{"id":9311,"date":"2024-04-02T18:49:31","date_gmt":"2024-04-02T10:49:31","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9311"},"modified":"2024-04-03T16:23:58","modified_gmt":"2024-04-03T08:23:58","slug":"2024-04-03-rv%e8%9e%8d%e5%90%88%e6%80%a7%e8%83%bd%e6%8b%89%e7%88%86%ef%bc%81rcbevdet%ef%bc%9aradar%e4%b9%9f%e6%9c%89%e6%98%a5%e5%a4%a9%ef%bc%8c%e6%9c%80%e6%96%b0sota%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/02\/9311\/","title":{"rendered":"2024-04-02 RV\u878d\u5408\u6027\u80fd\u62c9\u7206\uff01RCBEVDet\uff1aRadar\u4e5f\u6709\u6625\u5929\uff0c\u6700\u65b0SOTA\uff01"},"content":{"rendered":"\n<p>\u8fd9\u7bc7\u8bba\u6587\u5173\u6ce8\u7684\u4e3b\u8981\u95ee\u9898\u662f3D\u76ee\u6807\u68c0\u6d4b\u6280\u672f\u5728\u81ea\u52a8\u9a7e\u9a76\u8fdb\u7a0b\u4e2d\u7684\u5e94\u7528\u3002\u5c3d\u7ba1\u73af\u89c6\u76f8\u673a\u6280\u672f\u7684\u53d1\u5c55\u4e3a3D\u76ee\u6807\u68c0\u6d4b\u63d0\u4f9b\u4e86\u9ad8\u5206\u8fa8\u7387\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u8fd9\u79cd\u65b9\u6cd5\u56e0\u65e0\u6cd5\u7cbe\u786e\u6355\u83b7\u6df1\u5ea6\u4fe1\u606f\u548c\u5728\u6076\u52a3\u5929\u6c14\u6216\u4f4e\u5149\u7167\u6761\u4ef6\u4e0b\u7684\u8868\u73b0\u4e0d\u4f73\u7b49\u95ee\u9898\u800c\u53d7\u9650\u3002\u9488\u5bf9\u8fd9\u4e00\u95ee\u9898\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7ed3\u5408\u73af\u89c6\u76f8\u673a\u548c\u7ecf\u6d4e\u578b\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u65b0\u65b9\u6cd5\u2014\u2014RCBEVDet\u3002<\/p>\n\n\n\n<p>RCBEVDet\u7684\u6838\u5fc3\u5728\u4e8e\u4e24\u4e2a\u5173\u952e\u8bbe\u8ba1\uff1aRadarBEVNet\u548cCross-Attention Multi-layer Fusion Module\uff08CAMF\uff09\u3002RadarBEVNet\u65e8\u5728\u6709\u6548\u63d0\u53d6\u96f7\u8fbe\u7279\u5f81\uff0c\u5b83\u5305\u62ec\u53cc\u6d41\u96f7\u8fbe\u4e3b\u5e72\u7f51\u7edc\u548cRCS\uff08\u96f7\u8fbe\u622a\u9762\u79ef\uff09\u611f\u77e5\u7684BEV\uff08\u9e1f\u77b0\u56fe\uff09\u7f16\u7801\u5668\u3002\u8fd9\u6837\u7684\u8bbe\u8ba1\u5229\u7528\u70b9\u57fa\u548c\u53d8\u6362\u5668\u57fa\u7f16\u7801\u5668\u5904\u7406\u96f7\u8fbe\u70b9\uff0c\u901a\u8fc7\u4ea4\u4e92\u66f4\u65b0\u96f7\u8fbe\u70b9\u7279\u5f81\uff0c\u540c\u65f6\u5c06\u96f7\u8fbe\u7279\u5b9a\u7684RCS\u7279\u6027\u4f5c\u4e3a\u76ee\u6807\u5927\u5c0f\u7684\u5148\u9a8c\u4fe1\u606f\u6765\u4f18\u5316BEV\u7a7a\u95f4\u7684\u70b9\u7279\u5f81\u5206\u5e03\u3002\u800cCAMF\u6a21\u5757\u901a\u8fc7\u591a\u6a21\u6001\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u89e3\u51b3\u4e86\u96f7\u8fbe\u70b9\u7684\u65b9\u4f4d\u8bef\u5dee\u95ee\u9898\uff0c\u5b9e\u73b0\u4e86\u96f7\u8fbe\u548c\u76f8\u673a\u7684BEV\u7279\u5f81\u56fe\u7684\u52a8\u6001\u5bf9\u9f50\u4ee5\u53ca\u901a\u8fc7\u901a\u9053\u548c\u7a7a\u95f4\u878d\u5408\u5c42\u7684\u591a\u6a21\u6001\u7279\u5f81\u81ea\u9002\u5e94\u878d\u5408\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"857\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1024x857.png\" alt=\"\" class=\"wp-image-9312\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1024x857.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-300x251.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-768x643.