{"id":9574,"date":"2024-04-16T13:31:20","date_gmt":"2024-04-16T05:31:20","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9574"},"modified":"2024-04-16T13:31:52","modified_gmt":"2024-04-16T05:31:52","slug":"9574","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/16\/9574\/","title":{"rendered":"2024-04-16 BEV\u8ddf\u8e2a\u57fa\u7ebf | BEVTrack\uff1a\u57fa\u4e8e\u9e1f\u77b0\u56fe\u4e2d\u7684\u70b9\u4e91\u8ddf\u8e2a"},"content":{"rendered":"\n

\u7b80\u4ecb<\/strong><\/p>\n\n\n\n

\u672c\u6587\u4ecb\u7ecd\u4e86BEVTrack\uff1a\u9e1f\u77b0\u56fe\u4e2d\u70b9\u4e91\u8ddf\u8e2a\u7684\u7b80\u5355\u57fa\u7ebf\u3002\u7531\u4e8e\u70b9\u4e91\u7684\u5916\u89c2\u53d8\u5316\u3001\u5916\u90e8\u5e72\u6270\u548c\u9ad8\u5ea6\u7a00\u758f\u6027\uff0c\u70b9\u4e91\u76843D\u5355\u76ee\u6807\u8ddf\u8e2a\uff08SOT\uff09\u4ecd\u7136\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u95ee\u9898\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u76ee\u6807\u7269\u4f53\u901a\u5e38\u5728\u8fde\u7eed\u5e27\u95f4\u4fdd\u6301\u7a7a\u95f4\u90bb\u63a5\uff0c\u591a\u6570\u60c5\u51b5\u4e0b\u662f\u6c34\u5e73\u8fd0\u52a8\u3002\u8fd9\u79cd\u7a7a\u95f4\u8fde\u7eed\u6027\u4e3a\u76ee\u6807\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u6709\u4ef7\u503c\u7684\u5148\u9a8c\u77e5\u8bc6\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u8ddf\u8e2a\u5668\u901a\u5e38\u4f7f\u7528\u9010\u70b9\u8868\u793a\uff0c\u96be\u4ee5\u6709\u6548\u5229\u7528\u8fd9\u4e9b\u77e5\u8bc6\uff0c\u8fd9\u662f\u56e0\u4e3a\u8fd9\u79cd\u8868\u793a\u7684\u683c\u5f0f\u4e0d\u89c4\u5219\u3002\u56e0\u6b64\uff0c\u5b83\u4eec\u9700\u8981\u7cbe\u5fc3\u8bbe\u8ba1\u5e76\u4e14\u89e3\u51b3\u591a\u4e2a\u5b50\u4efb\u52a1\u4ee5\u5efa\u7acb\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\u3002\u672c\u6587\u300aBEVTrack: A Simple Baseline for 3D Single Object Tracking in Bird\u2019s-Eye View\u300b\uff08https:\/\/arxiv.org\/pdf\/2309.02185.pdf\uff09\u4e2d\u7684BEVTrack\u662f\u4e00\u79cd\u7b80\u5355\u800c\u5f3a\u5927\u7684\u4e09\u7ef4\u5355\u76ee\u6807\u8ddf\u8e2a\u57fa\u7ebf\u6846\u67b6\u3002\u5728\u5c06\u8fde\u7eed\u70b9\u4e91\u8f6c\u6362\u4e3a\u5e38\u89c1\u7684\u9e1f\u77b0\u56fe\u8868\u793a\u540e\uff0cBEVTrack\u56fa\u6709\u5730\u5bf9\u7a7a\u95f4\u8fd1\u4f3c\u8fdb\u884c\u7f16\u7801\uff0c\u5e76\u4e14\u901a\u8fc7\u7b80\u5355\u7684\u9010\u5143\u7d20\u64cd\u4f5c\u548c\u5377\u79ef\u5c42\u6765\u719f\u7ec3\u6355\u83b7\u8fd0\u52a8\u7ebf\u7d22\u8fdb\u884c\u8ddf\u8e2a\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u66f4\u597d\u5730\u5904\u7406\u5177\u6709\u4e0d\u540c\u5927\u5c0f\u548c\u8fd0\u52a8\u6a21\u5f0f\u7684\u76ee\u6807\uff0cBEVTrack\u76f4\u63a5\u5b66\u4e60\u6f5c\u5728\u7684\u8fd0\u52a8\u5206\u5e03\uff0c\u800c\u4e0d\u50cf\u5148\u524d\u7684\u5de5\u4f5c\u90a3\u6837\u505a\u51fa\u56fa\u5b9a\u7684\u62c9\u666e\u62c9\u65af\u6216\u8005\u9ad8\u65af\u5047\u8bbe\u3002BEVTrack\u5728KITTI\u548cNuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u540c\u65f6\u7ef4\u6301\u4e86122FPS\u7684\u9ad8\u63a8\u7406\u901f\u5ea6\u3002\u76ee\u524d\u8fd9\u4e2a\u9879\u76ee\u5df2\u7ecf\u5728Github\uff08https:\/\/github.com\/xmm-prio\/BEVTrack\uff09\u4e0a\u5f00\u6e90\u4e86\u3002<\/p>\n\n\n\n

