{"id":9607,"date":"2024-04-17T15:46:47","date_gmt":"2024-04-17T07:46:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9607"},"modified":"2024-04-17T15:46:47","modified_gmt":"2024-04-17T07:46:47","slug":"2024-04-17-3d%e6%a3%80%e6%b5%8bbev%e5%88%86%e5%89%b2%e5%85%a8sota%ef%bc%81henet%e7%99%bb%e5%9c%ba%ef%bc%9a%e5%a4%9a%e8%a7%86%e8%a7%92%e5%a4%9a%e4%bb%bb%e5%8a%a1%e7%9a%84%e7%ab%af%e5%88%b0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/17\/9607\/","title":{"rendered":"2024-04-17 3D\u68c0\u6d4b+BEV\u5206\u5272\u5168SOTA\uff01HENet\u767b\u573a\uff1a\u591a\u89c6\u89d2&amp;\u591a\u4efb\u52a1\u7684\u7aef\u5230\u7aef\u611f\u77e5\u7b97\u6cd5\uff08\u5317\u4eac\u5927\u5b66\uff09"},"content":{"rendered":"\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u611f\u77e5\u4efb\u52a1\u662f\u975e\u5e38\u91cd\u8981\u7684\u4e00\u73af\uff0c\u662f\u81ea\u52a8\u9a7e\u9a76\u540e\u7eed\u4e0b\u6e38\u8f68\u8ff9\u9884\u6d4b\u4ee5\u53ca\u8fd0\u52a8\u89c4\u5212\u4efb\u52a1\u7684\u57fa\u7840\u3002\u4f5c\u4e3a\u4e00\u8f86\u80fd\u591f\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u7684\u6c7d\u8f66\u800c\u8a00\uff0c\u5176\u901a\u5e38\u4f1a\u914d\u5907\u73af\u89c6\u76f8\u673a\u4f20\u611f\u5668\u3001\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u4ee5\u53ca\u6beb\u7c73\u6ce2\u96f7\u8fbe\u4f20\u611f\u5668\u3002\u7531\u4e8e\u57fa\u4e8e\u7eaf\u89c6\u89c9\u7684BEV\u611f\u77e5\u7b97\u6cd5\u9700\u8981\u66f4\u4f4e\u7684\u786c\u4ef6\u4ee5\u53ca\u90e8\u7f72\u6210\u672c\uff0c\u540c\u65f6\u5176\u8f93\u51fa\u7684BEV\u7a7a\u95f4\u611f\u77e5\u7ed3\u679c\u53ef\u4ee5\u5f88\u65b9\u4fbf\u88ab\u4e0b\u6e38\u4efb\u52a1\u6240\u4f7f\u7528\uff0c\u53d7\u5230\u4e86\u6765\u81ea\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002<\/p>\n\n\n\n<p>\u968f\u7740\u76ee\u524d\u611f\u77e5\u4efb\u52a1\u9700\u6c42\u7684\u589e\u957f\uff0c\u6bd4\u5982\u8981\u5b9e\u73b0\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u68c0\u6d4b\u4efb\u52a1\u6216\u8005\u662f\u57fa\u4e8eBEV\u7a7a\u95f4\u7684\u8bed\u4e49\u5206\u5272\u4efb\u52a1\uff0c\u4e00\u4e2a\u7406\u60f3\u7684\u611f\u77e5\u7b97\u6cd5\u662f\u53ef\u4ee5\u540c\u65f6\u5904\u7406\u50cf3D\u68c0\u6d4b\u6216\u8005\u8bed\u4e49\u5206\u5272\u7b49\u591a\u4e2a\u4efb\u52a1\u7684\u3002\u540c\u65f6\uff0c\u76ee\u524d\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u66f4\u52a0\u503e\u5411\u4e8e\u91c7\u7528\u5b8c\u5168\u7aef\u5230\u7aef\u7684\u611f\u77e5\u6846\u67b6\uff0c\u4ece