{"id":9536,"date":"2024-04-15T15:46:33","date_gmt":"2024-04-15T07:46:33","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9536"},"modified":"2024-04-15T15:46:33","modified_gmt":"2024-04-15T07:46:33","slug":"2024-04-15-%e6%b8%85%e5%8d%8e%e6%9c%80%e6%96%b0%ef%bc%81roadbev%ef%bc%9abev%e4%b8%8b%e7%9a%84%e9%81%93%e8%b7%af%e8%a1%a8%e9%9d%a2%e9%87%8d%e5%bb%ba%e5%a6%82%e4%bd%95%e5%ae%9e%e7%8e%b0%ef%bc%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/15\/9536\/","title":{"rendered":"2024-04-15  \u6e05\u534e\u6700\u65b0\uff01RoadBEV\uff1aBEV\u4e0b\u7684\u9053\u8def\u8868\u9762\u91cd\u5efa\u5982\u4f55\u5b9e\u73b0\uff1f"},"content":{"rendered":"\n<p>\u539f\u6807\u9898\uff1aRoadBEV: Road Surface Reconstruction in Bird\u2019s Eye View<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2404.06605.pdf<\/p>\n\n\n\n<p>\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/ztsrxh\/RoadBEV<\/p>\n\n\n\n<p>\u4f5c\u8005\u5355\u4f4d\uff1a\u6e05\u534e\u5927\u5b66 \u52a0\u5dde\u5927\u5b66\u4f2f\u514b\u5229\u5206\u6821<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"270\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-68-1024x270.png\" alt=\"\" class=\"wp-image-9537\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-68-1024x270.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-68-300x79.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-68-768x203.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-68.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8bba\u6587\u601d\u8def\uff1a<\/strong><\/h2>\n\n\n\n<p>\u9053\u8def\u8868\u9762\u72b6\u51b5\uff0c\u5c24\u5176\u662f\u51e0\u4f55\u8f6e\u5ed3\uff0c\u6781\u5927\u5730\u5f71\u54cd\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u9a7e\u9a76\u6027\u80fd\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u5728\u7ebf\u9053\u8def\u91cd\u5efa\u6709\u671b\u63d0\u524d\u6355\u83b7\u9053\u8def\u4fe1\u606f\u3002\u73b0\u6709\u7684\u89e3\u51b3\u65b9\u6848\u5982\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u548c\u7acb\u4f53\u5339\u914d\u7684\u6027\u80fd\u8868\u73b0\u4e00\u822c\u3002\u6700\u8fd1\u7684\u9e1f\u77b0\u89c6\u89d2\uff08BEV\uff09\u611f\u77e5\u6280\u672f\u4e3a\u66f4\u53ef\u9760\u548c\u7cbe\u786e\u7684\u91cd\u5efa\u63d0\u4f9b\u4e86\u5de8\u5927\u6f5c\u529b\u3002\u672c\u6587\u7edf\u4e00\u63d0\u51fa\u4e86\u4e24\u79cd\u7b80\u5355\u800c\u6709\u6548\u7684BEV\u9053\u8def\u9ad8\u7a0b\u91cd\u5efa(road elevation reconstruction)\u6a21\u578b\uff0c\u5206\u522b\u547d\u540d\u4e3aRoadBEV-mono\u548cRoadBEV-stereo\uff0c\u5b83\u4eec\u5206\u522b\u5229\u7528\u5355\u76ee\u548c\u7acb\u4f53\u56fe\u50cf\u4f30\u8ba1\u9053\u8def\u9ad8\u7a0b\u3002\u524d\u8005\u76f4\u63a5\u57fa\u4e8e\u4ece\u56fe\u50cf\u89c6\u56fe\u4e2d\u67e5\u8be2\u7684\u4f53\u7d20\u7279\u5f81\u62df\u5408\u9ad8\u7a0b\u503c\uff0c\u800c\u540e\u8005\u6709\u6548\u5730\u57fa\u4e8e\u8868\u793a\u5de6\u53f3\u4f53\u7d20\u7279\u5f81\u5dee\u5f02\u7684BEV\u4f53\u79ef\u8bc6\u522b\u9053\u8def\u9ad8\u7a0b\u6a21\u5f0f\u3002\u6df1\u5165\u7684\u5206\u6790\u63ed\u793a\u4e86\u5b83\u4eec\u4e0e\u900f\u89c6\u89c6\u56fe\u7684\u4e00\u81f4\u6027\u548c\u5dee\u5f02\u3002\u5728\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u6a21\u578b\u7684\u6709\u6548\u6027\u548c\u4f18\u8d8a\u6027\u3002RoadBEV-mono\u548cRoadBEV-stereo\u7684\u9ad8\u7a0b\u8bef\u5dee\u5206\u522b\u4e3a1.83\u5398\u7c73\u548c0.56\u5398\u7c73\u3002\u57fa\u4e8e\u5