u59cb\u70b9\u4e91\u4ee5\u63d0\u53d6\u70b9\u7279\u5f81\u3002\u57fa\u4e8e\u4f53\u7d20\u7684\u65b9\u6cd5\u901a\u5e38\u5c06\u70b9\u4e91\u8f6c\u6362\u4e3a\u4f53\u7d20\uff0c\u5e76\u5e94\u75283D\u7a00\u758f\u5377\u79ef\u8fdb\u884c\u4f53\u7d20\u7279\u5f81\u63d0\u53d6\u3002\u6b64\u5916\uff0cPointPillars\u5c06\u4e0d\u89c4\u5219\u7684\u539f\u59cb\u70b9\u4e91\u8f6c\u6362\u4e3apillar\uff0c\u5e76\u57282D\u4e3b\u5e72\u4e0a\u5bf9\u5b83\u4eec\u8fdb\u884c\u7f16\u7801\uff0c\u4ece\u800c\u5b9e\u73b0\u975e\u5e38\u9ad8\u7684FPS\u3002\u4e00\u4e9b\u57fa\u4e8e\u4f53\u7d20\u7684\u65b9\u6cd5\u8fdb\u4e00\u6b65\u5229\u7528Transformers\u540e\u4f53\u7d20\u5316\u6765\u6355\u83b7\u5927\u8303\u56f4\u4f53\u7d20\u95f4\u5173\u7cfb\u3002\u57fa\u4e8ePV\u7684\u65b9\u6cd5\u7ed3\u5408\u4e86\u4f53\u7d20\u548c\u57fa\u4e8e\u70b9\u7684\u7b56\u7565\uff0c\u4f7f\u7528\u8fd9\u4e24\u79cd\u65b9\u6cd5\u4ece\u70b9\u4e91\u7684\u4e0d\u540c\u8868\u793a\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u5c3d\u7ba1\u8ba1\u7b97\u9700\u6c42\u589e\u52a0\uff0c\u4f46\u4ecd\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u57fa\u4e8e\u76f8\u673a\u76843D\u76ee\u6807\u68c0\u6d4b<\/strong><\/h3>\n\n\n\n<p>\u57fa\u4e8e\u76f8\u673a\u76843D\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\u5728\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\uff0c\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u4e0eLiDAR\u76f8\u6bd4\uff0c\u76f8\u673a\u4f20\u611f\u5668\u7684\u6210\u672c\u663e\u7740\u964d\u4f4e\u3002\u65e9\u671f\u7684\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u4f7f\u7528\u989d\u5916\u76843D\u8fb9\u754c\u6846\u56de\u5f52\u5934\u6765\u589e\u5f3a2D\u76ee\u6807\u68c0\u6d4b\u5668\u3002\u81ea\u4eceLSS\u901a\u8fc7\u201cLift, splat\u201d\u5f15\u5165\u5c06\u591a\u89c6\u56fe\u4fe1\u606f\u7edf\u4e00\u5230\u9e1f\u77b0\u89c6\u56fe(BEV)\u7684\u6982\u5ff5\u4ee5\u6765\uff0c\u5f53\u524d\u57fa\u4e8e\u76f8\u673a\u7684\u65b9\u6cd5\u5df2\u7ecf\u8fc5\u901f\u53d1\u5c55\u3002\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\u50cfBEVDepth\u4e00\u6837\uff0c\u4ece\u591a\u89c6\u56fe\u56fe\u50cf\u4e2d\u63d0\u53d62D\u7279\u5f81\uff0c\u5e76\u901a\u8fc7LiDAR\u5230\u76f8\u673a\u7684\u6295\u5f71\u63d0\u4f9b\u6709\u6548\u7684\u6df1\u5ea6\u76d1\u7763\uff0c\u7136\u540e\u5c06\u591a\u89c6\u56fe\u7279\u5f81\u7edf\u4e00\u5230BEV\u4e0a\u3002\u540e\u7eed\u5de5\u4f5c\u5f15\u5165\u4e86\u591a\u89c6\u56fe\u7acb\u4f53\u6280\u672f\u6765\u63d0\u9ad8\u6df1\u5ea6\u4f30\u8ba1\u7cbe\u5ea6\u5e76\u5b9e\u73b0SOTA\u6027\u80fd\u3002\u6b64\u5916\uff0c\u53d7\u5230\u57fa\u4e8eTransformer\u7684\u67b6\u6784\uff08\u4f8b\u5982DETR\u548cDeformable DETR\uff09\u57282D\u68c0\u6d4b\u4e2d\u7684\u6210\u529f\u7684\u542f\u53d1\uff0c\u57fa\u4e8eTransformer\u7684\u68c0\u6d4b\u5668\u5df2\u7ecf\u51fa\u73b0\u7528\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u3002\u9075\u5faaDETR3D\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u8bbe\u8ba1\u4e00\u7ec4\u76ee\u6807\u67e5\u8be2\u6216BEV\u7f51\u683c\u67e5\u8be2\uff0c\u7136\u540e\u901a\u8fc7\u67e5\u8be2\u548c\u56fe\u50cf\u7279\u5f81\u4e4b\u95f4\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u6267\u884c\u89c6\u56fe\u8f6c\u6362\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b<\/strong><\/h3>\n\n\n\n<p>\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u662f\u6307\u5229\u7528\u6765\u81ea\u4e0d\u540c\u4f20\u611f\u5668\u7684\u6570\u636e\u7279\u5f81\uff0c\u5e76\u6574\u5408\u8fd9\u4e9b\u7279\u5f81\u4ee5\u5b9e\u73b0\u4e92\u8865\uff0c\u4ece\u800c\u5b9e\u73b03D\u76ee\u6807\u68c0\u6d4b\u3002\u4ee5\u524d\u7684\u591a\u6a21\u578b\u65b9\u6cd5\u53ef\u4ee5\u901a\u8fc7\u878d\u5408\u7c97\u7565\u5730\u5206\u4e3a\u4e09\u7c7b\uff0c\u5373\u70b9\u7ea7\u65b9\u6cd5\u3001\u7279\u5f81\u7ea7\u65b9\u6cd5\u548c\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u3002\u70b9\u7ea7\u548c\u7279\u5f81\u7ea7\u901a\u5e38\u5229\u7528\u56fe\u50cf\u7279\u5f81\u6765\u589e\u5f3aLiDAR\u70b9\u62163D\u76ee\u6807\u5efa\u8bae\u3002\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u6709\u6548\u5730\u5c06LiDAR\u548c\u76f8\u673a\u7684\u8868\u793a\u