1.\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n

\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

1\uff09\u672c\u6587\u63d0\u51fa\u4e86BEVTrack\uff0c\u8fd9\u662f\u4e00\u79cd\u7b80\u5355\u800c\u5f3a\u5927\u7684\u4e09\u7ef4\u5355\u76ee\u6807\u8ddf\u8e2a\u7684\u57fa\u7ebf\u6846\u67b6\u3002\u8fd9\u79cd\u5f00\u521b\u6027\u7684\u65b9\u6cd5\u901a\u8fc7BEV\u8868\u793a\u6709\u6548\u5730\u5229\u7528\u4e86\u7a7a\u95f4\u4fe1\u606f\uff0c\u4ece\u800c\u7b80\u5316\u4e86\u8ddf\u8e2a\u6d41\u7a0b\u8bbe\u8ba1\uff1b<\/p>\n\n\n\n

2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u5206\u5e03\u611f\u77e5\u56de\u5f52\u7b56\u7565\uff0c\u5176\u76f4\u63a5\u5b66\u4e60\u5177\u6709\u4e0d\u540c\u5927\u5c0f\u548c\u5404\u79cd\u8fd0\u52a8\u6a21\u5f0f\u7684\u76ee\u6807\u7684\u6f5c\u5728\u8fd0\u52a8\u5206\u5e03\u3002\u8be5\u7b56\u7565\u4e3a\u8ddf\u8e2a\u63d0\u4f9b\u51c6\u786e\u7684\u6307\u5bfc\uff0c\u4ece\u800c\u63d0\u4f9b\u4e86\u6027\u80fd\uff0c\u540c\u65f6\u907f\u514d\u4e86\u989d\u5916\u7684\u8ba1\u7b97\u5f00\u9500\uff1b<\/p>\n\n\n\n

3\uff09BEVTrack\u5728\u4fdd\u6301\u9ad8\u63a8\u7406\u901f\u5ea6\u7684\u540c\u65f6\uff0c\u5728\u4e24\u4e2a\u4e3b\u6d41\u7684\u57fa\u51c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd<\/p>\n\n\n\n

2.\u6982\u8ff0<\/strong><\/p>\n\n\n\n

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

\u5176\u4e2dF\u662f\u8ddf\u8e2a\u5668\u5b66\u4e60\u5230\u7684\u6620\u5c04\u51fd\u6570\u3002<\/p>\n\n\n\n

\u6839\u636e\u516c\u5f0f\uff081\uff09\uff0c\u6211\u4eec\u63d0\u51fa\u4e86BEVTrack\uff0c\u8fd9\u662f\u4e00\u4e2a\u7b80\u5355\u4f46\u5f3a\u5927\u76843D\u5355\u76ee\u6807\u8ddf\u8e2a\u57fa\u51c6\u6846\u67b6\u3002BEVTrack\u7684\u6574\u4f53\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002\u5b83\u9996\u5148\u5229\u7528\u5171\u4eab\u7684VoxelNext [29]\u63d0\u53d63D\u7279\u5f81\uff0c\u7136\u540e\u5c06\u5176\u538b\u7f29\u4ee5\u83b7\u5f97BEV\u8868\u793a\u3002\u968f\u540e\uff0cBEVTrack\u901a\u8fc7\u4e32\u8054\u548c\u591a\u4e2a\u5377\u79ef\u5c42\u878d\u5408BEV\u7279\u5f81\uff0c\u5e76\u901a\u8fc7MLP\u56de\u5f52\u76ee\u6807\u7684\u5e73\u79fb\u3002\u4e3a\u4e86\u5b9e\u73b0\u51c6\u786e\u7684\u56de\u5f52\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5206\u5e03\u611f\u77e5\u56de\u5f52\u7b56\u7565\u6765\u4f18\u5316BEVTrack\u7684\u8bad\u7ec3\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