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u63d0\u51fa\u7684\u65b0\u65b9\u6cd5\u901a\u8fc7\u4ee5\u4e0b\u51e0\u70b9\u5b9e\u73b0\u5bf9\u73b0\u6709\u95ee\u9898\u7684\u89e3\u51b3\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9ad8\u6548\u7684\u96f7\u8fbe\u7279\u5f81\u63d0\u53d6\u5668<\/strong>\uff1a\u901a\u8fc7\u53cc\u6d41\u96f7\u8fbe\u4e3b\u5e72\u548cRCS\u611f\u77e5\u7684BEV\u7f16\u7801\u5668\u8bbe\u8ba1\uff0c\u4e13\u95e8\u9488\u5bf9\u96f7\u8fbe\u6570\u636e\u7684\u7279\u6027\u8fdb\u884c\u4f18\u5316\uff0c\u89e3\u51b3\u4e86\u4f7f\u7528\u4e3a\u6fc0\u5149\u96f7\u8fbe\u8bbe\u8ba1\u7684\u7f16\u7801\u5668\u5904\u7406\u96f7\u8fbe\u6570\u636e\u7684\u4e0d\u8db3\u3002<\/li>\n\n\n\n<li><strong>\u5f3a\u5927\u7684\u96f7\u8fbe-\u76f8\u673a\u7279\u5f81\u878d\u5408\u6a21\u5757<\/strong>\uff1a\u91c7\u7528\u53d8\u5f62\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\uff0c\u6709\u6548\u5904\u7406\u73af\u89c6\u56fe\u50cf\u548c\u96f7\u8fbe\u8f93\u5165\u4e4b\u95f4\u7684\u7a7a\u95f4\u4e0d\u5bf9\u9f50\u95ee\u9898\uff0c\u63d0\u9ad8\u878d\u5408\u6548\u679c\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u96f7\u8fbe-\u76f8\u673a\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u5668RCBEVDet\uff0c\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u6548\u7387\u548c\u5f3a\u9c81\u68d2\u6027\u76843D\u76ee\u6807\u68c0\u6d4b\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4e86\u9488\u5bf9\u96f7\u8fbe\u6570\u636e\u7684\u9ad8\u6548\u7279\u5f81\u63d0\u53d6\u5668RadarBEVNet\uff0c\u901a\u8fc7\u53cc\u6d41\u96f7\u8fbe\u4e3b\u5e72\u548cRCS\u611f\u77e5BEV\u7f16\u7801\u5668\uff0c\u63d0\u9ad8\u4e86\u7279\u5f81\u63d0\u53d6\u7684\u6548\u7387\u548c\u51c6\u786e\u6027\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u4e86Cross-Attention Multi-layer Fusion\u6a21\u5757\uff0c\u901a\u8fc7\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u5b9e\u73b0\u4e86\u96f7\u8fbe\u548c\u76f8\u673a\u7279\u5f81\u7684\u7cbe\u786e\u5bf9\u9f50\u548c\u9ad8\u6548\u878d\u5408\u3002<\/li>\n\n\n\n<li>\u5728nuScenes\u548cVoD\u6570\u636e\u96c6\u4e0a\u8fbe\u5230\u4e86\u96f7\u8fbe-\u76f8\u673a\u591a\u6a21\u60013D\u76ee\u6807\u68c0\u6d4b\u7684\u65b0\u7684\u6700\u4f73\u6027\u80fd\uff0c\u540c\u65f6\u5728\u7cbe\u5ea6\u548c\u901f\u5ea6\u4e4b\u95f4\u5b9e\u73b0\u4e86\u6700\u4f73\u5e73\u8861\uff0c\u5e76\u5c55\u793a\u4e86\u5728\u4f20\u611f\u5668\u5931\u6548\u60c5\u51b5\u4e0b\u7684\u826f\u597d\u9c81\u68d2\u6027\u3002<\/li>\n<\/ol>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8be6\u89e3RCBEVDet<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"496\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1-1024x496.png\" alt=\"\" class=\"wp-image-9313\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1-1024x496.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1-300x145.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1-768x372.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-1.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=\"691\" height=\"819\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4021.png\" alt=\"\" class=\"wp-image-9314\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4021.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4021-253x300.png 253w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"199\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4022.png\" alt=\"\" class=\"wp-image-9315\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4022.