7edf\u4e00\u5230BEV\u7a7a\u95f4\u4e2d\u3002\u5c3d\u7ba1BEVFusion\u5b9e\u73b0\u4e86\u9ad8\u6027\u80fd\uff0c\u4f46\u5b83\u4eec\u901a\u5e38\u5728nuScenes\u7b49\u5e72\u51c0\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u6d4b\u8bd5\uff0c\u5ffd\u7565\u4e86\u73b0\u5b9e\u4e16\u754c\u7684\u590d\u6742\u6027\uff0c\u7279\u522b\u662f\u7279\u5f81\u9519\u4f4d\uff0c\u8fd9\u963b\u788d\u4e86\u5b83\u4eec\u7684\u5e94\u7528\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8be6\u89e3GraphBEV<\/strong><\/h2>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e4b\u524d\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u4e2d\u7684\u7279\u5f81\u672a\u5bf9\u9f50\u95ee\u9898\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u9c81\u68d2\u7684\u878d\u5408\u6846\u67b6\uff0c\u540d\u4e3aGraphBEV\uff0c\u5982\u56fe2\u6240\u793a\u3002\u4ece\u4e0d\u540c\u7684\u4f20\u611f\u5668\uff08\u5305\u62ecLiDAR\u548c\u76f8\u673a\uff09\u83b7\u53d6\u8f93\u5165\uff0c\u6211\u4eec\u9996\u5148\u5e94\u7528\u7279\u5b9a\u4e8e\u6a21\u6001\u7684\u7f16\u7801\u5668\uff0cSwin-Transformer\u4f5c\u4e3a\u76f8\u673a\u7f16\u7801\u5668\uff0cSecond\u4f5c\u4e3aLiDAR\u7f16\u7801\u5668\uff0c\u4ee5\u63d0\u53d6\u4ed6\u4eec\u5404\u81ea\u7684\u7279\u70b9\u3002\u7136\u540e\uff0c\u901a\u8fc7\u6211\u4eec\u63d0\u51fa\u7684LocalAlign\u6a21\u5757\u5c06\u76f8\u673a\u7279\u5f81\u8f6c\u6362\u4e3a\u76f8\u673aBEV\u7279\u5f81\uff0c\u65e8\u5728\u51cf\u8f7b\u5148\u524d\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u5728\u76f8\u673a\u5230BEV\u8fc7\u7a0b\u4e2d\u7531LiDAR\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u6295\u5f71\u8bef\u5dee\u5f15\u8d77\u7684\u5c40\u90e8\u672a\u5bf9\u9f50\u3002\u7136\u540e\u6cbfZ\u8f74\u538b\u7f29LiDAR\u7279\u5f81\uff0c\u5c063D\u7279\u5f81\u8868\u793a\u4e3a2D LiDAR BEV\u7279\u5f81\u3002\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2aGlobalAlign\u6a21\u5757\uff0c\u53ef\u4ee5\u8fdb\u4e00\u6b65\u51cf\u8f7b\u4e0d\u540c\u6a21\u5f0f\u4e4b\u95f4\u7684\u5168\u5c40\u9519\u4f4d\uff0c\u5305\u62ecLiDAR\u548c\u76f8\u673aBEV\u7279\u5f81\u3002\u6700\u540e\uff0c\u6211\u4eec\u9644\u52a0\u68c0\u6d4b\u5934\u6765\u5b8c\u62103D\u76ee\u6807\u4efb\u52a1\u3002\u6211\u4eec\u7684\u57fa\u7ebf\u662fBEVFusion\uff0c\u5176\u4e2d\u6211\u4eec\u8be6\u7ec6\u4ecb\u7ecd\u4e86\u4e0b\u9762\u7684LocalAlign\u548cGlobalAlign\u6a21\u5757\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"358\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-1-1024x358.png\" alt=\"\" class=\"wp-image-9287\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-1-1024x358.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-1-300x105.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-1-768x269.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-1.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>LocalAlign\u6a21\u5757<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u4fbf\u4e8e\u5c06\u76f8\u673a\u7279\u5f81\u8f6c\u6362\u4e3aBEV\u7279\u5f81\uff0cBEVFusion\u91c7\u7528\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\uff0c\u4f8b\u5982BEVDepth\u5229\u7528LiDAR\u5230\u76f8\u673a\u63d0\u4f9b\u6295\u5f71\u6df1\u5ea6\uff0c\u4ece\u800c\u5b9e\u73b0\u6df1\u5ea6\u548c\u56fe\u50cf\u7684\u878d\u5408\u7279\u5f81\u3002\u5728\u76f8\u673a\u5230BEV\u7684\u8fc7\u7a0b\u4e2d\uff0cBEVFusion\u548cBEVDepth\u5728LiDAR\u5230\u76f8\u673a\u6295\u5f71\u63d0\u4f9b\u7684\u6df1\u5ea6\u4fe1\u606f\u51c6\u786e\u53ef\u9760\u7684\u5047\u8bbe\u4e0b\u8fd0\u884c\u3002\u7136\u800c\uff0c\u4ed6\u4eec\u5ffd\u7565\u4e86\u73b0\u5b9e\u573a\u666f\u4e2d\u56fa\u6709\u7684\u590d\u6742\u6027\uff0c\u5176\u4e2d\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u5927\u591a\u6570\u6295\u5f71\u77e9\u9635\u90fd\u662f\u624b\u52a8\u6807\u5b9a\u7684\u3002\u8fd9\u79cd\u6807\u5b9a\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u5f15\u5165\u6295\u5f71\u8bef\u5dee\uff0c\u5bfc\u81f4\u6df1\u5ea6\u5931\u51c6\u2014\u2014\u5468\u56f4\u90bb\u5c45\u7684\u6df1\u5ea6\u88ab\u6295\u5f71\u4e3a\u50cf\u7d20\u7684\u6df1\u5ea6\u3002\u8fd9\u79cd\u6df1\u5ea6\u672a\u5bf9\u51c6\u4f1a\u5bfc\u81f4\u6df1\u5ea6\u7279\u5f81\u4e0d\u51c6\u786e\uff0c\u4ece\u800c\u5bfc\u81f4\u591a\u89c6\u56fe\u8f6c\u6362\u4e3aBEV\u8868\u793a\u671f\u95f4\u51fa\u73b0\u672a\u5bf9\u9f50\u3002\u9274\u4e8e\u57fa\u4e8eLSS\u7684\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u50cf\u7d20\u7ea7\u7279\u5f81\u7684\u6df1\u5ea6\u4f30\u8ba1\uff0c\u7ec6\u8282\u4e0d\u51c6\u786e\uff0c\u8fd9\u4f1a\u5bfc\u81f4\u76f8\u673aBEV \u7279\u5f81\u5185\u7684\u5c40\u90e8\u672a\u5bf9\u9f50\u3002\u8fd9\u5f3a\u8c03\u4e86\u786e\u4fddBEVFusion\u5185\u7cbe\u786e\u6df1\u5ea6\u4f30\u8ba1\u7684\u6311\u6218\uff0c\u5e76\u5f3a\u8c03\u4e86\u89e3\u51b3\u6295\u5f71\u8bef\u5dee\u7684\u7a33\u5065\u65b9\u6cd5\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"307\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-2-1024x307.png\" alt=\"\" class=\"wp-image-9288\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-2-1024x307.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-2-300x90.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-2-768x230.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-2.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"626\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/11.png\" alt=\"\" class=\"wp-image-9289\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/11.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/11-300x279.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p>\u7b97\u6cd51\uff1aGraph for Finding Neighbors<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"645\" height=\"334\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-3.png\" alt=\"\" class=\"wp-image-9290\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-3.png 645w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-3-300x155.png 300w\" sizes=\"(max-width: 645px) 100vw, 645px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>GlobalAlign\u6a21\u5757<\/strong><\/h3>\n\n\n\n<p>\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\uff0c\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u6807\u5b9a\u77e9\u9635\u4e0d\u4e00\u81f4\u800c\u5bfc\u81f4\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\u662f\u4e0d\u53ef\u907f\u514d\u7684\u3002\u867d\u7136LocalAlign\u6a21\u5757\u51cf\u8f7b\u4e86\u76f8\u673a\u5230BEV\u8fc7\u7a0b\u4e2d\u7684\u5c40\u90e8\u4e0d\u5bf9\u9f50\u95ee\u9898\uff0c\u4f46\u76f8\u673aBEV\u7279\u5f81\u4e2d\u53ef\u80fd\u4ecd\u7136\u5b58\u5728\u504f\u5dee\u3002\u5728LiDAR-camera BEV\u878d\u5408\u8fc7\u7a0b\u4e2d\uff0c\u5c3d\u7ba1\u5904\u4e8e\u76f8\u540c\u7684\u7a7a\u95f4\u57df\uff0c\u4f46\u7531\u4e8e\u89c6\u89d2\u8f6c\u6362\u5668\u7684\u6df1\u5ea6\u4e0d\u51c6\u786e\u4ee5\u53caLiDAR BEV\u548ccamera BEV\u7279\u5f81\u4e4b\u95f4\u7684\u5168\u5c40\u504f\u79fb\u5ffd\u7565\uff0c\u5bfc\u81f4\u4e86\u5168\u5c40\u4e0d\u5bf9\u9f50\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"659\" height=\"226\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/412.png\" alt=\"\" class=\"wp-image-9291\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/412.png 659w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/412-300x103.png 300w\" sizes=\"(max-width: 659px) 100vw, 659px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"391\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-4-1024x391.png\" alt=\"\" class=\"wp-image-9292\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-4-1024x391.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-4-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-4-768x293.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"429\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/413.png\" alt=\"\" class=\"wp-image-9293\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/413.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/413-300x194.