{"id":9371,"date":"2024-04-07T17:39:41","date_gmt":"2024-04-07T09:39:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9371"},"modified":"2024-04-07T17:39:41","modified_gmt":"2024-04-07T09:39:41","slug":"2024-04-07-cnn%e7%8e%8b%e8%80%85%e5%bd%92%e6%9d%a5-dualbev%ef%bc%9a%e5%a4%a7%e5%b9%85%e8%b6%85%e8%b6%8abevformer%e5%92%8cbevdet4d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/07\/9371\/","title":{"rendered":"2024-04-07 CNN\u738b\u8005\u5f52\u6765 | DualBEV\uff1a\u5927\u5e45\u8d85\u8d8aBEVFormer\u548cBEVDet4D"},"content":{"rendered":"\n
\"\"<\/figure>\n\n\n\n

\u8fd9\u7bc7\u8bba\u6587\u63a2\u8ba8\u4e86\u5728\u81ea\u52a8\u9a7e\u9a76\u4e2d\uff0c\u4ece\u4e0d\u540c\u89c6\u89d2\uff08\u5982\u900f\u89c6\u56fe\u548c\u9e1f\u77b0\u56fe\uff09\u51c6\u786e\u68c0\u6d4b\u7269\u4f53\u7684\u95ee\u9898\uff0c\u7279\u522b\u662f\u5982\u4f55\u6709\u6548\u5730\u4ece\u900f\u89c6\u56fe\uff08PV\uff09\u5230\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\u8f6c\u6362\u7279\u5f81\uff0c\u8fd9\u4e00\u8f6c\u6362\u662f\u901a\u8fc7\u89c6\u89c9\u8f6c\u6362\uff08VT\uff09\u6a21\u5757\u5b9e\u65bd\u7684\u3002\u73b0\u6709\u7684\u65b9\u6cd5\u5927\u81f4\u5206\u4e3a\u4e24\u79cd\u7b56\u7565\uff1a2D\u52303D\u548c3D\u52302D\u8f6c\u6362\u30022D\u52303D\u7684\u65b9\u6cd5\u901a\u8fc7\u9884\u6d4b\u6df1\u5ea6\u6982\u7387\u6765\u63d0\u5347\u5bc6\u96c6\u76842D\u7279\u5f81\uff0c\u4f46\u6df1\u5ea6\u9884\u6d4b\u7684\u56fa\u6709\u4e0d\u786e\u5b9a\u6027\uff0c\u5c24\u5176\u662f\u5728\u8fdc\u5904\u533a\u57df\uff0c\u53ef\u80fd\u4f1a\u5f15\u5165\u4e0d\u51c6\u786e\u6027\u3002\u800c3D\u52302D\u7684\u65b9\u6cd5\u901a\u5e38\u4f7f\u75283D\u67e5\u8be2\u6765\u91c7\u68372D\u7279\u5f81\uff0c\u5e76\u901a\u8fc7Transformer\u5b66\u4e603D\u548c2D\u7279\u5f81\u4e4b\u95f4\u5bf9\u5e94\u5173\u7cfb\u7684\u6ce8\u610f\u529b\u6743\u91cd\uff0c\u8fd9\u589e\u52a0\u4e86\u8ba1\u7b97\u548c\u90e8\u7f72\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n

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

\u8bba\u6587\u6307\u51fa\uff0c\u73b0\u6709\u7684\u65b9\u6cd5\u5982HeightFormer\u548cFB-BEV\u5c1d\u8bd5\u7ed3\u5408\u8fd9\u4e24\u79cdVT\u7b56\u7565\uff0c\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u91c7\u7528\u4e24\u9636\u6bb5\u7b56\u7565\uff0c\u7531\u4e8e\u53ccVT\u7684\u7279\u5f81\u8f6c\u6362\u4e0d\u540c\uff0c\u53d7\u5230\u521d\u59cb\u7279\u5f81\u6027\u80fd\u7684\u9650\u5236\uff0c\u4ece\u800c\u963b\u788d\u4e86\u53ccVT\u4e4b\u95f4\u7684\u65e0\u7f1d\u878d\u5408\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u7684\u5b9e\u65f6\u90e8\u7f72\u65b9\u9762\u4ecd\u9762\u4e34\u6311\u6218\u3002<\/p>\n\n\n\n