355\u76ee\u56fe\u50cf\u7684BEV\u4f30\u8ba1\u6027\u80fd\u63d0\u9ad8\u4e8650%\u3002\u672c\u6587\u7684\u6a21\u578b\u5bf9\u5b9e\u9645\u5e94\u7528\u5145\u6ee1\u5e0c\u671b\uff0c\u4e3a\u57fa\u4e8e\u89c6\u89c9\u7684BEV\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u53c2\u8003\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u9996\u6b21\u4ece\u7406\u8bba\u548c\u5b9e\u9a8c\u4e24\u4e2a\u65b9\u9762\u5c55\u793a\u4e86\u9e1f\u77b0\u89c6\u89d2\u4e0b\u9053\u8def\u8868\u9762\u91cd\u5efa\u7684\u5fc5\u8981\u6027\u548c\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u5355\u76ee\u548c\u7acb\u4f53\u57fa\u7840\u65b9\u6848\uff0c\u672c\u6587\u5206\u522b\u63d0\u51fa\u4e86\u4e24\u4e2a\u6a21\u578b\uff0c\u5206\u522b\u547d\u540d\u4e3aRoadBEV-mono\u548cRoadBEV-stereo\u3002\u672c\u6587\u8be6\u7ec6\u89e3\u91ca\u4e86\u5b83\u4eec\u7684\u673a\u5236\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u5168\u9762\u6d4b\u8bd5\u548c\u5206\u6790\u4e86\u6240\u63d0\u51fa\u6a21\u578b\u7684\u6027\u80fd\uff0c\u4e3a\u672a\u6765\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u89c1\u89e3\u548c\u5c55\u671b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u7f51\u7edc\u8bbe\u8ba1\uff1a<\/strong><\/h2>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u65e0\u4eba\u5730\u9762\u8f66\u8f86\uff08UGVs\uff09\u7684\u5feb\u901f\u53d1\u5c55\u5bf9\u8f66\u8f7d\u611f\u77e5\u7cfb\u7edf\u63d0\u51fa\u4e86\u66f4\u9ad8\u7684\u8981\u6c42\u3002\u5b9e\u65f6\u7406\u89e3\u9a7e\u9a76\u73af\u5883\u548c\u6761\u4ef6\u5bf9\u4e8e\u51c6\u786e\u7684\u8fd0\u52a8\u89c4\u5212\u548c\u63a7\u5236\u81f3\u5173\u91cd\u8981[1]-[3]\u3002\u5bf9\u4e8e\u8f66\u8f86\u6765\u8bf4\uff0c\u9053\u8def\u662f\u4e0e\u7269\u7406\u4e16\u754c\u63a5\u89e6\u7684\u552f\u4e00\u5a92\u4ecb\u3002\u9053\u8def\u8868\u9762\u72b6\u51b5\u51b3\u5b9a\u4e86\u8bb8\u591a\u8f66\u8f86\u7279\u6027\u548c\u9a7e\u9a76\u6027\u80fd[4]\u3002\u5982\u56fe1\uff08a\uff09\u6240\u793a\uff0c\u9053\u8def\u7684\u4e0d\u5e73\u6574\u6027\uff0c\u5982\u98a0\u7c38\u548c\u5751\u6d3c\uff0c\u4f1a\u52a0\u5267\u4e58\u7528\u8f66\u7684\u4e58\u5750\u4f53\u9a8c\uff0c\u8fd9\u662f\u76f4\u89c2\u53ef\u611f\u77e5\u7684\u3002\u5b9e\u65f6\u9053\u8def\u8868\u9762\u72b6\u51b5\u611f\u77e5\uff0c\u7279\u522b\u662f\u51e0\u4f55\u9ad8\u7a0b(geometry elevation)\uff0c\u6781\u5927\u5730\u6709\u52a9\u4e8e\u63d0\u5347\u4e58\u5750\u8212\u9002\u5ea6[5]\uff0c[6]\u3002<\/p>\n\n\n\n<p>\u4e0e\u65e0\u4eba\u5730\u9762\u8f66\u8f86\uff08UGVs\uff09\u4e2d\u7684\u5176\u4ed6\u611f\u77e5\u4efb\u52a1\u5982\u5206\u5272\u548c\u68c0\u6d4b\u76f8\u6bd4\uff0c\u9053\u8def\u8868\u9762\u91cd\u5efa(road surface reconstruction)\uff08RSR\uff09\u662f\u4e00\u79cd\u65b0\u5174\u6280\u672f\uff0c\u6700\u8fd1\u8d8a\u6765\u8d8a\u53d7\u5230\u5173\u6ce8\u3002\u4e0e\u73b0\u6709\u7684\u611f\u77e5\u6d41\u7a0b\u7c7b\u4f3c\uff0cRSR\u901a\u5e38\u5229\u7528\u8f66\u8f7d\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u548c\u6444\u50cf\u5934\u4f20\u611f\u5668\u6765\u4fdd\u7559\u9053\u8def\u8868\u9762\u4fe1\u606f\u3002\u6fc0\u5149\u96f7\u8fbe\u76f4\u63a5\u626b\u63cf\u9053\u8def\u8f6e\u5ed3\u5e76\u6d3e\u751f\u51fa\u70b9\u4e91[7]\uff0c[8]\u3002\u8f66\u8f86\u8f68\u8ff9\u4e0a\u7684\u9053\u8def\u9ad8\u7a0b\u53ef\u4ee5\u76f4\u63a5\u63d0\u53d6\uff0c\u65e0\u9700\u590d\u6742\u7b97\u6cd5\u3002\u7136\u800c\uff0c\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u6210\u672c\u8f83\u9ad8\uff0c\u9650\u5236