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u5b9e\u9a8c<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5728\u8fd9\u4e00\u90e8\u5206\u8bf4\u660e\u4e86GraphBEV\u7684\u5b9e\u9a8c\u8bbe\u7f6e\uff0c\u5e76\u8bc4\u4f30\u4e86\u5728nuScenes\u6570\u636e\u96c6\u4e0a3D\u76ee\u6807\u68c0\u6d4b\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u6211\u4eec\u9075\u5faaRef[12]\u63d0\u4f9b\u7684\u89e3\u51b3\u65b9\u6848\u6765\u6a21\u62df\u7279\u5f81\u4e0d\u5bf9\u9f50\u573a\u666f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/h3>\n\n\n\n<p><strong>\u6570\u636e\u96c6\u548c\u6307\u6807<\/strong> \u6211\u4eec\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u5927\u89c4\u6a21nuScenes\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30GraphBEV\uff0c\u8be5\u6570\u636e\u96c6\u662f\u4f7f\u752832\u7ebfLiDAR\u548c\u516d\u4e2a\u76f8\u673a\u6536\u96c6\u7684\u3002\u6570\u636e\u96c6\u901a\u5e38\u5206\u4e3a700\/150\/150\u4e2a\u573a\u666f\u7528\u4e8e\u8bad\u7ec3\/\u9a8c\u8bc1\/\u6d4b\u8bd5\u3002\u516d\u5f20\u56fe\u50cf\u8986\u76d6360\u5ea6\u5468\u56f4\u73af\u5883\uff0c\u6570\u636e\u96c6\u63d0\u4f9b\u6807\u5b9a\u77e9\u9635\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4ece3D\u70b9\u52302D\u50cf\u7d20\u7684\u7cbe\u786e\u6295\u5f71\u3002\u6211\u4eec\u4f7f\u7528\u6240\u6709\u7c7b\u522b\u7684mAP\u548cNDS\u4f5c\u4e3a\u8bc4\u4f30\u7684\u4e3b\u8981\u6307\u6807\u3002\u8bf7\u6ce8\u610f\uff0cNDS\u6307\u6807\u662fmAP\u548c\u5176\u4ed6\u7ec6\u5206\u6307\u6807\uff08\u4f8b\u5982\u5e73\u79fb\u3001\u6bd4\u4f8b\u3001\u65b9\u5411\u3001\u901f\u5ea6\u548c\u5c5e\u6027\u9519\u8bef\uff09\u7684\u52a0\u6743\u5e73\u5747\u503c\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u6d88\u878d\u7814\u7a76\uff0c\u6211\u4eec\u5728\u8bad\u7ec3\u6570\u636e\u7684\u5b50\u96c6\u4e0a\u8bad\u7ec3\u6a21\u578b\uff0c\u5305\u62ec1\/10,1\/14\u548c\u5b8c\u6574\u6570\u636e\u96c6\uff0c\u5e76\u5728\u6574\u4e2a\u9a8c\u8bc1\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff0c\u5305\u62ec75,175\u548c700\u4e2a\u7528\u4e8e\u8bad\u7ec3\u7684\u573a\u666f\u548c150\u4e2a\u7528\u4e8e\u9a8c\u8bc1\u7684\u573a\u666f\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u9a8c\u8bc1\u7279\u5f81\u5bf9\u51c6\u7684\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u91c7\u7528Ref[12]\u6a21\u62dfLiDAR\u548c\u76f8\u673a\u6295\u5f71\u5ea6\u91cf\u8bef\u5dee\u7684\u4e0d\u5bf9\u51c6\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cRef[12]\u53ea\u5411\u9a8c\u8bc1\u6570\u636e\u96c6\u6dfb\u52a0\u4e86\u566a\u58f0\uff0c\u800c\u6ca1\u6709\u6dfb\u52a0\u8bad\u7ec3\u548c\u6d4b\u8bd5\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u73b0<\/strong> \u6211\u4eec\u5728PyTorch\u4e2d\u5b9e\u73b0GraphBEV\uff0c\u5b83\u5efa\u7acb\u5728\u5f00\u6e90\u7684BEVFusion\u548cOpenPCDet\u4e4b\u4e0a\u3002\u5bf9\u4e8eLiDAR\u5206\u652f\uff0c\u4f7f\u7528SECOND\u8fdb\u884c\u7279\u5f81\u7f16\u7801\uff0c\u83b7\u5f97LiDAR BEV\u7279\u5f81\uff0c\u4f53\u7d20\u7ef4\u5ea6\u8bbe\u7f6e\u4e3a[0.075m,0.075m,0.2m]\uff0c\u70b9\u4e91\u8ddd\u79bb\u8bbe\u7f6e\u4e3aX,Y\u548cZ\u8f74\u4e0a\u7684[-54m,-54m,-5m,54m,54m,3m]\u3002\u6444\u50cf\u673a\u5206\u652f\u91c7\u7528Swin Transformer\u4f5c\u4e3a\u6444\u50cf\u673a\u4e3b\u5e72\uff0c\u5bf9\u7f16\u53f73\u30016\u300112\u300124\u7684head\u8fdb\u884c\u79ef\u5206\uff0c\u5e76\u5229\u7528FPN\u8fdb\u884c\u591a\u5c3a\u5ea6\u7279\u5f81\u56fe\u878d\u5408\u3002\u8f93\u5165\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u88ab\u8c03\u6574\u548c\u88c1\u526a\u4e3a256 \u00d7 704\u3002\u5728LSS\u914d\u7f6e\u4e2d\uff0c\u8bbe\u7f6e\u4e86X\u5750\u6807[-54m,54m,0.3m]\uff0cY\u5750\u6807[-54m,54m,0.3m]\uff0cZ\u5750\u6807[-10m,10m,20m]\uff0c\u6df1\u5ea6\u8303\u56f4[1m,60m,0.5m]\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u4e8610\u4e2aepoch\u7684\u6570\u636e\u589e\u5f3a\uff0c\u5305\u62ec\u968f\u673a\u7ffb\u8f6c\u3001\u65cb\u8f6c\u548c\u7f29\u653e\u6765\u589e\u5f3a\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u3002\u6211\u4eec\u4f7f\u7528CBGS[74]\u5bf9\u8bad\u7ec3\u6570\u636e\u8fdb\u884c\u91cd\u91c7\u6837\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4f7f\u7528\u968f\u673a\u65cb\u8f6c\u5728[-5.4,5.4]\u548c\u968f\u673a\u8c03\u6574\u5927\u5c0f\u5728[0.38,0.55]\u6765\u589e\u5f3a\u56fe\u50cf\u3002Adam\u4f18\u5316\u5668\u4e0e\u5355\u5468\u671f\u5b66\u4e60\u7387\u7b56\u7565\u4e00\u8d77\u4f7f\u7528\uff0c\u5c06\u6700\u5927\u5b66\u4e60\u7387\u8bbe\u7f6e\u4e3a0.001\uff0c\u6743\u91cd\u8870\u51cf\u4e3a0.01\u3002\u6279\u91cf\u5927\u5c0f\u4e3a24\uff0c\u8bad\u7ec3\u57288\u5757NVIDIA