{"id":9596,"date":"2024-04-17T14:03:04","date_gmt":"2024-04-17T06:03:04","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9596"},"modified":"2024-04-17T14:03:04","modified_gmt":"2024-04-17T06:03:04","slug":"2024-04-17-%e5%b0%8f%e7%b1%b3%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%ae%97%e6%b3%95%e5%88%86%e6%9e%90%ef%bc%8c%e8%83%bd%e6%89%93%e5%87%a0%e5%88%86%ef%bc%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/17\/9596\/","title":{"rendered":"2024-04-17 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src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/b1949cd89ee14aa39bd9d6f0c9a087b5~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=bcekH3ZGRsD0II0Lhgi%2BebugNC4%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detection\u300b\u8bba\u6587<\/p>\n\n\n\n<p>NDS\u5f97\u520658.1\uff0c\u8fd9\u4e2a\u5f97\u5206\u5e94\u8be5\u8bf4\u5f88\u4f4e\uff0c\u534e\u4e3a\u57282021\u5e7410\u6708\u7684TransFusion\u5f97\u5206\u90fd\u670971.7\uff0c\u96f6\u8dd1\u6c7d\u8f66\u7684EA-LSS\u5f97\u5206\u670977.6\u3002\u4e0d\u8fc7\u540e\u4e24\u8005\u57fa\u672c\u90fd\u662fBounding-Box\u7684\uff0c\u800c\u4e0d\u662f\u57fa\u4e8e\u5360\u7528\u7f51\u7edc\u7684\uff0c\u8fd9\u6837\u5bf9\u6bd4\u6709\u4e00\u70b9\u4e0d\u516c\u5e73\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/4a285118c72049b098b1d77cede403c0~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=4bY7eiGHUZzZFLrTIe7aZncWfYI%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detection\u300b\u8bba\u6587<\/p>\n\n\n\n<p>\u4e0e\u53e6\u4e00\u4e2a\u9876\u7ea7\u5360\u7528\u7f51\u7edc\u7ed3\u6784TPVFormer\u6bd4\uff0c\u57fa\u672c\u76f8\u5dee\u4e0d\u5927\uff0cTPVFormer\u662f\u5317\u822a\u63d0\u51fa\u6765\u7684\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/1710724c3ac34ff9831515cbccc1e28f~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=NkHOd10LDKR6E9LgmidLAqVkJHs%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image.webp 1080w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-300x70.webp 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-1024x240.webp 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/image-768x180.webp 768w\" sizes=\"(max-width: 1080px) 100vw, 1080px\" \/><\/figure>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/91854604cade4c8f9236c25aacba36b8~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=rcFfweqLsnQR1UATkWXjeLK7Ajo%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance 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Detection\u300b\u8bba\u6587<\/p>\n\n\n\n<p>SOGDet\u5c31\u662f\u5c063D\u611f\u77e5\u4e0e3D\u8bed\u4e49\u5206\u5272\u5360\u7528\u7f51\u7edc\u9884\u6d4b\u7ed3\u5408\uff0c\u4e3b\u8981\u662f\u63d0\u9ad8\u975e\u9053\u8def\u73af\u5883\u7684\u611f\u77e5\uff0c\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u7684\u771f\u5b9e3D\u573a\u666f\uff0c\u4f7f\u5f97\u81ea\u52a8\u9a7e\u9a76\u51b3\u7b56\u7cfb\u7edf\u66f4\u597d\u5730\u7406\u89e3\u5468\