\u9488\u5bf9\u8fd9\u4e9b\u95ee\u9898\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u7279\u5f81\u8f6c\u6362\u65b9\u6cd5\uff0c\u9002\u7528\u4e8e2D\u52303D\u548c3D\u52302D\u7684\u89c6\u89c9\u8f6c\u6362\uff0c\u901a\u8fc7\u4e09\u79cd\u6982\u7387\u6d4b\u91cf\u6765\u8bc4\u4f303D\u548c2D\u7279\u5f81\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\uff1aBEV\u6982\u7387\u3001\u6295\u5f71\u6982\u7387\u548c\u56fe\u50cf\u6982\u7387\u3002\u8fd9\u4e00\u65b0\u65b9\u6cd5\u65e8\u5728\u51cf\u8f7bBEV\u7f51\u683c\u4e2d\u7a7a\u767d\u533a\u57df\u5bf9\u7279\u5f81\u6784\u5efa\u7684\u5f71\u54cd\uff0c\u533a\u5206\u591a\u4e2a\u5bf9\u5e94\u5173\u7cfb\uff0c\u5e76\u5728\u7279\u5f81\u8f6c\u6362\u8fc7\u7a0b\u4e2d\u6392\u9664\u80cc\u666f\u7279\u5f81\u3002<\/p>\n\n\n\n

\u901a\u8fc7\u5e94\u7528\u8fd9\u79cd\u7edf\u4e00\u7684\u7279\u5f81\u8f6c\u6362\uff0c\u8bba\u6587\u63a2\u7d22\u4e86\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u8fdb\u884c3D\u52302D\u89c6\u89c9\u8f6c\u6362\u7684\u65b0\u65b9\u6cd5\uff0c\u5e76\u5f15\u5165\u4e86\u79f0\u4e3aHeightTrans\u7684\u65b9\u6cd5\u3002\u9664\u4e86\u5c55\u793a\u4e86\u5176\u5353\u8d8a\u7684\u6027\u80fd\u5916\uff0c\u8fd8\u5c55\u793a\u4e86\u901a\u8fc7\u9884\u8ba1\u7b97\u52a0\u901f\u7684\u6f5c\u529b\uff0c\u4f7f\u5176\u9002\u7528\u4e8e\u5b9e\u65f6\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u3002\u540c\u65f6\uff0c\u901a\u8fc7\u6574\u5408\u8fd9\u79cd\u7279\u5f81\u8f6c\u6362\uff0c\u589e\u5f3a\u4e86\u4f20\u7edf\u7684LSS\u6d41\u7a0b\uff0c\u5c55\u793a\u4e86\u5176\u5bf9\u5f53\u524d\u68c0\u6d4b\u5668\u7684\u666e\u9002\u6027\u3002<\/p>\n\n\n\n

\u7ed3\u5408HeightTrans\u548cProb-LSS\uff0c\u8bba\u6587\u4ecb\u7ecd\u4e86DualBEV\uff0c\u8fd9\u662f\u4e00\u79cd\u521b\u65b0\u7684\u65b9\u6cd5\uff0c\u5b83\u5728\u4e00\u9636\u6bb5\u5185\u5c31\u8003\u8651\u5e76\u878d\u5408\u4e86\u6765\u81eaBEV\u548c\u900f\u89c6\u89c6\u56fe\u7684\u5bf9\u5e94\u5173\u7cfb\uff0c\u6d88\u9664\u4e86\u5bf9\u521d\u59cb\u7279\u5f81\u7684\u4f9d\u8d56\u3002\u6b64\u5916\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684BEV\u7279\u5f81\u878d\u5408\u6a21\u5757\uff0c\u79f0\u4e3a\u53cc\u7279\u5f81\u878d\u5408\uff08DFF\uff09\u6a21\u5757\uff0c\u901a\u8fc7\u5229\u7528\u901a\u9053\u6ce8\u610f\u529b\u6a21\u5757\u548c\u7a7a\u95f4\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u5e2e\u52a9\u7cbe\u7ec6\u5316BEV\u6982\u7387\u9884\u6d4b\u3002DualBEV\u9075\u5faa\u201c\u5e7f\u6cdb\u8f93\u5165\uff0c\u4e25\u683c\u8f93\u51fa\u201d\u7684\u539f\u5219\uff0c\u901a\u8fc7\u5229\u7528\u7cbe\u786e\u7684\u53cc\u89c6\u56fe\u6982\u7387\u5bf9\u5e94\u5173\u7cfb\u6765\u7406\u89e3\u548c\u8868\u793a\u573a\u666f\u7684\u6982\u7387\u5206\u5e03\u3002<\/p>\n\n\n\n