GeForce RTX 3090 24G gpu\u4e0a\u8fdb\u884c\u3002\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u5220\u9664\u4e86\u6d4b\u8bd5\u65f6\u95f4\u589e\u5f3a(TTA)\u6570\u636e\u589e\u5f3a\uff0c\u5e76\u4e14\u5728A100 GPU\u4e0a\u5c06\u6279\u5927\u5c0f\u8bbe\u7f6e\u4e3a1\u3002\u6240\u6709\u5ef6\u8fdf\u6d4b\u91cf\u90fd\u5728\u4f7f\u7528A100 GPU\u7684\u540c\u4e00\u5de5\u4f5c\u7ad9\u4e0a\u8fdb\u884c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u4e0e\u6700\u5148\u8fdb\u65b9\u6cd5\u7684\u6bd4\u8f83<\/strong><\/h3>\n\n\n\n<p><strong>3D\u76ee\u6807\u68c0\u6d4b<\/strong> \u6211\u4eec\u9996\u5148\u6bd4\u8f83GraphBEV\u548c\u5176\u4ed6SOTA\u65b9\u6cd5\u57283D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u7684nuScenes\u9a8c\u8bc1\u548c\u6d4b\u8bd5\u4e0a\u7684\u6027\u80fd\uff0c\u5982\u88681\u6240\u793a\u3002\u6211\u4eec\u7684GraphBEV\u7b97\u6cd5\u5728\u9a8c\u8bc1\u96c6\u4e0a\u8fbe\u5230\u4e86\u6700\u4f73\u6027\u80fd(mAP\u4e3a70.1%\uff0cNDS\u4e3a72.9%)\uff0c\u59cb\u7ec8\u4f18\u4e8e\u6240\u6709\u5355\u6a21\u6001\u548c\u591a\u6a21\u6001\u878d\u5408\u65b9\u6cd5\u3002\u5728\u591a\u6a21\u578b\u65b9\u6cd5\u4e2d\uff0cPointPainting\u3001pointaugmentation\u548cMVP\u4f5c\u4e3a\u70b9\u7ea7\u65b9\u6cd5\uff0c\u65e0\u6cd5\u907f\u514d\u7279\u5f81\u4e0d\u5bf9\u9f50\u95ee\u9898\u3002\u53e6\u4e00\u65b9\u9762\uff0cgraphhalign\u3001AutoAlignV2\u3001TransFusion\u548cDeepInteraction\u4f5c\u4e3a\u7279\u5f81\u7ea7\u65b9\u6cd5\uff0c\u89e3\u51b3\u4e86LiDAR\u548c\u76f8\u673a\u7279\u5f81\u4e4b\u95f4\u7684\u4e0d\u5bf9\u9f50\u95ee\u9898\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e0d\u5305\u62ec\u76f8\u673a\u5230bev\u7684\u8fc7\u7a0b\uff0c\u56e0\u6b64\u5b83\u4eec\u4e0d\u80fd\u89e3\u51b3BEVFusion\u7684\u6df1\u5ea6\u4f30\u8ba1\u5f15\u8d77\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>\u88681:\u4e0eSOTA\u65b9\u6cd5\u5728nuScenes\u9a8c\u8bc1\u548c\u6d4b\u8bd5\u96c6\u4e0a\u7684\u6bd4\u8f83<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"957\" height=\"611\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-5.png\" alt=\"\" class=\"wp-image-9294\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-5.png 957w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-5-300x192.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-5-768x490.png 768w\" sizes=\"(max-width: 957px) 100vw, 957px\" \/><\/figure>\n\n\n\n<p>\u5982\u88681\u6240\u793a\uff0c\u6211\u4eec\u7684GraphBEV\u5728mAP\u548cNDS\u65b9\u9762\u5206\u522b\u6bd4\u57fa\u7ebfBEVFusion\u9ad8\u51fa1.6%\u548c1.5%\u3002\u4e00\u822c\u6765\u8bf4\uff0c\u5f00\u6e90\u7684nuScenes\u6570\u636e\u96c6\u6709\u6700\u5c0f\u7684\u7279\u5f81\u5bf9\u9f50\u95ee\u9898\uff0c\u4f46\u4e0d\u80fd\u5b8c\u5168\u907f\u514d\u5b83\u4eec\uff0c\u5982\u56fe1(a)\u6240\u793a\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u7684GraphBEV\u5229\u7528KDTree\u7b97\u6cd5\u6765\u641c\u7d22LiDAR-to-camera\u63d0\u4f9b\u7684\u6295\u5f71\u6df1\u5ea6\u5468\u56f4\u7684\u90bb\u5c45\u6df1\u5ea6\u3002\u4e0eBEVFusion\u76f8\u6bd4\uff0c\u6211\u4eec\u7684GraphBEV\u5728\u5c0f\u7269\u4f53\u4e0a\u6709\u4e86\u663e\u8457\u7684\u6539\u8fdb\uff0c\u6bd4\u5982\u969c\u788d\u7269\u63d0\u9ad8\u4e864.0%\uff0c\u81ea\u884c\u8f66\u63d0\u9ad8\u4e862.2%\uff0c\u884c\u4eba\u63d0\u9ad8\u4e862.7%\u3002\u8fd9\u4e3b\u8981\u662f\u7531\u4e8e\u5c0f\u7269\u4f53\u5bf9\u7279\u5f81\u504f\u5dee\u66f4\u654f\u611f\uff0c\u5373\u4f7f\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u8f7b\u5fae\u504f\u5dee\u4e5f\u4f1a\u5bfc\u81f4\u5c0f\u7269\u4f53\u66f4\u5927\u7684\u504f\u5dee\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684GraphBEV\u548cObjectFusion\u89e3\u51b3\u4e86\u57fa\u4e8ebev\u7684\u591a\u6a21\u6001\u65b9\u6cd5\u4e2d\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\u95ee\u9898\u3002\u867d\u7136ObjectFusion\u5f15\u5165\u4e86\u4e00\u79cd\u5229\u7528RoI\u6c60\u878d\u5408\u7684\u878d\u5408\u540e\u8303\u5f0f\uff0c\u4f46\u6211\u4eec\u7684GraphBEV\u5e76\u6ca1\u6709\u6539\u53d8BEVFusion\u7684\u8303\u5f0f\uff0c\u5728mAP\u548cNDS\u65b9\u9762\u7565\u5fae\u4f18\u4e8eObjectFusion 