\u4e86\u5b83\u4eec\u5728\u7ecf\u6d4e\u578b\u91cf\u4ea7\u8f66\u8f86\u4e0a\u7684\u5e94\u7528\u3002\u4e0e\u8f66\u8f86\u548c\u884c\u4eba\u7b49\u4f53\u79ef\u8f83\u5927\u7684\u4ea4\u901a\u7269\u4f53\u4e0d\u540c\uff0c\u9053\u8def\u7684\u4e0d\u5e73\u6574\u6027\u901a\u5e38\u5e45\u5ea6\u8f83\u5c0f\uff0c\u56e0\u6b64\u70b9\u4e91\u7684\u51c6\u786e\u6027\u81f3\u5173\u91cd\u8981\u3002\u5b9e\u65f6\u9053\u8def\u626b\u63cf\u4e0a\u7684\u8fd0\u52a8\u8865\u507f\u548c\u8fc7\u6ee4\u662f\u5fc5\u9700\u7684\uff0c\u8fd9\u8fdb\u4e00\u6b65\u8981\u6c42\u5728\u5398\u7c73\u7ea7\u522b\u7684\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u56fe\u50cf\u7684\u9053\u8def\u8868\u9762\u91cd\u5efa\uff08RSR\uff09\uff0c\u4f5c\u4e3a\u4e00\u4e2a\u4e09\u7ef4\u89c6\u89c9\u4efb\u52a1\uff0c\u5728\u7cbe\u5ea6\u548c\u5206\u8fa8\u7387\u65b9\u9762\u6bd4\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u66f4\u6709\u524d\u666f\u3002\u5b83\u8fd8\u4fdd\u7559\u4e86\u9053\u8def\u8868\u9762\u7eb9\u7406\uff0c\u4f7f\u5f97\u9053\u8def\u611f\u77e5\u66f4\u52a0\u5168\u9762\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u9053\u8def\u9ad8\u7a0b\u91cd\u5efa\u5b9e\u9645\u4e0a\u662f\u4e00\u4e2a\u6df1\u5ea6\u4f30\u8ba1\u95ee\u9898\u3002\u5bf9\u4e8e\u5355\u76ee\u76f8\u673a\uff0c\u53ef\u4ee5\u57fa\u4e8e\u5355\u5f20\u56fe\u7247\u5b9e\u65bd\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\uff0c\u6216\u8005\u57fa\u4e8e\u5e8f\u5217\u5b9e\u65bd\u591a\u89c6\u89d2\u7acb\u4f53\uff08MVS\uff09\u6765\u76f4\u63a5\u4f30\u8ba1\u6df1\u5ea6[9]\u3002\u5bf9\u4e8e\u53cc\u76ee\u76f8\u673a\uff0c\u53cc\u76ee\u5339\u914d\u56de\u5f52\u89c6\u5dee\u56fe\uff0c\u8fd9\u53ef\u4ee5\u8f6c\u6362\u4e3a\u6df1\u5ea6[10]\uff0c[11]\u3002\u7ed9\u5b9a\u76f8\u673a\u53c2\u6570\uff0c\u5c31\u53ef\u4ee5\u6062\u590d\u76f8\u673a\u5750\u6807\u7cfb\u4e2d\u7684\u9053\u8def\u70b9\u4e91\u3002\u901a\u8fc7\u521d\u6b65\u7684\u540e\u5904\u7406\u6d41\u7a0b\uff0c\u6700\u7ec8\u83b7\u5f97\u9053\u8def\u7ed3\u6784\u548c\u9ad8\u7a0b\u4fe1\u606f\u3002\u5728\u771f\u503c\uff08GT\uff09\u6807\u7b7e\u7684\u6307\u5bfc\u4e0b\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u548c\u53ef\u9760\u7684RSR\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u56fe\u50cf\u89c6\u89d2\u4e0b\u7684\u9053\u8def\u8868\u9762\u91cd\u5efa\uff08RSR\uff09\u5b58\u5728\u56fa\u6709\u7684\u7f3a\u70b9\u3002\u5bf9\u4e8e\u7279\u5b9a\u50cf\u7d20\u7684\u6df1\u5ea6\u4f30\u8ba1\u5b9e\u9645\u4e0a\u662f\u6cbf\u7740\u5782\u76f4\u4e8e\u56fe\u50cf\u5e73\u9762\u65b9\u5411\u5bfb\u627e\u6700\u4f18\u7bb1\u4f53(optimal bins)\uff08\u5982\u56fe1\uff08b\uff09\u4e2d\u7684\u6a59\u8272\u70b9\u6240\u793a\uff09\u3002\u6df1\u5ea6\u65b9\u5411\u4e0e\u9053\u8def\u8868\u9762\u5b58\u5728\u4e00\u5b9a\u7684\u89d2\u5ea6\u504f\u5dee\u3002\u9053\u8def\u8f6e\u5ed3\u7279\u5f81\u7684\u53d8\u5316\u548c\u8d8b\u52bf\u4e0e\u641c\u7d22\u65b9\u5411\u4e0a\u7684\u53d8\u5316\u548c\u8d8b\u52bf\u4e0d\u4e00\u81f4\u3002\u5728\u6df1\u5ea6\u89c6\u56fe\u4e2d\u5173\u4e8e\u9053\u8def\u9ad8\u7a0b\u53d8\u5316\u7684\u4fe1\u606f\u7ebf\u7d22\u662f\u7a00\u758f\u7684\u3002\u6b64\u5916\uff0c\u6bcf\u4e2a\u50cf\u7d20\u7684\u6df1\u5ea6\u641c\u7d22\u8303\u56f4\u662f\u76f8\u540c\u7684\uff0c\u5bfc\u81f4\u6a21\u578b\u6355\u6349\u5230\u7684\u662f\u5168\u5c40\u51e0\u4f55\u5c42\u6b21\u7ed3\u6784\u800c\u4e0d\u662f\u5c40\u90e8\u8868\u9762\u7ed3\u6784\u3002\u7531\u4e8e\u5168\u5c40\u4f46\u7c97\u7cd9\u7684\u6df1\u5ea6\u