u8fb9\u73af\u5883\uff0c\u7ed9\u51fa\u6b63\u786e\u7684\u9053\u8def\u89c4\u5212\uff0c\u975e\u9053\u8def\u73af\u5883\u5305\u62ec\u4e86\u690d\u88ab\uff08\u7eff\u5316\u5e26\u3001\u8349\u5730\u7b49\u7b49\uff09\u3001\u4eba\u884c\u9053\u3001\u5730\u5f62\u4ee5\u53ca\u4eba\u5de5\u5efa\u7b51\u3002<\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/047d9201a43746dab50363b3c0c39b46~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=OlyHqKShHOQoDmu%2FlnDWSpq%2BhIA%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSOGDet: Semantic-Occupancy Guided Multi-view 3D Object Detection\u300b\u8bba\u6587<\/p>\n\n\n\n<p>\u5c0f\u7c73SOGDet\u7684\u7f51\u7edc\u67b6\u6784\uff0c\u5e76\u65e0\u72ec\u7279\u4e4b\u5904\uff0c\u6bd5\u7adf\u7f51\u7edc\u57fa\u7840\u90fd\u662f\u8c37\u6b4c\u548cMETA\u6784\u5efa\u7684\u3002\u76ee\u524d\u9876\u7ea7\u81ea\u52a8\u9a7e\u9a76\u7f51\u7edc\u57fa\u672c\u90fd\u662f\u4e09\u90e8\u5206\uff0c\u5176\u4e2d\u9aa8\u5e72Backbone\u90e8\u5206\uff0c\u8fd8\u662f\u57fa\u4e8eCNN\uff0c\u6ca1\u529e\u6cd5\uff0cTransofrmer\u8fd0\u7b97\u91cf\u592a\u5927\uff0c\u65e0\u6cd5\u4f7f\u7528\uff0c\u5927\u5bb6\u57fa\u672c\u8fd8\u662f\u7528ResNet50\/100\u3002\u4e5f\u6709\u5c11\u6570\u4f7f\u7528\u8c37\u6b4c\u7684ViT\uff0c\u4f46\u5b9e\u9645\u65e0\u6cd5\u843d\u5730\u3002\u591a\u5934\u90e8\u5206\u4f7f\u7528View Transformer\u505aBEV\u53d8\u6362\u3002\u8fd9\u91cc\u4ecd\u7136\u4f7f\u7528\u82f1\u4f1f\u8fbe\u63d0\u51fa\u7684\u7ecf\u5178\u7684LSS\u65b9\u6cd5\uff0c\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Lift\u2014\u2014\u5bf9\u5404\u76f8\u673a\u7684\u56fe\u50cf\u663e\u6027\u5730\u4f30\u8ba1\u50cf\u5e73\u9762\u4e0b\u91c7\u6837\u540e\u7279\u5f81\u70b9\u7684\u6df1\u5ea6\u5206\u5e03\uff0c\u5f97\u5230\u5305\u542b\u56fe\u50cf\u7279\u5f81\u7684\u89c6\u9525\uff08\u70b9\u4e91\uff09\uff1b<\/li>\n\n\n\n<li><\/li>\n\n\n\n<li>Splat\u2014\u2014\u7ed3\u5408\u76f8\u673a\u5185\u5916\u53c2\u628a\u6240\u6709\u76f8\u673a\u7684\u89c6\u9525\uff08\u70b9\u4e91\uff09\u5206\u914d\u5230BEV\u7f51\u683c\u4e2d\uff0c\u5bf9\u6bcf\u4e2a\u6805\u683c\u4e2d\u7684\u591a\u4e2a\u89c6\u9525\u70b9\u8fdb\u884csum-pooling\u8ba1\u7b97\uff0c\u5f62\u6210BEV\u7279\u5f81\u56fe\uff1b<\/li>\n\n\n\n<li><\/li>\n\n\n\n<li>Shoot\u2014\u2014\u7528task head\u5904\u7406BEV\u7279\u5f81\u56fe\uff0c\u8f93\u51fa\u611f\u77e5\u7ed3\u679c\u3002LSS\u662f2020\u5e74\u63d0\u51fa\u7684\uff0c\u76ee\u524d\u8fd8\u505a\u4e86\u4e0d\u5c11\u6539\u8fdb\uff0c\u4e3b\u8981\u662f\u6df1\u5ea6\u4fee\u6b63(Depth Correction)\u548c\u5177\u6709\u76f8\u673a\u611f\u77e5\u80fd\u529b\u7684\u6df1\u5ea6\u4f30\u8ba1(Camera-aware Depth Prediction)\u3002<\/li>\n\n\n\n<li><\/li>\n<\/ul>\n\n\n\n<p>\u53e6\u5916\uff0c\u8fd8\u63d0\u51fa\u4e86\u9ad8\u6548\u4f53\u7d20\u6c60\u5316(Efficient Voxel Pooling)\u6765\u52a0\u901fBEVDepth\u65b9\u6cd5\uff0c\u4ee5\u53ca\u591a\u5e27\u878d\u5408(Multi-frame