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

\u56fe2. BEVTrack\u7684\u793a\u610f\u56fe\u3002\u5b83\u4f7f\u7528VoxelNet\u4ece\u8fde\u7eed\u5e27\u4e2d\u63d0\u53d6\u7279\u5f81\uff0c\u8fdb\u4e00\u6b65\u5c06\u5176\u8f6c\u6362\u4e3aBEV\u8868\u793a\u3002\u7136\u540e\uff0c\u901a\u8fc7\u4e32\u8054\u548c\u51e0\u4e2a\u5377\u79ef\u5c42\uff0c\u5b83\u878d\u5408BEV\u7279\u5f81\u5e76\u6355\u6349\u8fd0\u52a8\u7ebf\u7d22\u3002\u6700\u540e\uff0c\u901a\u8fc7\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u56de\u5f52\u8fd0\u52a8\u504f\u79fb\u91cf\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5206\u5e03\u611f\u77e5\u56de\u5f52\u7b56\u7565\u6765\u4f18\u5316BEVTrack\u3002<\/p>\n\n\n\n

3.\u7279\u5f81\u63d0\u53d6<\/strong><\/p>\n\n\n\n

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

4.\u57fa\u4e8eBEV\u7684\u8fd0\u52a8\u5efa\u6a21<\/strong><\/p>\n\n\n\n

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

\u5176\u4e2dConv\u8868\u793aBMM\u4e2d\u7684\u5377\u79ef\u5757\uff0c[;][;]\u8868\u793a\u8fde\u63a5\u8fd0\u7b97\u7b26\u3002<\/p>\n\n\n\n

\u5176\u4e2dH^\u2032\u3001W^\u2032\u548cC^\u2032\u5206\u522b\u8868\u793a\u7a7a\u95f4\u7ef4\u5ea6\u548c\u7279\u5f81\u901a\u9053\u6570\u3002<\/p>\n\n\n\n

\u6700\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u6700\u5927\u6c60\u5316\u5c42\u548c\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u6765\u9884\u6d4b\u76ee\u6807\u5e73\u79fb\u504f\u79fb\uff0c\u5373\uff0c<\/p>\n\n\n\n

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

\u5176\u4e2dC \u2208 \\mathbb{R}^6\u8868\u793a\u76ee\u6807\u5e73\u79fb\u504f\u79fb\\bar{u} \u2208 \\mathbb{R}^3\u7684\u671f\u671b\u503c\u548c\u6807\u51c6\u5dee\u03c3 \u2208 \\mathbb{R}^3\uff0c\u8fd9\u5c06\u5728\u7b2c5\u8282\u4e2d\u8be6\u7ec6\u4ecb\u7ecd\u3002\u901a\u8fc7\u5c06\u5e73\u79fb\u5e94\u7528\u4e8e\u76ee\u6807\u7684\u6700\u540e\u72b6\u6001\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u5f53\u524d\u5e27\u4e2d\u5b9a\u4f4d\u76ee\u6807\u3002<\/p>\n\n\n\n

5.\u5206\u5e03\u611f\u77e5\u56de\u5f52<\/strong><\/p>\n\n\n\n

\u5728\u5148\u524d\u7684\u5de5\u4f5c\u4e2d\uff0c\u901a\u5e38\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u4f7f\u7528\u4f20\u7edf\u7684L1\u6216L2\u635f\u5931\u6765\u8fdb\u884c\u76ee\u6807\u4f4d\u7f6e\u56de\u5f52\uff0c\u8fd9\u5b9e\u9645\u4e0a\u5bf9\u76ee\u6807\u4f4d\u7f6e\u7684\u5206\u5e03\u505a\u51fa\u4e86\u56fa\u5b9a\u7684\u62c9\u666e\u62c9\u65af\u6216\u9ad8\u65af\u5047\u8bbe\u3002\u4e0e\u4e4b\u76f8\u53cd\uff0c\u6211\u4eec\u63d0\u51fa\u76f4\u63a5\u5b66\u4e60\u5e95\u5c42\u8fd0\u52a8\u5206\u5e03\uff0c\u5e76\u5f15\u5165\u4e00\u79cd\u65b0\u9896\u7684\u5206\u5e03\u611f\u77e5\u56de\u5f52\u7b56\u7565\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u53ef\u4ee5\u4e3a\u8ddf\u8e2a\u63d0\u4f9b\u66f4\u51c6\u786e\u7684\u6307\u5bfc\uff0c\u4f7fBEVTrack\u80fd\u591f\u66f4\u597d\u5730\u5904\u7406\u5177\u6709\u4e0d\u540c\u5927\u5c0f\u548c\u79fb\u52a8\u6a21\u5f0f\u7684\u7269\u4f53\u3002<\/p>\n\n\n\n