641c\u7d22\uff0c\u7cbe\u7ec6\u7684\u9053\u8def\u9ad8\u7a0b\u4fe1\u606f\u88ab\u7834\u574f\u3002\u7531\u4e8e\u672c\u6587\u5173\u6ce8\u7684\u662f\u5782\u76f4\u65b9\u5411\u4e0a\u7684\u9ad8\u7a0b\uff0c\u56e0\u6b64\u5728\u6df1\u5ea6\u65b9\u5411\u4e0a\u6240\u505a\u7684\u52aa\u529b\u88ab\u6d6a\u8d39\u4e86\u3002\u5728\u900f\u89c6\u89c6\u56fe\u4e2d\uff0c\u8fdc\u8ddd\u79bb\u7684\u7eb9\u7406\u7ec6\u8282\u4e22\u5931\uff0c\u8fd9\u8fdb\u4e00\u6b65\u4e3a\u6709\u6548\u7684\u6df1\u5ea6\u56de\u5f52\u5e26\u6765\u4e86\u6311\u6218\uff0c\u9664\u975e\u8fdb\u4e00\u6b65\u5f15\u5165\u5148\u9a8c\u7ea6\u675f[12]\u3002<\/p>\n\n\n\n<p>\u4ece\u4fef\u89c6\u56fe\uff08\u5373\u9e1f\u77b0\u56fe\uff0cBEV\uff09\u4f30\u8ba1\u9053\u8def\u9ad8\u7a0b\u662f\u4e00\u4e2a\u81ea\u7136\u7684\u60f3\u6cd5\uff0c\u56e0\u4e3a\u9ad8\u7a0b\u672c\u8d28\u4e0a\u63cf\u8ff0\u4e86\u5782\u76f4\u65b9\u5411\u7684\u632f\u52a8\u3002\u9e1f\u77b0\u56fe\u662f\u4e00\u79cd\u6709\u6548\u7684\u8303\u5f0f\uff0c\u7528\u4e8e\u4ee5\u7edf\u4e00\u5750\u6807\u8868\u793a\u591a\u6a21\u6001\u548c\u591a\u89c6\u56fe\u6570\u636e[13]\uff0c[14]\u3002\u6700\u8fd1\u5728\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u548c\u5206\u5272\u4efb\u52a1\u4e0a\u53d6\u5f97\u7684 SOTA \u6027\u80fd\u662f\u901a\u8fc7\u57fa\u4e8e\u9e1f\u77b0\u56fe\u7684\u65b9\u6cd5\u5b9e\u73b0\u7684[15]\uff0c\u8fd9\u4e0e\u900f\u89c6\u89c6\u56fe\u4e0d\u540c\uff0c\u540e\u8005\u901a\u8fc7\u5728\u89c6\u56fe\u8f6c\u6362\u7684\u56fe\u50cf\u7279\u5f81\u4e0a\u5f15\u5165\u4f30\u8ba1\u5934\u90e8\u6765\u8fdb\u884c\u3002\u56fe1\u5c55\u793a\u4e86\u672c\u6587\u7684\u52a8\u673a\u3002\u4e0e\u5728\u56fe\u50cf\u89c6\u56fe\u4e2d\u5173\u6ce8\u5168\u5c40\u7ed3\u6784\u4e0d\u540c\uff0c\u9e1f\u77b0\u56fe\u4e2d\u7684\u91cd\u5efa\u76f4\u63a5\u5728\u5782\u76f4\u65b9\u5411\u4e0a\u7684\u4e00\u4e2a\u7279\u5b9a\u5c0f\u8303\u56f4\u5185\u8bc6\u522b\u9053\u8def\u7279\u5f81\u3002\u5728\u9e1f\u77b0\u56fe\u4e2d\u6295\u5f71\u7684\u9053\u8def\u7279\u5f81\u5bc6\u96c6\u5730\u53cd\u6620\u4e86\u7ed3\u6784\u548c\u8f6e\u5ed3\u53d8\u5316\uff0c\u6709\u52a9\u4e8e\u8fdb\u884c\u6709\u6548\u548c\u7cbe\u7ec6\u5316\u7684\u641c\u7d22\u3002\u900f\u89c6\u6548\u5e94\u7684\u5f71\u54cd\u4e5f\u88ab\u6291\u5236\uff0c\u56e0\u4e3a\u9053\u8def\u5728\u5782\u76f4\u4e8e\u89c2\u5bdf\u89d2\u5ea6\u7684\u5e73\u9762\u4e0a\u88ab\u7edf\u4e00\u8868\u793a\u3002\u57fa\u4e8e\u9e1f\u77b0\u56fe\u7279\u5f81\u7684\u9053\u8def\u91cd\u5efa\u6709\u671b\u5b9e\u73b0\u66f4\u9ad8\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u91cd\u5efa\u4e86BEV\u4e0b\u7684\u9053\u8def\u8868\u9762\uff0c\u4ee5\u89e3\u51b3\u4e0a\u8ff0\u8bc6\u522b\u51fa\u7684\u95ee\u9898\u3002\u7279\u522b\u5730\uff0c\u672c\u6587\u5173\u6ce8\u9053\u8def\u51e0\u4f55\uff0c\u5373\u9ad8\u7a0b(elevation)\u3002\u4e3a\u4e86\u5229\u7528\u5355\u76ee\u548c\u53cc\u76ee\u56fe\u50cf\uff0c\u5e76\u5c55\u793a\u9e1f\u77b0\u56fe\u611f\u77e5\u7684\u5e7f\u6cdb\u53ef\u884c\u6027\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e24\u4e2a\u5b50\u6a21\u578b\uff0c\u5206\u522b\u547d\u540d\u4e3aRoadBEV-mono\u548cRoadBEV-stereo\u3002\u9075\u5faa\u9e1f\u77b0\u56fe\u7684\u8303\u4f8b\uff0c\u672c\u6587\u5b9a\u4e49\u4e86\u8986\u76d6\u6f5c\u5728\u9053\u8def\u8d77\u4f0f\u7684\u611f\u5174\u8da3\u4f53\u7d20\u3002\u8fd9\u4e9b\u4f53\u7d20\u901a\u8fc73D-2D\u6295\u5f71\u67e5\u8be2\u50cf\u7d20\u7279\u5f81\u3002\u5bf9\u4e8eRoadBEV-mono\uff0c\u672c\u6587\u5728\u91cd\u5851