\u8bba\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  1. \u63ed\u793a\u4e863D\u52302D\u548c2D\u52303D\u89c6\u89c9\u8f6c\u6362\u4e4b\u95f4\u7684\u5185\u5728\u76f8\u4f3c\u6027\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u7279\u5f81\u8f6c\u6362\u65b9\u6cd5\uff0c\u80fd\u591f\u4eceBEV\u548c\u900f\u89c6\u89c6\u56fe\u4e24\u4e2a\u65b9\u9762\u51c6\u786e\u5efa\u7acb\u5bf9\u5e94\u5173\u7cfb\uff0c\u663e\u8457\u7f29\u5c0f\u4e86\u53cc\u7b56\u7565\u4e4b\u95f4\u7684\u5dee\u8ddd\u3002<\/li>\n\n\n\n
  2. \u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8eCNN\u76843D\u52302D\u89c6\u89c9\u8f6c\u6362\u65b9\u6cd5HeightTrans\uff0c\u901a\u8fc7\u6982\u7387\u91c7\u6837\u548c\u67e5\u627e\u8868\u7684\u9884\u8ba1\u7b97\uff0c\u6709\u6548\u4e14\u9ad8\u6548\u5730\u5efa\u7acb\u7cbe\u786e\u76843D-2D\u5bf9\u5e94\u5173\u7cfb\u3002<\/li>\n\n\n\n
  3. \u5f15\u5165\u4e86DFF\u7528\u4e8e\u53cc\u89c6\u56fe\u7279\u5f81\u878d\u5408\uff0c\u8fd9\u79cd\u878d\u5408\u7b56\u7565\u5728\u4e00\u9636\u6bb5\u5185\u6355\u83b7\u8fd1\u8fdc\u533a\u57df\u7684\u4fe1\u606f\uff0c\u4ece\u800c\u751f\u6210\u5168\u9762\u7684BEV\u7279\u5f81\u3002<\/li>\n\n\n\n
  4. \u4ed6\u4eec\u7684\u9ad8\u6548\u6846\u67b6DualBEV\u5728nuScenes\u6d4b\u8bd5\u96c6\u4e0a\u5b9e\u73b0\u4e8655.2%\u7684mAP\u548c63.4%\u7684NDS\uff0c\u5373\u4f7f\u6ca1\u6709\u4f7f\u7528Transformer\uff0c\u4e5f\u7a81\u663e\u4e86\u6355\u83b7\u7cbe\u786e\u53cc\u89c6\u56fe\u5bf9\u5e94\u5173\u7cfb\u5bf9\u89c6\u56fe\u8f6c\u6362\u7684\u91cd\u8981\u6027\u3002<\/li>\n<\/ol>\n\n\n\n

    \u901a\u8fc7\u8fd9\u4e9b\u521b\u65b0\uff0c\u8bba\u6587\u63d0\u4f9b\u4e86\u4e00\u79cd\u514b\u670d\u73b0\u6709\u65b9\u6cd5\u9650\u5236\uff0c\u5b9e\u73b0\u9ad8\u6548\u3001\u51c6\u786e\u7269\u4f53\u68c0\u6d4b\u7684\u65b0\u7b56\u7565\uff0c\u7279\u522b\u662f\u5728\u81ea\u52a8\u9a7e\u9a76\u7b49\u5b9e\u65f6\u5e94\u7528\u573a\u666f\u4e2d\u3002<\/p>\n\n\n\n

    \u8be6\u89e3DualBEV<\/strong><\/h2>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u65e8\u5728\u901a\u8fc7\u7edf\u4e00\u7684\u7279\u5f81\u8f6c\u6362\u6846\u67b6\uff0cDualBEV\uff0c\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684BEV\uff08\u9e1f\u77b0\u56fe\uff09\u5bf9\u8c61\u68c0\u6d4b\u95ee\u9898\u3002\u4ee5\u4e0b\u662f\u65b9\u6cd5\u90e8\u5206\u7684\u4e3b\u8981\u5185\u5bb9\uff0c\u6982\u62ec\u4e86\u5176\u4e0d\u540c\u5b50\u90e8\u5206\u548c\u5173\u952e\u521b\u65b0\u3002<\/p>\n\n\n\n

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

    \u53cc\u7279\u5f81\u878d\u5408\uff08Dual Feature Fusion, DFF\uff09<\/strong><\/h4>\n\n\n\n

    DFF\u6a21\u5757\u65e8\u5728\u878d\u5408\u6765\u81eaHeightTrans\u548cProb-LSS\u7684\u7279\u5f81\uff0c\u5e76\u6709\u6548\u5730\u9884\u6d4bBEV\u6982\u7387\u3002\u901a\u8fc7\u7ed3\u5408\u901a\u9053\u6ce8\u610f\u529b\u6a21\u5757\u548c\u7a7a\u95f4\u6ce8\u610f\u529b\u589e\u5f3a\u7684ProbNet\uff0cDFF\u80fd\u591f\u4f18\u5316\u7279\u5f81\u9009\u62e9\u548cBEV\u6982\u7387\u9884\u6d4b\uff0c\u4ee5\u589e\u5f3a\u5bf9\u8fd1\u5904\u548c\u8fdc\u5904\u5bf9\u8c61\u7684\u8868\u5f81\u3002\u8fd9\u79cd\u878d\u5408\u7b56\u7565\u8003\u8651\u4e86\u6765\u81ea\u4e24\u4e2a\u6d41\u7684\u7279\u5f81\u7684\u4e92\u8865\u6027\uff0c\u540c\u65f6\u4e5f\u901a\u8fc7\u8ba1\u7b97\u5c40\u90e8\u548c\u5168\u5c40\u6ce8\u610f\u529b\u6765\u589e\u5f3aBEV\u6982\u7387\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n