0.7%\u548c0.3%\u3002\u6b64\u5916\uff0c\u5f53\u6211\u4eec\u5c06nuScenes\u6d4b\u8bd5\u96c6\u7684\u68c0\u6d4b\u7ed3\u679c\u63d0\u4ea4\u7ed9\u5b98\u65b9\u8bc4\u4f30\u670d\u52a1\u5668\u65f6\uff0c\u6211\u4eec\u7684GraphBEV\u8fbe\u5230\u4e86SOTA\u6027\u80fd\u3002\u5b83\u5728mAP\u548cNDS\u65b9\u9762\u5206\u522b\u6bd4\u57fa\u7ebfBEVFusion\u9ad8\u51fa1.5%\u548c0.7%\u3002\u603b\u7684\u6765\u8bf4\uff0c\u6211\u4eec\u80fd\u591f\u5728\u4e0d\u6539\u53d8\u5176\u4f18\u79c0\u8303\u4f8b\u7684\u60c5\u51b5\u4e0b\u89e3\u51b3BEVFusion\u4e2d\u7684\u7279\u5f81\u672a\u5bf9\u9f50\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>BEV\u5730\u56fe\u5206\u5272<\/strong> \u4e3a\u4e86\u8bc4\u4f303D\u7269\u4f53\u68c0\u6d4b\uff0c\u6211\u4eec\u8fd8\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u8bc4\u4f30\u4e86BEV\u5730\u56fe\u5206\u5272(\u8bed\u4e49\u5206\u5272)\u4efb\u52a1\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u5982\u88682\u6240\u793a\u3002\u9075\u5faa\u4e0e\u57fa\u7ebfBEVFusion\u76f8\u540c\u7684\u8bad\u7ec3\u7b56\u7565\uff0c\u6211\u4eec\u5728ego\u6c7d\u8f66\u5468\u56f4\u7684[-50m,50m]\u00d7[-50m,50m]\u533a\u57df\u5185\u5bf9\u6bcf\u5e27\u8fdb\u884c\u8bc4\u4f30\u3002\u6211\u4eec\u62a5\u544a\u4e86\u53ef\u9a7e\u9a76\u533a\u57df\u3001\u4eba\u884c\u6a2a\u9053\u3001\u4eba\u884c\u9053\u3001\u505c\u8f66\u7ebf\u3001\u505c\u8f66\u573a\u548c\u5206\u9694\u7ebf\u7684\u5341\u5b57\u8def\u53e3-\u8054\u5408\u8def\u53e3(IoU)\u5f97\u5206\u3002\u53ef\u884c\u9a76\u533a\u57df\u3001\u4eba\u884c\u6a2a\u9053\u3001\u4eba\u884c\u9053\u3001\u505c\u8f66\u7ebf\u548c\u505c\u8f66\u573a\u5747\u6709\u663e\u8457\u6539\u5584\uff0c\u800c\u5206\u9694\u7269\u4ec5\u7565\u6709\u51cf\u5c11\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684GraphBEV\u4e0d\u4ec5\u57283D\u76ee\u6807\u68c0\u6d4b\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u800c\u4e14\u5728BEV\u5730\u56fe\u5206\u5272\u65b9\u9762\u4e5f\u5177\u6709\u5f88\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u88682:\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\uff0cBEV\u5730\u56fe\u5206\u5272\u4e0eSOTA\u65b9\u6cd5\u7684\u6bd4\u8f83\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"960\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-6.png\" alt=\"\" class=\"wp-image-9295\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-6.png 960w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-6-300x69.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-6-768x177.png 768w\" sizes=\"(max-width: 960px) 100vw, 960px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/h3>\n\n\n\n<p>\u4e0d\u540c\u6a21\u5757\u5728GraphBEV\u4e2d\u89d2\u8272\u7684\u7279\u5f81\u5bf9\u9f50\u3002\u4e3a\u4e86\u5206\u6790\u4e0d\u5bf9\u9f50\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u5728\u6211\u4eec\u7684GraphBEV\u548cBEVFusion\u4e4b\u95f4\u8fdb\u884c\u4e86\u5bf9\u6bd4\u5b9e\u9a8c\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u88683\u4e2d\uff0c\u6211\u4eec\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e2d\u5f15\u5165\u4e86\u504f\u5dee\uff0c\u800c\u4e0d\u662f\u50cf\u53c2\u8003\u6587\u732e[12]\u4e2d\u90a3\u6837\u5728\u8bad\u7ec3\u548c\u6d4b\u8bd5\u96c6\u4e2d\u5f15\u5165\u4e86\u504f\u5dee\u3002\u6211\u4eec\u5728\u5e72\u51c0\u7684nuScenes\u5217\u8f66\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u5e76\u5728\u5e72\u51c0\u548c\u6709\u566a\u58f0\u7684\u504f\u5dee\u8bbe\u7f6e\u4e0b\u8bc4\u4f30\u6027\u80fd\u3002\u5728\u5e72\u51c0\u73af\u5883\u4e0b\uff0cGraphBEV\u7684\u6027\u80fd\u660e\u663e\u4f18\u4e8eBEVFusion\uff0c\u800c\u5728\u5608\u6742\u73af\u5883\u4e0b\uff0c\u6027\u80fd\u7684\u63d0\u9ad8\u662f\u663e\u8457\u7684\u3002\u6b64\u5916\uff0cBEVFusion\u5728mAP\u548cNDS\u7b49\u6307\u6807\u4e0a\u660e\u663e\u4e0b\u964d\uff0c\u800cGraphBEV\u5728\u6027\u80fd\u6307\u6807\u4e0a\u7684\u4e0b\u964d\u5e45\u5ea6\u8f83\u5c0f\u3002<\/p>\n\n\n\n<p><strong>\u88683:\u5728clean\u8bbe\u7f6e\u548cnoisy misalignment\u8bbe\u7f6e\u4e0b\uff0cGraphBEV\u4e2d\u4e0d\u540c\u6a21\u5757\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u7279\u5f81\u5bf9\u9f50\u7684\u4f5c\u7528\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"947\" height=\"513\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-7.png\" alt=\"\" class=\"wp-image-9296\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-7.png 947w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-7-300x163.