\u7684\u4f53\u7d20\u7279\u5f81\u4e0a\u5f15\u5165\u4e86\u9ad8\u7a0b\u4f30\u8ba1\u5934\u3002RoadBEV-stereo\u7684\u7ed3\u6784\u4e0e\u56fe\u50cf\u89c6\u56fe\u4e2d\u7684\u53cc\u76ee\u5339\u914d\u4fdd\u6301\u4e00\u81f4\u3002\u57fa\u4e8e\u5de6\u53f3\u4f53\u7d20\u7279\u5f81\uff0c\u5728\u9e1f\u77b0\u56fe\u4e2d\u6784\u5efa\u4e86\u4e00\u4e2a4D\u4ee3\u4ef7\u4f53\u79ef\uff0c\u8be5\u4f53\u79ef\u901a\u8fc73D\u5377\u79ef\u8fdb\u884c\u805a\u5408\u3002\u9ad8\u7a0b\u56de\u5f52\u88ab\u89c6\u4e3a\u5bf9\u9884\u5b9a\u4e49\u7bb1\u4f53\u7684\u5206\u7c7b\uff0c\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u6548\u7684\u6a21\u578b\u5b66\u4e60\u3002\u672c\u6587\u5728\u672c\u6587\u4f5c\u8005\u4e4b\u524d\u53d1\u5e03\u7684\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u4e86\u8fd9\u4e9b\u6a21\u578b\uff0c\u663e\u793a\u51fa\u5b83\u4eec\u6bd4\u4f20\u7edf\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u548c\u53cc\u76ee\u5339\u914d\u65b9\u6cd5\u6709\u7740\u5de8\u5927\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"530\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-69-1024x530.png\" alt=\"\" class=\"wp-image-9538\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-69-1024x530.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-69-300x155.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-69-768x398.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-69.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1. \u672c\u6587\u7684\u52a8\u673a\u3002\uff08a\uff09\u65e0\u8bba\u662f\u5355\u76ee\u8fd8\u662f\u53cc\u76ee\u914d\u7f6e\uff0c\u672c\u6587\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e2d\u7684\u91cd\u5efa\u65b9\u6cd5\u90fd\u4f18\u4e8e\u56fe\u50cf\u89c6\u56fe\u4e2d\u7684\u65b9\u6cd5\u3002\uff08b\uff09\u5728\u56fe\u50cf\u89c6\u56fe\u4e2d\u8fdb\u884c\u6df1\u5ea6\u4f30\u8ba1\u65f6\uff0c\u641c\u7d22\u65b9\u5411\u4e0e\u9053\u8def\u9ad8\u7a0b\u65b9\u5411\u5b58\u5728\u504f\u5dee\u3002\u5728\u6df1\u5ea6\u89c6\u56fe\u4e2d\uff0c\u9053\u8def\u8f6e\u5ed3\u7279\u5f81\u662f\u7a00\u758f\u7684\u3002\u5751\u6d3c\u4e0d\u5bb9\u6613\u88ab\u8bc6\u522b\u3002\uff08c\uff09\u5728\u9e1f\u77b0\u56fe\u4e2d\uff0c\u80fd\u591f\u7cbe\u786e\u6355\u6349\u5230\u8f6e\u5ed3\u632f\u52a8\uff0c\u4f8b\u5982\u5751\u6d3c\u3001\u8def\u8fb9\u53f0\u9636\u4e43\u81f3\u8f66\u8f99\u3002\u5782\u76f4\u65b9\u5411\u4e0a\u7684\u9053\u8def\u9ad8\u7a0b\u7279\u5f81\u66f4\u52a0\u5bc6\u96c6\uff0c\u4e5f\u66f4\u5bb9\u6613\u8bc6\u522b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"795\" height=\"816\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-70.png\" alt=\"\" class=\"wp-image-9539\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-70.png 795w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-70-292x300.png 292w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-70-768x788.png 768w\" sizes=\"(max-width: 795px) 100vw, 795px\" \/><\/figure>\n\n\n\n<p>\u56fe2. \u5750\u6807\u793a\u610f\u53ca\u771f\u503c\uff08GT\uff09\u9ad8\u7a0b\u6807\u7b7e\u7684\u751f\u6210\u3002\uff08a\uff09\u5750\u6807\uff08b\uff09\u56fe\u50cf\u89c6\u56fe\u4e2d\u7684\u611f\u5174\u8da3\u533a\u57df\uff08ROI\uff09\uff08c\uff09\u9e1f\u77b0\u56fe\u4e2d\u7684\u611f\u5174\u8da3\u533a\u57df\uff08ROI\uff09\uff08d\uff09\u5728\u7f51\u683c\u4e2d\u751f\u6210\u771f\u503c\uff08GT\uff09\u6807\u7b7e<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"803\" height=\"687\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-71.png\" alt=\"\" class=\"wp-image-9540\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-71.png 803w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-71-300x257.