    \u603b\u4e4b\uff0c\u8fd9\u7bc7\u8bba\u6587\u63d0\u51fa\u7684DualBEV\u6846\u67b6\u901a\u8fc7\u7ed3\u5408HeightTrans\u548cProb-LSS\uff0c\u4ee5\u53ca\u521b\u65b0\u7684\u53cc\u7279\u5f81\u878d\u5408\u6a21\u5757\uff0c\u5b9e\u73b0\u4e86\u5bf93D\u548c2D\u7279\u5f81\u4e4b\u95f4\u5bf9\u5e94\u5173\u7cfb\u7684\u9ad8\u6548\u8bc4\u4f30\u548c\u8f6c\u6362\u3002\u8fd9\u4e0d\u4ec5\u6865\u63a5\u4e862D\u52303D\u548c3D\u52302D\u8f6c\u6362\u7b56\u7565\u4e4b\u95f4\u7684\u5dee\u8ddd\uff0c\u800c\u4e14\u8fd8\u901a\u8fc7\u9884\u8ba1\u7b97\u548c\u6982\u7387\u6d4b\u91cf\u52a0\u901f\u4e86\u7279\u5f81\u8f6c\u6362\u8fc7\u7a0b\uff0c\u4f7f\u5176\u9002\u5408\u5b9e\u65f6\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u3002<\/p>\n\n\n\n

    \u8be5\u65b9\u6cd5\u7684\u5173\u952e\u5728\u4e8e\u5bf9\u4e0d\u540c\u89c6\u89d2\u4e0b\u7684\u7279\u5f81\u8fdb\u884c\u7cbe\u786e\u5bf9\u5e94\u548c\u9ad8\u6548\u878d\u5408\uff0c\u4ece\u800c\u5728BEV\u5bf9\u8c61\u68c0\u6d4b\u4e2d\u5b9e\u73b0\u4e86\u51fa\u8272\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

    \u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    DualBEV\u65b9\u6cd5\u7684\u53d8\u4f53\uff08\u5e26\u661f\u53f7\u7684DualBEV* \uff09\u5728\u5355\u5e27\u8f93\u5165\u6761\u4ef6\u4e0b\u8868\u73b0\u6700\u4f73\uff0c\u8fbe\u5230\u4e8635.2%\u7684mAP\u548c42.5%\u7684NDS\uff0c\u8fd9\u8868\u660e\u5b83\u5728\u51c6\u786e\u6027\u548c\u7efc\u5408\u6027\u80fd\u4e0a\u90fd\u8d85\u8fc7\u4e86\u5176\u4ed6\u65b9\u6cd5\u3002\u7279\u522b\u662f\u5728mAOE\u4e0a\uff0cDualBEV*\u5b9e\u73b0\u4e860.542\u7684\u5206\u6570\uff0c\u8fd9\u662f\u5355\u5e27\u65b9\u6cd5\u4e2d\u6700\u597d\u7684\u3002\u7136\u800c\uff0c\u5b83\u5728mATE\u548cmASE\u4e0a\u7684\u8868\u73b0\u5e76\u6ca1\u6709\u660e\u663e\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002<\/p>\n\n\n\n

    \u5f53\u8f93\u5165\u5e27\u6570\u589e\u52a0\u5230\u4e24\u5e27\u65f6\uff0cDualBEV\u7684\u8868\u73b0\u8fdb\u4e00\u6b65\u63d0\u5347\uff0cmAP\u8fbe\u523038.0%\uff0cNDS\u8fbe\u523050.4%\uff0c\u8fd9\u662f\u6240\u6709\u5217\u51fa\u65b9\u6cd5\u4e2d\u6700\u9ad8\u7684NDS\uff0c\u8868\u660eDualBEV\u5728\u5904\u7406\u66f4\u590d\u6742\u7684\u8f93\u5165\u65f6\u80fd\u591f\u66f4\u5168\u9762\u5730\u7406\u89e3\u573a\u666f\u3002\u5728\u591a\u5e27\u65b9\u6cd5\u4e2d\uff0c\u5b83\u5728mATE\u3001mASE\u3001\u548cmAAE\u4e0a\u4e5f\u5c55\u73b0\u4e86\u8f83\u5f3a\u7684\u6027\u80fd\uff0c\u7279\u522b\u662f\u5728mAOE\u4e0a\u6709\u660e\u663e\u7684\u6539\u5584\uff0c\u663e\u793a\u51fa\u5176\u5728\u4f30\u8ba1\u7269\u4f53\u65b9\u5411\u4e0a\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n