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-7-768x416.png 768w\" sizes=\"(max-width: 947px) 100vw, 947px\" \/><\/figure>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e0eBEVFusion\u76f8\u6bd4\uff0c\u5728 BEVFusion\u4e2d\u6dfb\u52a0LocalAlign\u6216GlobalAlign \u6a21\u5757\u5bf9\u5ef6\u8fdf\u7684\u5f71\u54cd\u6700\u5c0f\uff0c\u5e76\u4e14\u5ef6\u8fdf\u4f4e\u4e8eTransFusion\u3002\u5f53\u4ec5\u5c06LocalAlign\u6a21\u5757\u6dfb\u52a0\u5230BEVFusion\u65f6\uff0c\u4f7f\u7528KD-Tree\u7b97\u6cd5\u6784\u5efa\u90bb\u8fd1\u5173\u7cfb\u5e76\u5c06\u6295\u5f71\u6df1\u5ea6\u4e0e\u90bb\u5c45\u6df1\u5ea6\u878d\u5408\u4ee5\u9632\u6b62\u7279\u5f81\u672a\u5bf9\u9f50\uff0c\u5728\u5e72\u51c0\u548c\u566a\u58f0\u672a\u5bf9\u9f50\u8bbe\u7f6e\u4e2d\u90fd\u89c2\u5bdf\u5230\u4e86\u663e\u7740\u7684\u589e\u5f3a\u3002\u4ec5\u5c06GlobalAlign\u6a21\u5757\u6dfb\u52a0\u5230BEVFusion\u4e5f\u4f1a\u5e26\u6765\u663e\u7740\u7684\u6539\u8fdb\u3002\u7279\u522b\u662f\uff0c\u540c\u65f6\u6dfb\u52a0LocalAlign\u548cGlobalAlign\u6a21\u5757\u5728\u5e72\u51c0\u548c\u5608\u6742\u7684\u73af\u5883\u4e2d\u90fd\u663e\u793a\u51fa\u5f3a\u5927\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5bf9\u5929\u6c14\u6761\u4ef6\u3001\u81ea\u6211\u8ddd\u79bb\u548c\u7269\u4f53\u5927\u5c0f\u7684\u9c81\u68d2\u6027\u3002\u5982\u88684\u6240\u793a\uff0c\u6211\u4eec\u5bf9GraphBEV\u5728\u4e0d\u540c\u5929\u6c14\u6761\u4ef6\u4e0b\u8fdb\u884c\u4e86\u7a33\u5065\u6027\u5206\u6790\u3002\u5404\u79cd\u5929\u6c14\u6761\u4ef6\u90fd\u4f1a\u5f71\u54cd3D\u7269\u4f53\u68c0\u6d4b\u4efb\u52a1\u3002\u9075\u5faaBEVFusion\u548cObjectFusion\u7684\u65b9\u6cd5\uff0c\u6211\u4eec\u5c06\u9a8c\u8bc1\u96c6\u4e2d\u7684\u573a\u666f\u5212\u5206\u4e3a\u6674\u5929\u3001\u96e8\u5929\u3001\u767d\u5929\u548c\u591c\u95f4\u6761\u4ef6\u3002\u5728\u4e0d\u540c\u7684\u5929\u6c14\u6761\u4ef6\u4e0b\uff0c\u6211\u4eec\u7684\u8868\u73b0\u4f18\u4e8eBEVFusion\uff0c\u5c24\u5176\u662f\u5728\u591c\u666f\u4e2d\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684 GraphBEV \u901a\u8fc7\u7cbe\u786e\u7684\u7279\u5f81\u5bf9\u9f50\u63d0\u9ad8\u4e86\u6674\u6717\u5929\u6c14\u4e0b\u7684\u6027\u80fd\uff0c\u5e76\u589e\u5f3a\u4e86\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u88684:nuScenes\u6e05\u6d01\u9a8c\u8bc1\u96c6\u5bf9\u5929\u6c14\u6761\u4ef6\u3001\u4e0d\u540c\u81ea\u6211\u8ddd\u79bb\u3001\u4e0d\u540c\u5c3a\u5bf8\u7684\u9c81\u68d2\u6027\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"952\" height=\"182\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/image-8.png\" alt=\"\" class=\"wp-image-9297\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-8.png 952w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-8-300x57.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-8-768x147.png 768w\" sizes=\"(max-width: 952px) 100vw, 952px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5206\u6790\u4e86\u4e0d\u540c\u81ea\u6211\u8ddd\u79bb\u548c\u76ee\u6807\u5927\u5c0f\u5bf9GraphBEV\u6027\u80fd\u7684\u5f71\u54cd\u3002\u6211\u4eec\u5c06\u6ce8\u91ca\u548c\u9884\u6d4b\u81ea\u6211\u8ddd\u79bb\u5206\u4e3a\u4e09\u7ec4:Near(0-20m)\uff0c