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-71-768x657.png 768w\" sizes=\"(max-width: 803px) 100vw, 803px\" \/><\/figure>\n\n\n\n<p>\u56fe3. \u9053\u8def\u56fe\u50cf\u53ca\u771f\u503c\uff08GT\uff09\u9ad8\u7a0b\u56fe\u7684\u793a\u4f8b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"787\" height=\"467\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-72.png\" alt=\"\" class=\"wp-image-9541\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-72.png 787w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-72-300x178.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-72-768x456.png 768w\" sizes=\"(max-width: 787px) 100vw, 787px\" \/><\/figure>\n\n\n\n<p>\u56fe4. \u56fe\u50cf\u89c6\u56fe\u4e2d\u611f\u5174\u8da3\u7684\u7279\u5f81\u4f53\u7d20\u3002\u4f4d\u4e8e\u76f8\u540c\u6c34\u5e73\u4f4d\u7f6e\u7684\u5806\u53e0\u4f53\u7d20\u7684\u4e2d\u5fc3\u88ab\u6295\u5f71\u5230\u7ea2\u8272\u7ebf\u6bb5\u4e0a\u7684\u50cf\u7d20\u70b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-73-1024x261.png\" alt=\"\" class=\"wp-image-9542\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-73-1024x261.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-73-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-73-768x196.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-73.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe5. RoadBEV-mono\u7684\u67b6\u6784\u3002\u672c\u6587\u5229\u75283D\u52302D\u7684\u6295\u5f71\u6765\u67e5\u8be2\u50cf\u7d20\u7279\u5f81\u3002\u9ad8\u7a0b\u4f30\u8ba1\u5934\u90e8\u4f7f\u75282D\u5377\u79ef\u5728\u91cd\u5851\u540e\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u4e0a\u63d0\u53d6\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"781\" height=\"743\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-74.png\" alt=\"\" class=\"wp-image-9543\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-74.png 781w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-74-300x285.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-74-768x731.png 768w\" sizes=\"(max-width: 781px) 100vw, 781px\" \/><\/figure>\n\n\n\n<p>\u56fe6. RoadBEV-mono\u7684\u673a\u5236\u3002\u4f53\u7d20\u4ee5\u4fa7\u89c6\u56fe\u5c55\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"357\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-75-1024x357.png\" alt=\"\" class=\"wp-image-9544\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-75-1024x357.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-75-300x105.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-75-768x268.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-75.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe7. RoadBEV-stereo\u7684\u67b6\u6784\u3002\u5b9a\u4e49\u5728\u5de6\u76f8\u673a\u5750\u6807\u7cfb\u4e0b\u7684\u4f53\u7d20\u67e5\u8be2\u5de6\u53f3\u7279\u5f81\u56fe\u7684\u50cf\u7d20\u7279\u5f81\u3002\u672c\u6587\u901a\u8fc7\u5de6\u53f3\u4f53\u7d20\u7279\u5f81\u4e4b\u95f4\u7684\u76f8\u51cf\uff0c\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e2d\u6784\u5efa\u5dee\u5f02\u4f53\u79ef\u3002\u7136\u540e\uff0c3D\u5377\u79ef\u5bf9\u9e1f\u77b0\u56fe\u4e2d\u76844D\u4f53\u79ef\u8fdb\u884c\u805a\u5408\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"804\" height=\"769\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-76.png\" alt=\"\" class=\"wp-image-9545\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-76.png 804w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-76-300x287.