    \u4ece\u8fd9\u4e9b\u7ed3\u679c\u53ef\u4ee5\u5206\u6790\u5f97\u51fa\uff0cDualBEV\u53ca\u5176\u53d8\u4f53\u5728\u591a\u4e2a\u91cd\u8981\u7684\u6027\u80fd\u6307\u6807\u4e0a\u5747\u6709\u51fa\u8272\u8868\u73b0\uff0c\u5c24\u5176\u662f\u5728\u591a\u5e27\u8bbe\u7f6e\u4e0b\uff0c\u8868\u660e\u5176\u5bf9BEV\u5bf9\u8c61\u68c0\u6d4b\u4efb\u52a1\u5177\u6709\u8f83\u597d\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u7ed3\u679c\u8fd8\u5f3a\u8c03\u4e86\u4f7f\u7528\u591a\u5e27\u6570\u636e\u7684\u91cd\u8981\u6027\uff0c\u53ef\u4ee5\u63d0\u9ad8\u6a21\u578b\u7684\u6574\u4f53\u6027\u80fd\u548c\u4f30\u8ba1\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n

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

    \u4e0b\u9762\u662f\u5bf9\u5404\u4e2a\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\u7684\u5206\u6790\uff1a<\/p>\n\n\n\n

      \n
    • \u6dfb\u52a0ProbNet\u3001HeightTrans\u3001CAF\uff08Channel Attention Fusion\uff09\u3001SAE\uff08Spatial Attention Enhanced\uff09\u7b49\u7ec4\u4ef6\u9010\u6b65\u63d0\u5347\u4e86Baseline\u7684\u6027\u80fd\u3002<\/li>\n\n\n\n
    • HeightTrans\u7684\u52a0\u5165\u663e\u8457\u63d0\u9ad8\u4e86mAP\u548cNDS\uff0c\u8fd9\u8868\u660e\u5728\u89c6\u89c9\u8f6c\u6362\u4e2d\u5f15\u5165\u9ad8\u5ea6\u4fe1\u606f\u662f\u6709\u6548\u7684\u3002<\/li>\n\n\n\n
    • CAF\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86mAP\uff0c\u4f46\u7565\u5fae\u589e\u52a0\u4e86\u5ef6\u8fdf\u3002<\/li>\n\n\n\n
    • SAE\u7684\u5f15\u5165\u63d0\u5347\u4e86NDS\u5230\u6700\u9ad8\u768442.5%\uff0c\u540c\u65f6\u5bf9mAP\u4e5f\u6709\u63d0\u5347\uff0c\u8bf4\u660e\u7a7a\u95f4\u6ce8\u610f\u529b\u673a\u5236\u6709\u6548\u5730\u589e\u5f3a\u4e86\u6a21\u578b\u6027\u80fd\u3002<\/li>\n\n\n\n
    • \u4e0d\u540c\u7684\u6982\u7387\u63aa\u65bd\uff08\u6295\u5f71\u6982\u7387<\/li>\n<\/ul>\n\n\n\n