Middle(20-30m)\u548cFar(&gt;30m)\uff0c\u5e76\u603b\u7ed3\u4e86\u6bcf\u4e2a\u7c7b\u522b\u7684\u5927\u5c0f\u5206\u5e03\uff0c\u5b9a\u4e49\u4e86\u4e09\u4e2a\u7b49\u6bd4\u4f8b\u7684\u5927\u5c0f\u7ea7\u522b:Small, Moderate\u548cLarge\u3002\u5f88\u660e\u663e\uff0cGraphBEV\u5728\u8fdc\u8ddd\u79bb\u548c\u5c0f\u578b\u76ee\u6807\u4e0a\u5c55\u793a\u4e86\u663e\u8457\u7684\u6027\u80fd\u6539\u8fdb\u3002\u4e0eBEVFusion\u76f8\u6bd4\uff0c\u6211\u4eec\u7684GraphBEV\u5728\u6240\u6709\u81ea\u6211\u8ddd\u79bb\u548c\u76ee\u6807\u5927\u5c0f\u4e0a\u90fd\u80fd\u6301\u7eed\u63d0\u9ad8\u6027\u80fd\uff0c\u8fdb\u4e00\u6b65\u7f29\u5c0f\u6027\u80fd\u5dee\u8ddd\u3002\u603b\u7684\u6765\u8bf4\uff0c\u6211\u4eec\u7684GraphBEV\u5bf9\u81ea\u6211\u8ddd\u79bb\u548c\u76ee\u6807\u5927\u5c0f\u7684\u53d8\u5316\u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u8d85\u53c2\u6570Kgraph\u5bf9\u7279\u5f81\u4e0d\u5bf9\u9f50\u7684\u5f71\u54cd\u3002\u5982\u88685\u6240\u793a\uff0c\u4e3a\u4e86\u5206\u6790LocalAlign\u6a21\u5757\u4e2d\u8d85\u53c2\u6570Kgraph\u5bf9\u7279\u5f81\u4e0d\u5bf9\u9f50\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u7814\u7a76\u4e86\u5b83\u5728\u566a\u58f0\u4e0d\u5bf9\u9f50\u8bbe\u7f6e\u4e0b\u5bf9nuScenes\u9a8c\u8bc1\u96c6\u7684\u5f71\u54cd\u3002Kgraph\u4f5c\u4e3aLocalAlign\u6a21\u5757\u4e2dlidar\u5230\u76f8\u673a\u6295\u5f71\u6df1\u5ea6\u7684\u6700\u8fd1\u6df1\u5ea6\u6570\uff0c\u5f71\u54cd\u90bb\u57df\u6df1\u5ea6\u7279\u5f81\u7684\u8868\u8fbe\u80fd\u529b\u3002\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u5f53Kgraph\u4e3a8\u65f6\uff0c\u6211\u4eec\u7684GraphBEV\u8fbe\u5230\u4e86\u6700\u4f73\u7684\u6574\u4f53\u6027\u80fd\u3002\u56e0\u6b64\uff0c\u9009\u62e9\u5408\u9002\u7684Kgraph\u662f\u81f3\u5173\u91cd\u8981\u7684\uff0c\u5e76\u4e14\u5728\u5176\u4ed6\u6570\u636e\u96c6\u4e2d\u53ef\u80fd\u4f1a\u6709\u6240\u4e0d\u540c\u3002\u6b64\u5916\uff0c\u5c3d\u7ba1mAP\u7531\u4e8eKgraph\u7684\u53d8\u5316\u800c\u6709\u8f83\u5927\u7684\u6ce2\u52a8\uff0c\u4f46\u603b\u4f53\u6027\u80fd\u4f18\u4e8eBEVFusion\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u7ed3\u8bba<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u7b80\u5355\u4ecb\u7ecd\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u878d\u5408\u6846\u67b6GraphBEV\uff0c\u4ee5\u89e3\u51b3\u57fa\u4e8ebev\u7684\u65b9\u6cd5\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\u95ee\u9898\u3002\u4e3a\u4e86\u51cf\u8f7b\u6fc0\u5149\u96f7\u8fbe\u63d0\u4f9b\u7684\u6295\u5f71\u6df1\u5ea6\u4e0d\u51c6\u786e\u5bfc\u81f4\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\uff0c\u6211\u4eec\u63d0\u51fa\u4e86LocalAlign\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u901a\u8fc7\u56fe\u5339\u914d\u5229\u7528\u90bb\u5c45\u611f\u77e5\u7684\u6df1\u5ea6\u7279\u5f81\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u9632\u6b62\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673aBEV\u7279\u5f81\u878d\u5408\u8fc7\u7a0b\u4e2d\u7684\u5168\u5c40\u4e0d\u5bf9\u9f50\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86GlobalAlign\u6a21\u5757\u6765\u6a21\u62df\u504f\u79fb\u566a\u58f0\uff0c\u7136\u540e\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u504f\u79fb\u6765\u5bf9\u9f50\u5168\u5c40\u591a\u6a21\u6001\u7279\u5f81\u3002\u5b9e\u9a8c\u8868\u660eGraphBEV\u5728nuScenes\u9a8c\u8bc1\u96c6\u4e0a\u660e\u663e\u4f18\u4e8eBEVFusion\uff0c\u7279\u522b\u662f\u5728\u6709\u566a\u58f0\u7684\u4e0d\u5bf9\u9f50\u8bbe\u7f6e\u4e2d\u3002\u8fd9\u8868\u660e\u6211\u4eec\u7684GraphBEV\u6781\u5927\u5730\u63a8\u8fdb\u4e86BEVFusion\u5728\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u5e94\u7528\uff0c\u7279\u522b\u662f\u5728\u6709\u566a\u58f0\u7684\u4e0d\u5bf9\u9f50\u60c5\u51b5\u4e0b\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]GraphBEV: Towards Robust BEV Feature Alignment for Multi-Modal 3D Object Detection<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5c06\u6fc0\u5149\u96f7\u8fbe\u548c\u76f8\u673a\u4fe1\u606f\u6574\u5408\u5230BEV\u8868\u793a\u4e2d\u5df2\u7ecf\u6210\u4e3a [&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-9285","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\/9285"}],"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=9285"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9285\/revisions"}],"predecessor-version":[{"id":9298,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9285\/revisions\/9298"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9285"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9285"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9285"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}