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-76-768x735.png 768w\" sizes=\"(max-width: 804px) 100vw, 804px\" \/><\/figure>\n\n\n\n<p>\u56fe8. RoadBEV-stereo\u7684\u673a\u5236\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"510\" height=\"601\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-77.png\" alt=\"\" class=\"wp-image-9546\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-77.png 510w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-77-255x300.png 255w\" sizes=\"(max-width: 510px) 100vw, 510px\" \/><\/figure>\n\n\n\n<p>\u56fe9. (a) RoadBEV-mono\u548c (b) RoadBEV-stereo\u7684\u8bad\u7ec3\u635f\u5931\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"529\" height=\"363\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-78.png\" alt=\"\" class=\"wp-image-9547\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-78.png 529w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-78-300x206.png 300w\" sizes=\"(max-width: 529px) 100vw, 529px\" \/><\/figure>\n\n\n\n<p>\u56fe10. \u5728\u5355\u76ee\u548c\u53cc\u76ee\u57fa\u7840\u4e0a\uff0c\u4e0eSOTA\u6a21\u578b\u7684\u8ddd\u79bb\u65b9\u5411\u4e0a\u7684\u9ad8\u7a0b\u8bef\u5dee\u6bd4\u8f83\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"689\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-79-1024x689.png\" alt=\"\" class=\"wp-image-9548\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-79-1024x689.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-79-300x202.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-79-768x517.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-79.png 1064w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe11. \u7531RoadBEV-mono\u91cd\u5efa\u7684\u9053\u8def\u8868\u9762\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"468\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-80-1024x468.png\" alt=\"\" class=\"wp-image-9549\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-80-1024x468.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-80-300x137.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-80-768x351.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-80.png 1067w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe12. \u7531RoadBEV-stereo\u91cd\u5efa\u7684\u9053\u8def\u8868\u9762\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"486\" height=\"391\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-81.png\" alt=\"\" class=\"wp-image-9550\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-81.png 486w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-81-300x241.png 300w\" sizes=\"(max-width: 486px) 100vw, 486px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"551\" height=\"289\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-82.png\" alt=\"\" class=\"wp-image-9551\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-82.png 551w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-82-300x157.png 300w\" sizes=\"(max-width: 551px) 100vw, 