      \uff0c\u56fe\u50cf\u6982\u7387 \uff0cBEV\u6982\u7387<\/p>\n\n\n\n

        \n
      • \uff09\u9010\u6b65\u52a0\u5165\u5bf9\u6bd4\u8bd5\u9a8c\u3002<\/li>\n\n\n\n
      • \u5f53\u5168\u90e8\u4e09\u79cd\u6982\u7387\u540c\u65f6\u4f7f\u7528\u65f6\uff0c\u6a21\u578b\u8fbe\u5230\u4e86\u6700\u9ad8\u7684mAP\u548cNDS\uff0c\u8fd9\u8868\u660e\u8fd9\u4e9b\u6982\u7387\u7684\u7ed3\u5408\u5bf9\u4e8e\u6a21\u578b\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002<\/li>\n\n\n\n
      • Prob-Sampling\u5728\u76f8\u4f3c\u7684\u5ef6\u8fdf\u4e0b\uff080.32ms\uff09\uff0c\u6bd4\u5176\u4ed6\u7684VT\u64cd\u4f5c\u5177\u6709\u66f4\u9ad8\u7684NDS\uff0839.0%\uff09\uff0c\u8fd9\u5f3a\u8c03\u4e86\u6982\u7387\u91c7\u6837\u5728\u6027\u80fd\u4e0a\u7684\u4f18\u8d8a\u6027\u3002<\/li>\n\n\n\n
      • \u591a\u5206\u8fa8\u7387\uff08MR\uff09\u91c7\u6837\u7b56\u7565\u76f8\u5bf9\u4e8e\u5747\u5300\u91c7\u6837\u7b56\u7565\uff0c\u5728\u4f7f\u7528\u76f8\u540c\u6570\u91cf\u7684\u91c7\u6837\u70b9\u65f6\u80fd\u8fbe\u5230\u76f8\u4f3c\u6216\u66f4\u597d\u7684\u6027\u80fd\u3002<\/li>\n\n\n\n
      • \u901a\u8fc7\u5c06\u6295\u5f71\u6982\u7387\u3001\u56fe\u50cf\u6982\u7387\u548cBEV\u6982\u7387\u52a0\u5165\u5230LSS\u6d41\u7a0b\uff0cProb-LSS\u7684\u8868\u73b0\u8d85\u8fc7\u4e86\u5176\u4ed6\u7684LSS\u53d8\u4f53\uff0c\u63d0\u9ad8\u4e86mAP\u548cNDS\uff0c\u663e\u793a\u4e86\u7ed3\u5408\u8fd9\u4e9b\u6982\u7387\u7684\u6709\u6548\u6027\u3002<\/li>\n\n\n\n
      • \u4e0e\u591a\u9636\u6bb5\u7684\u7cbe\u7ec6\u5316\uff08Refine\uff09\u7b56\u7565\u76f8\u6bd4\uff0c\u5355\u9636\u6bb5\u7684\u6dfb\u52a0\uff08Add\uff09\u7b56\u7565\u548cDFF\u6a21\u5757\u90fd\u80fd\u53d6\u5f97\u66f4\u9ad8\u7684NDS\uff0c\u800cDFF\u5728mAP\u4e0a\u4e5f\u6709\u8f7b\u5fae\u7684\u63d0\u5347\uff0c\u8fd9\u8868\u660eDFF\u4f5c\u4e3a\u4e00\u79cd\u5355\u9636\u6bb5\u7684\u878d\u5408\u7b56\u7565\uff0c\u5728\u6548\u7387\u548c\u6027\u80fd\u4e0a\u90fd\u662f\u6709\u76ca\u7684\u3002<\/li>\n<\/ul>\n\n\n\n

        \u6d88\u878d\u5b9e\u9a8c\u8868\u660e\u4e86HeightTrans\u3001\u6982\u7387\u63aa\u65bd\u3001Prob-Sampling\u548cDFF\u7b49\u7ec4\u4ef6\u53ca\u7b56\u7565\u5bf9\u63d0\u9ad8\u6a21\u578b\u6027\u80fd\u81f3\u5173\u91cd\u8981\u3002\u6b64\u5916\uff0c\u591a\u5206\u8fa8\u7387\u91c7\u6837\u7b56\u7565\u5728\u9ad8\u5ea6\u4fe1\u606f\u4e0a\u7684\u4f7f\u7528\u4e5f\u8bc1\u660e\u4e86\u5176\u6709\u6548\u6027\u3002\u8fd9\u4e9b\u53d1\u73b0\u652f\u6301\u4e86\u4f5c\u8005\u5728\u65b9\u6cd5\u90e8\u5206\u63d0\u51fa\u7684\u6bcf\u4e00\u9879\u6280\u672f\u90fd\u5bf9\u6a21\u578b\u6027\u80fd\u6709\u6b63\u9762\u8d21\u732e\u7684\u8bba\u70b9\u3002<\/p>\n\n\n\n

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

        \u8fd9\u7bc7\u8bba\u6587\u901a\u8fc7\u4e00\u7cfb\u5217\u6d88\u878d\u5b9e\u9a8c\u5c55\u793a\u4e86\u5176\u65b9\u6cd5\u7684\u6027\u80fd\u3002\u4ece\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u8bba\u6587\u63d0\u51fa\u7684DualBEV\u6846\u67b6\u548c\u5b83\u7684\u5404\u4e2a\u7ec4\u6210\u90e8\u5206\u5747\u5bf9\u63d0\u9ad8\u9e1f\u77b0\u56fe\uff08BEV\uff09\u5bf9\u8c61\u68c0\u6d4b\u7684\u51c6\u786e\u6027\u5177\u6709\u79ef\u6781\u5f71\u54cd\u3002<\/p>\n\n\n\n