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4022-300x90.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"418\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-2-1024x418.png\" alt=\"\" class=\"wp-image-9316\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-2-1024x418.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-2-300x123.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-2-768x314.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-2.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>Cross-Attention Multi-layer Fusion Module<\/strong><\/h3>\n\n\n\n<p>Cross-Attention Multi-layer Fusion Module (CAMF)\u662f\u4e00\u79cd\u7528\u4e8e\u52a8\u6001\u5bf9\u9f50\u548c\u878d\u5408\u591a\u6a21\u6001\u7279\u5f81\u7684\u9ad8\u7ea7\u7f51\u7edc\u7ed3\u6784\uff0c\u7279\u522b\u9488\u5bf9\u96f7\u8fbe\u548c\u76f8\u673a\u751f\u6210\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u7684\u52a8\u6001\u5bf9\u9f50\u548c\u878d\u5408\u8bbe\u8ba1\u3002\u8fd9\u4e00\u6a21\u5757\u4e3b\u8981\u89e3\u51b3\u4e86\u7531\u4e8e\u96f7\u8fbe\u70b9\u4e91\u7684\u65b9\u4f4d\u8bef\u5dee\u5bfc\u81f4\u7684\u7279\u5f81\u4e0d\u5bf9\u9f50\u95ee\u9898\uff0c\u901a\u8fc7\u53d8\u5f62\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\uff08Deformable Cross-Attention\uff09\uff0c\u6709\u6548\u5730\u6355\u83b7\u96f7\u8fbe\u70b9\u7684\u5fae\u5c0f\u504f\u5dee\uff0c\u5e76\u51cf\u5c11\u4e86\u6807\u51c6\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4023.png\" alt=\"\" class=\"wp-image-9317\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4023.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4023-300x106.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"508\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-3-1024x508.png\" alt=\"\" class=\"wp-image-9319\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-3-1024x508.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-3-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-3-768x381.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-3.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=\"674\" height=\"229\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4024.png\" alt=\"\" class=\"wp-image-9318\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4024.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4024-300x102.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u76f8\u5173\u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"456\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-4-1024x456.png\" alt=\"\" class=\"wp-image-9320\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-4-1024x456.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-4-300x134.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-4-768x342.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-4.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"954\" height=\"538\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-5.png\" alt=\"\" class=\"wp-image-9321\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-5.png 954w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-5-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-5-768x433.png 768w\" sizes=\"(max-width: 954px) 100vw, 954px\" 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