\u5728[11]\u7684\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u4f7f\u7528\u91cd\u65b0\u53c2\u6570\u5316\u6765\u5efa\u6a21\u76ee\u6807\u5e73\u79fb\u504f\u79fbu\u223cP(u)\u7684\u5206\u5e03\u3002\u5177\u4f53\u800c\u8a00\uff0cP(u)\u53ef\u4ee5\u901a\u8fc7\u5bf9\u6765\u81ea\u96f6\u5747\u503c\u5206\u5e03z\u223cP_Z(z)\u8fdb\u884c\u7f29\u653e\u548c\u5e73\u79fb\u5f97\u5230\uff0c\u5176\u4e2du=\\bar{u}+\u03c3\u00b7z\uff0c\u5176\u4e2d\\bar{u}\u8868\u793a\u76ee\u6807\u5e73\u79fb\u504f\u79fb\u7684\u671f\u671b\uff0c\u03c3\u8868\u793a\u5206\u5e03\u7684\u5c3a\u5ea6\u3002P_Z(z)\u53ef\u4ee5\u901a\u8fc7\u5f52\u4e00\u5316\u6d41\u6a21\u578b\uff08\u4f8b\u5982\uff0creal NVP [2]\uff09\u8fdb\u884c\u5efa\u6a21\u3002\u7ed9\u5b9a\u8fd9\u4e2a\u53d8\u6362\u51fd\u6570\uff0c\u53ef\u4ee5\u8ba1\u7b97\u51faP(u)\u7684\u5bc6\u5ea6\u51fd\u6570\uff1a<\/p>\n\n\n\n

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

\u4e0e\u4e4b\u524d\u4ec5\u56de\u5f52\u786e\u5b9a\u6027\u76ee\u6807\u7ffb\u8bd1\u504f\u79fb\u91cfu\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4e13\u6ce8\u4e8e\u56de\u5f52\u4e24\u4e2a\u4e0d\u540c\u7684\u53c2\u6570\uff1a\u76ee\u6807\u7ffb\u8bd1\u504f\u79fb\u91cfu\u7684\u671f\u671b\u503c\\bar{u}\u548c\u5176\u6807\u51c6\u5dee\u03c3\u3002<\/p>\n\n\n\n

\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u91c7\u7528\u4e86[11]\u4e2d\u7684\u6b8b\u5dee\u5bf9\u6570\u4f3c\u7136\u4f30\u8ba1\uff08RLE\uff09\u6765\u4f30\u8ba1\u4e0a\u8ff0\u53c2\u6570\u3002RLE\u5c06\u5206\u5e03P_Z(z)\u5206\u89e3\u4e3a\u4e00\u4e2a\u5148\u9a8c\u5206\u5e03Q_Z(z)\uff08\u4f8b\u5982\uff0c\u62c9\u666e\u62c9\u65af\u5206\u5e03\u6216\u9ad8\u65af\u5206\u5e03\uff09\u548c\u4e00\u4e2a\u5b66\u4e60\u5230\u7684\u5206\u5e03G_Z(z | \u03b8)\u3002\u4e3a\u4e86\u6700\u5927\u5316\u65b9\u7a0b\uff084\uff09\u4e2d\u7684\u4f3c\u7136\u51fd\u6570\uff0c\u6211\u4eec\u53ef\u4ee5\u6700\u5c0f\u5316\u4ee5\u4e0b\u635f\u5931\u51fd\u6570\uff1a<\/p>\n\n\n\n

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

6.\u53c2\u8003\u94fe\u63a5<\/strong><\/p>\n\n\n\n

https:\/\/arxiv.org\/pdf\/2309.02185.pdf<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

\u7b80\u4ecb \u672c\u6587\u4ecb\u7ecd\u4e86BEVTrack\uff1a\u9e1f\u77b0\u56fe\u4e2d\u70b9\u4e91 […]<\/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-9574","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\/9574"}],"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=9574"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9574\/revisions"}],"predecessor-version":[{"id":9585,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9574\/revisions\/9585"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9574"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9574"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9574"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}