        \u8bba\u6587\u7684\u65b9\u6cd5\u901a\u8fc7\u5c06ProbNet\u3001HeightTrans\u3001CAF\uff08Channel Attention Fusion\uff09\u3001\u548cSAE\uff08Spatial Attention Enhanced\uff09\u6a21\u5757\u9010\u6b65\u5f15\u5165\u5230\u57fa\u7ebf\u6a21\u578b\u4e2d\uff0c\u663e\u793a\u51fa\u5728mAP\u548cNDS\u4e24\u4e2a\u6307\u6807\u4e0a\u5747\u6709\u663e\u8457\u63d0\u5347\uff0c\u8fd9\u8bc1\u660e\u4e86\u6bcf\u4e2a\u7ec4\u4ef6\u5728\u6574\u4e2a\u67b6\u6784\u4e2d\u90fd\u53d1\u6325\u4e86\u91cd\u8981\u4f5c\u7528\u3002\u5c24\u5176\u662f\u5f15\u5165SAE\u540e\uff0cNDS\u5f97\u5206\u63d0\u9ad8\u5230\u4e86\u6700\u9ad8\u70b942.5%\uff0c\u540c\u65f6\u5ef6\u8fdf\u53ea\u6709\u8f7b\u5fae\u589e\u52a0\uff0c\u8fd9\u8868\u660e\u4e86\u8be5\u65b9\u6cd5\u5728\u7cbe\u5ea6\u548c\u5ef6\u8fdf\u4e4b\u95f4\u53d6\u5f97\u4e86\u826f\u597d\u7684\u5e73\u8861\u3002<\/p>\n\n\n\n

        \u6982\u7387\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\u8fdb\u4e00\u6b65\u8bc1\u5b9e\u4e86\u6295\u5f71\u6982\u7387\u3001\u56fe\u50cf\u6982\u7387\u548cBEV\u6982\u7387\u5728\u63d0\u9ad8\u68c0\u6d4b\u6027\u80fd\u65b9\u9762\u7684\u91cd\u8981\u6027\u3002\u5f53\u8fd9\u4e9b\u6982\u7387\u88ab\u9010\u4e00\u5f15\u5165\u65f6\uff0c\u7cfb\u7edf\u7684mAP\u548cNDS\u5f97\u5206\u7a33\u6b65\u63d0\u5347\uff0c\u8fd9\u8868\u660e\u4e86\u5c06\u8fd9\u4e9b\u6982\u7387\u63aa\u65bd\u96c6\u6210\u5230BEV\u5bf9\u8c61\u68c0\u6d4b\u4efb\u52a1\u4e2d\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n

        \u5728\u89c6\u89c9\u8f6c\u6362\uff08VT\uff09\u64cd\u4f5c\u7684\u6bd4\u8f83\u4e2d\uff0c\u8bba\u6587\u63d0\u51fa\u7684Prob-Sampling\u65b9\u6cd5\u4e0e\u5176\u4ed6\u64cd\u4f5c\u5982SCAda\u548cBilinear-Sampling\u76f8\u6bd4\uff0c\u663e\u793a\u51fa\u8f83\u4f4e\u7684\u5ef6\u8fdf\u548c\u66f4\u9ad8\u7684NDS\u5f97\u5206\uff0c\u8fd9\u5f3a\u8c03\u4e86\u5176\u5728\u6548\u7387\u548c\u6027\u80fd\u4e0a\u7684\u4f18\u52bf\u3002\u6b64\u5916\uff0c\u5bf9\u4e8e\u4e0d\u540c\u7684\u9ad8\u5ea6\u91c7\u6837\u7b56\u7565\uff0c\u91c7\u7528\u591a\u5206\u8fa8\u7387\uff08MR\uff09\u7b56\u7565\u800c\u4e0d\u662f\u7edf\u4e00\u91c7\u6837\u80fd\u591f\u8fdb\u4e00\u6b65\u63d0\u9ad8NDS\u5f97\u5206\uff0c\u8fd9\u8868\u660e\u4e86\u8003\u8651\u573a\u666f\u4e2d\u4e0d\u540c\u9ad8\u5ea6\u7684\u4fe1\u606f\u5bf9\u4e8e\u63d0\u5347\u68c0\u6d4b\u6027\u80fd\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n

        \u6b64\u5916\uff0c\u5bf9\u4e8e\u4e0d\u540c\u7684\u7279\u5f81\u878d\u5408\u7b56\u7565\uff0c\u8bba\u6587\u5c55\u793a\u4e86DFF\u65b9\u6cd5\u5728\u7b80\u5316\u6a21\u578b\u7684\u540c\u65f6\uff0c\u4f9d\u7136\u80fd\u591f\u7ef4\u6301\u9ad8NDS\u5f97\u5206\u7684\u80fd\u529b\uff0c\u8fd9\u610f\u5473\u7740\u5728\u4e00\u9636\u6bb5\u5904\u7406\u6d41\u7a0b\u4e2d\u878d\u5408\u53cc\u6d41\u7279\u5f81\u662f\u6709\u6548\u7684\u3002<\/p>\n\n\n\n