551px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"518\" height=\"256\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-83.png\" alt=\"\" class=\"wp-image-9552\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-83.png 518w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-83-300x148.png 300w\" sizes=\"(max-width: 518px) 100vw, 518px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"612\" height=\"328\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-84.png\" alt=\"\" class=\"wp-image-9553\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-84.png 612w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-84-300x161.png 300w\" sizes=\"(max-width: 612px) 100vw, 612px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u603b\u7ed3\uff1a<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u9996\u6b21\u5728\u9e1f\u77b0\u56fe\u4e2d\u91cd\u5efa\u4e86\u9053\u8def\u8868\u9762\u7684\u9ad8\u7a0b\u3002\u672c\u6587\u5206\u522b\u63d0\u51fa\u5e76\u5206\u6790\u4e86\u57fa\u4e8e\u5355\u76ee\u548c\u53cc\u76ee\u56fe\u50cf\u7684\u4e24\u79cd\u6a21\u578b\uff0c\u5206\u522b\u547d\u540d\u4e3aRoadBEV-mono\u548cRoadBEV-stereo\u3002\u672c\u6587\u53d1\u73b0\uff0cBEV\u4e2d\u7684\u5355\u76ee\u4f30\u8ba1\u548c\u53cc\u76ee\u5339\u914d\u4e0e\u900f\u89c6\u89c6\u56fe\u4e2d\u7684\u673a\u5236\u76f8\u540c\uff0c\u901a\u8fc7\u7f29\u5c0f\u641c\u7d22\u8303\u56f4\u548c\u76f4\u63a5\u5728\u9ad8\u7a0b\u65b9\u5411\u6316\u6398\u7279\u5f81\u800c\u5f97\u5230\u6539\u8fdb\u3002\u5728\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\u4e0a\u7684\u5168\u9762\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u6240\u63d0\u51fa\u7684BEV\u4f53\u79ef\u3001\u4f30\u8ba1\u5934\u548c\u53c2\u6570\u8bbe\u7f6e\u7684\u53ef\u884c\u6027\u548c\u4f18\u8d8a\u6027\u3002\u5bf9\u4e8e\u5355\u76ee\u76f8\u673a\uff0c\u5728BEV\u4e2d\u7684\u91cd\u5efa\u6027\u80fd\u6bd4\u900f\u89c6\u89c6\u56fe\u63d0\u9ad8\u4e8650%\u3002\u540c\u65f6\uff0c\u5728BEV\u4e2d\uff0c\u4f7f\u7528\u53cc\u76ee\u76f8\u673a\u7684\u6027\u80fd\u662f\u5355\u76ee\u7684\u4e09\u500d\u3002\u672c\u6587\u63d0\u4f9b\u4e86\u5173\u4e8e\u6a21\u578b\u7684\u6df1\u5165\u5206\u6790\u548c\u6307\u5bfc\u3002\u672c\u6587\u7684\u5f00\u521b\u6027\u63a2\u7d22\u4e5f\u4e3a\u4e0eBEV\u611f\u77e5\u30013D\u91cd\u5efa\u548c3D\u68c0\u6d4b\u76f8\u5173\u7684\u8fdb\u4e00\u6b65\u7814\u7a76\u548c\u5e94\u7528\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u53c2\u8003\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5f15\u7528\uff1a<\/strong><\/h2>\n\n\n\n<p>@misc{zhao2024roadbev,<br>title={RoadBEV: Road Surface Reconstruction in Bird&#8217;s Eye View},<br>author={Tong Zhao and Lei Yang and Yichen Xie and Mingyu Ding and Masayoshi Tomizuka and Yintao Wei},<br>year={2024},<br>eprint={2404.06605},<br>archivePrefix={arXiv},<br>primaryClass={cs.CV}<br>}&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6807\u9898\uff1aRoadBEV: Road Surfa [&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-9536","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\/9536"}],"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=9536"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9536\/revisions"}],"predecessor-version":[{"id":9554,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9536\/revisions\/9554"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9536"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9536"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9536"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}