Fusion)\u6765\u63d0\u9ad8\u76ee\u6807\u68c0\u6d4b\u6548\u679c\u548c\u8fd0\u52a8\u901f\u5ea6\u4f30\u8ba1\u3002\u4efb\u52a1\u7ea7\u7528\u53cd\u5377\u79ef\u548cMLP\u8f93\u51fa\u8bed\u4e49\u5206\u5272\u7f51\u7edc\u5360\u7528\u6216\u76ee\u6807\u68c0\u6d4bBounding Box\u3002<\/p>\n\n\n\n<p>\u518d\u6765\u770b\u5c0f\u7c73\u6c7d\u8f66\u6210\u4efd\u66f4\u9ad8\u7684\u90a3\u7bc7\u8bba\u6587\u5373\u300aSurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance Field\u300b\uff0c\u8fd9\u7bc7\u8bba\u6587\u4e3b\u8981\u5c31\u662f3D\u8bed\u4e49\u5206\u5272\u5360\u7528\u7f51\u7edc\uff0c\u56e0\u6b64\u4e3b\u8981\u6307\u6807\u5c31\u662fmIoU\u3002<\/p>\n\n\n\n<p><strong>\u5c0f\u7c73\u6c7d\u8f66SurroundSDF\u7684\u7f51\u7edc\u67b6\u6784<\/strong><\/p>\n\n\n\n<p><img decoding=\"async\" src=\"https:\/\/p3-sign.toutiaoimg.com\/tos-cn-i-6w9my0ksvp\/693b21a1502e46d9ba3007dee3e03515~noop.image?_iz=58558&amp;from=article.pc_detail&amp;lk3s=953192f4&amp;x-expires=1713938484&amp;x-signature=eu%2BHy7dFY5mX4yDAbMAw5EWA8P8%3D\"><\/p>\n\n\n\n<p>\u56fe\u7247\u6765\u6e90\uff1a\u300aSurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance Field\u300b\u8bba\u6587<\/p>\n\n\n\n<p>\u7b80\u5355\u89e3\u91ca\u4e00\u4e0bSDF\uff0c\u6709\u7b26\u53f7\u8ddd\u79bb\u573a(SDF\uff1aSigned Distance Field) \u662f\u8ddd\u79bb\u573a\u7684\u4e00\u79cd\u53d8\u4f53\uff0c\u5b83\u5728 3D(2D) 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rendering)\u6765\u8868\u793a\uff0c2D\u8d44\u4ea7\uff08\u8fd9\u91cc\u6307\u8d34\u56fe\uff09\u4ea6\u662f\u5982\u6b64\u3002\u6bd4\u5982\u8d34\u56fe\u4e00\u822c\u76f4\u63a5\u4f7f\u7528RGB\u3001HSV\u7b49\u53c2\u6570\u6765\u8fdb\u884c\u8868\u793a\uff0c\u4f46\u8fd9\u6837\u5b50\u518d\u653e\u5927\u56fe\u7247\u540e\u4f1a\u51fa\u73b0\u952f\u9f7f\uff0c\u6240\u4ee5\u60f3\u8981\u83b7\u53d6\u9ad8\u6e05\u7684\u56fe\u50cf\u5c31\u9700\u8981\u8f83\u5927\u7684\u5b58\u50a8\u7a7a\u95f4\uff0c\u8fd9\u65f6\u5019\u5c31\u9700\u8981\u77e2\u91cf\u8868\u793a\uff0cSDF\u5c31\u662f\u4e3a\u4e86\u8fd9\u79cd\u9700\u6c42\u4ea7\u751f\u7684\uff0c\u4e5f\u5c31\u662f\u96f7\u519b\u6240\u8bf4\u7684\u8d85\u9ad8\u5206\u8fa8\u7387\u77e2\u91cf\u3002\u8fd9\u4e2a\u6280\u672f\u662f\u7528\u5728\u624b\u673a\u6e38\u620f\u4e2d\u7684\uff0c\u6700\u5178\u578b\u7684\u5c31\u662f\u624b\u673a\u6e38\u620f\u7b2c\u4e00\u540d\u300a\u539f\u795e\u300b\uff0c\u9762\u90e8\u9634\u5f71\u5c31\u662f\u7528SDF\u505a\u7684\u3002<\/p>\n\n\n\n<p>\u5c0f\u7c73\u6c7d\u8f66SurroundSDF\u7684\u7f51\u7edc\u67b6\u6784\u548c\u4e0a\u4e00\u7bc7\u8bba\u6587\u53ea\u6709\u6700\u540e\u8f93\u51fa\u5934\u6709\u533a\u522b\uff0c\u9aa8\u5e72\u7f51\u3001LSS\u548cVoxel\u90fd\u662f\u5b8c\u5168\u4e00\u81f4\u7684\u3002<\/p>\n\n\n\n<p>SurroundSDF\u65e8\u5728\u89e3\u51b3\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u57fa\u4e8e\u89c6\u89c9\u76843D\u573a\u666f\u7406\u89e3\u7684\u6311\u6218\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b83\u8bd5\u56fe\u89e3\u51b3\u4ee5\u4e0b\u95ee\u9898\uff1a\u8fde\u7eed\u6027\u548c\u51c6\u786e\u6027\uff1a\u73b0\u6709\u7684\u65e0\u5bf9\u8c61\uff08object-free\uff09\u65b9\u6cd5\u5728\u9884\u6d4b\u79bb\u6563\u4f53\u7d20\u7f51\u683c\u7684\u8bed\u4e49\u65f6\uff0c\u672a\u80fd\u6784\u5efa\u8fde\u7eed\u4e14\u51c6\u786e\u7684\u969c\u788d\u7269\u8868\u9762\u3002SurroundSDF\u901a\u8fc7\u9690\u5f0f\u9884\u6d4b\u6709\u7b26\u53f7\u8ddd\u79bb\u573a\uff08Signed