        \u7136\u800c\uff0c\u5c3d\u7ba1\u8bba\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u591a\u4e2a\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u6bcf\u9879\u6539\u8fdb\u4e5f\u90fd\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u590d\u6742\u5ea6\u548c\u8ba1\u7b97\u6210\u672c\u7684\u589e\u52a0\u3002\u4f8b\u5982\uff0c\u6bcf\u5f15\u5165\u4e00\u4e2a\u65b0\u7684\u7ec4\u4ef6\uff08\u5982ProbNet\u3001HeightTrans\u7b49\uff09\uff0c\u7cfb\u7edf\u7684\u5ef6\u8fdf\u90fd\u4f1a\u6709\u6240\u589e\u52a0\uff0c\u5c3d\u7ba1\u5ef6\u8fdf\u7684\u589e\u52a0\u662f\u5fae\u5c0f\u7684\uff0c\u4f46\u5728\u5b9e\u65f6\u6216\u4f4e\u5ef6\u8fdf\u8981\u6c42\u7684\u5e94\u7528\u4e2d\uff0c\u8fd9\u53ef\u80fd\u6210\u4e3a\u8003\u8651\u56e0\u7d20\u3002\u6b64\u5916\uff0c\u867d\u7136\u6982\u7387\u63aa\u65bd\u6709\u52a9\u4e8e\u6027\u80fd\u63d0\u5347\uff0c\u4f46\u4e5f\u9700\u8981\u989d\u5916\u7684\u8ba1\u7b97\u8d44\u6e90\u6765\u4f30\u8ba1\u8fd9\u4e9b\u6982\u7387\uff0c\u53ef\u80fd\u5bfc\u81f4\u66f4\u9ad8\u7684\u8d44\u6e90\u6d88\u8017\u3002<\/p>\n\n\n\n

        \u8bba\u6587\u63d0\u51fa\u7684DualBEV\u65b9\u6cd5\u5728\u63d0\u9ad8BEV\u5bf9\u8c61\u68c0\u6d4b\u7684\u7cbe\u5ea6\u548c\u7efc\u5408\u6027\u80fd\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6210\u679c\uff0c\u7279\u522b\u662f\u5728\u5c06\u6df1\u5ea6\u5b66\u4e60\u7684\u6700\u65b0\u8fdb\u5c55\u4e0e\u89c6\u89c9\u8f6c\u6362\u6280\u672f\u76f8\u7ed3\u5408\u7684\u65b9\u9762\u3002\u4f46\u8fd9\u4e9b\u8fdb\u6b65\u662f\u4ee5\u8f7b\u5fae\u589e\u52a0\u8ba1\u7b97\u5ef6\u8fdf\u548c\u8d44\u6e90\u6d88\u8017\u4e3a\u4ee3\u4ef7\u7684\uff0c\u5b9e\u9645\u5e94\u7528\u65f6\u9700\u8981\u6839\u636e\u5177\u4f53\u60c5\u51b5\u6743\u8861\u8fd9\u4e9b\u56e0\u7d20\u3002<\/p>\n\n\n\n

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

        \u8be5\u65b9\u6cd5\u5728BEV\u5bf9\u8c61\u68c0\u6d4b\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u51c6\u786e\u6027\u548c\u7efc\u5408\u6027\u80fd\u3002\u901a\u8fc7\u5f15\u5165\u6982\u7387\u91c7\u6837\u3001\u9ad8\u5ea6\u8f6c\u6362\u3001\u6ce8\u610f\u529b\u673a\u5236\u548c\u7a7a\u95f4\u5173\u6ce8\u589e\u5f3a\u7f51\u7edc\uff0cDualBEV\u6210\u529f\u5730\u63d0\u5347\u4e86\u591a\u4e2a\u5173\u952e\u6027\u80fd\u6307\u6807\uff0c\u7279\u522b\u662f\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7684\u7cbe\u5ea6\u548c\u573a\u666f\u7406\u89e3\u65b9\u9762\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8bba\u6587\u7684\u65b9\u6cd5\u5728\u5904\u7406\u590d\u6742\u573a\u666f\u548c\u4e0d\u540c\u89c6\u89d2\u6570\u636e\u65f6\u5c24\u4e3a\u6709\u6548\uff0c\u8fd9\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u548c\u5176\u4ed6\u5b9e\u65f6\u76d1\u63a7\u5e94\u7528\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n

        <\/strong>\u53c2\u8003<\/strong><\/strong><\/h2>\n\n\n\n

        [1] DualBEV: CNN is All You Need in View Transformation<\/p>\n","protected":false},"excerpt":{"rendered":"

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