Distance Field, SDF\uff09\u548c\u8bed\u4e49\u573a\uff0c\u6765\u5b9e\u73b0\u4ece\u73af\u7ed5\u56fe\u50cf\u8fde\u7eed\u611f\u77e53D\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u7f3a\u4e4f\u7cbe\u786e\u7684SDF\u771f\u5b9e\u503c\uff08ground truth\uff09\uff1a\u7531\u4e8e\u83b7\u53d6\u7cbe\u786e\u7684SDF\u771f\u5b9e\u503c\u662f\u56f0\u96be\u7684\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u5f31\u76d1\u7763\u8303\u5f0f\uff0c\u79f0\u4e3aSandwich Eikonal formulation\uff0c\u901a\u8fc7\u5728\u8868\u9762\u4e24\u4fa7\u65bd\u52a0\u6b63\u786e\u548c\u5bc6\u96c6\u7684\u7ea6\u675f\u6765\u63d0\u9ad8\u8868\u9762\u7684\u611f\u77e5\u7cbe\u5ea6\u3002Eikonal\u65b9\u7a0b\u662f\u5728\u5904\u7406\u6ce2\u4f20\u64ad\u95ee\u9898\u65f6\u9700\u8981\u6c42\u89e3\u7684\u4e00\u7c7b\u975e\u7ebf\u6027\u504f\u5fae\u5206\u65b9\u7a0b\u3002\u8fd9\u91cc\u79d1\u666e\u4e00\u4e0b\uff1aEikonal\u65b9\u7a0b\u53ef\u4ee5\u6c42\u51fa\u5730\u9707\u6ce2\u4ece\u6e90\u70b9\u5230\u7a7a\u95f4\u4efb\u610f\u4e00\u70b9\u7684\u4f20\u64ad\u65f6\u95f4\uff0c\u4ece\u800c\u63cf\u8ff0\u6ce2\u5728\u4ecb\u8d28\u4e2d\u7684\u4f20\u64ad\u65f6\u95f4\u573a\uff1b\u5feb\u901f\u6c42\u89e3Eikonal\u65b9\u7a0b\u5bf9\u4e8e\u52a0\u901f\u91cd\u5efa\u5730\u9707\u6ce2\u4f20\u64ad\u65f6\u95f4\u573a\u4ece\u800c\u51cf\u5c11\u5730\u9707\u707e\u5bb3\u5bf9\u793e\u4f1a\u8d22\u4ea7\u7684\u635f\u5931\u5177\u6709\u91cd\u8981\u610f\u4e49\u3002\u5728\u56fe\u50cf\u5904\u7406\u9886\u57df\uff0cEikonal\u65b9\u7a0b\u88ab\u7528\u4e8e\u8ba1\u7b97\u591a\u4e2a\u70b9\u7684\u8ddd\u79bb\u573a\u3001\u56fe\u50cf\u53bb\u566a\uff0c\u63d0\u53d6\u79bb\u6563\u548c\u53c2\u6570\u5316\u8868\u9762\u4e0a\u7684\u6700\u77ed\u8def\u5f84\u3002<\/p>\n\n\n\n<p>3D\u8bed\u4e49\u5206\u5272\u548c\u8fde\u7eed3D\u51e0\u4f55\u91cd\u5efa\uff1aSurroundSDF\u65e8\u5728\u5728\u4e00\u4e2a\u6846\u67b6\u5185\u540c\u65f6\u89e3\u51b33D\u8bed\u4e49\u5206\u5272\u548c\u8fde\u7eed3D\u51e0\u4f55\u91cd\u5efa\u7684\u95ee\u9898\uff0c\u5229\u7528SDF\u7684\u5f3a\u5927\u8868\u793a\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u957f\u5c3e\u95ee\u9898\u548c3D\u573a\u666f\u7684\u7c97\u7cd9\u63cf\u8ff0\uff1a\u5c3d\u7ba13D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u53d6\u5f97\u4e86\u8fdb\u5c55\uff0c\u4f46\u957f\u5c3e\u95ee\u9898\u548c3D\u573a\u666f\u7684\u7c97\u7cd9\u63cf\u8ff0\u4ecd\u7136\u662f\u6311\u6218\uff0c\u9700\u8981\u66f4\u6df1\u5165\u5730\u7406\u89e33D\u51e0\u4f55\u548c\u8bed\u4e49\u3002<\/p>\n\n\n\n<p>\u7279\u65af\u62c9\u7684AI Day\u4e0a\u4e5f\u63d0\u51fa\u4e86\u201c\u9690\u5f0f\u795e\u7ecf\u8868\u793a\u201c \uff08Implicit Neural 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