\u800c\u7b80\u5316\u6574\u4e2a\u7cfb\u7edf\u7684\u67b6\u6784\u5e76\u964d\u4f4e\u611f\u77e5\u7b97\u6cd5\u5b9e\u73b0\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n<p>\u867d\u7136\u7aef\u5230\u7aef\u7684\u591a\u4efb\u52a1\u611f\u77e5\u6a21\u578b\u5177\u6709\u8bf8\u591a\u7684\u4f18\u52bf\uff0c\u4f46\u662f\u76ee\u524d\u4f9d\u65e7\u5b58\u5728\u7740\u8bf8\u591a\u6311\u6218\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76ee\u524d\uff0c\u7edd\u5927\u591a\u6570\u57fa\u4e8e\u76f8\u673a\u76843D\u611f\u77e5\u7b97\u6cd5\uff0c\u4e3a\u4e86\u63d0\u9ad8\u6a21\u578b\u7684\u68c0\u6d4b\u6027\u80fd\uff0c\u90fd\u4f1a\u91c7\u7528\u66f4\u9ad8\u5206\u8fa8\u7387\u7684\u8f93\u5165\u56fe\u50cf\u3001\u957f\u65f6\u5e8f\u7684\u8f93\u5165\u4fe1\u606f\u4ee5\u53ca\u66f4\u5f3a\u5927\u7684\u56fe\u50cf\u7279\u5f81\u7f16\u7801\u5668\u3002\u4f46\u662f\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u5728\u5355\u4efb\u52a1\u7684\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u4e0a\u540c\u65f6\u91c7\u7528\u8fd9\u4e9b\u6280\u672f\u4f1a\u5bfc\u81f4\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5de8\u5927\u7684\u8bad\u7ec3\u6210\u672c\u3002<\/li>\n\n\n\n<li>\u7531\u4e8e\u65f6\u5e8f\u7684\u8f93\u5165\u4fe1\u606f\u53ef\u4ee5\u66f4\u597d\u7684\u63d0\u5347\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u5bf9\u4e8e\u5f53\u524d\u73af\u5883\u7684\u7406\u89e3\u548c\u611f\u77e5\uff0c\u76ee\u524d\u5f88\u591a\u5de5\u4f5c\u90fd\u91c7\u7528\u4e86\u8fd9\u4e00\u7b56\u7565\u3002\u8fd9\u4e9b\u5de5\u4f5c\u4e3b\u8981\u5c06\u4e0d\u540c\u5e27\u7684\u4fe1\u606f\u5904\u7406\u4e3aBEV\u7279\u5f81\u540e\uff0c\u76f4\u63a5\u6cbf\u7740\u901a\u9053\u7684\u7ef4\u5ea6\u8fdb\u884c\u6c42\u548c\u6216\u8005\u62fc\u63a5\u6765\u8ba9\u6a21\u578b\u80fd\u591f\u83b7\u53d6\u5230\u4e00\u6bb5\u65f6\u95f4\u6bb5\u5185\u7684\u73af\u5883\u5143\u7d20\u4fe1\u606f\uff0c\u4f46\u6536\u76ca\u5374\u4e0d\u662f\u7279\u522b\u7684\u7406\u60f3\u3002\u9020\u6210\u8fd9\u4e00\u73b0\u8c61\u7684\u4e3b\u8981\u539f\u56e0\u662f\u81ea\u8f66\u5468\u56f4\u73af\u5883\u7684\u8fd0\u52a8\u7269\u4f53\u5728\u4e0d\u540c\u65f6\u523b\u6cbf\u7740BEV\u7684\u8f68\u8ff9\u662f\u4e0d\u540c\u7684\uff0c\u5e76\u4e14\u5206\u6563\u5728BEV\u7684\u5927\u7247\u533a\u57df\u4e2d\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u9700\u8981\u5f15\u5165\u52a8\u6001\u5bf9\u9f50\u673a\u5236\u7684\u601d\u60f3\u6765\u5bf9\u8fd0\u52a8\u7269\u4f53\u7684\u4f4d\u7f6e\u8fdb\u884c\u8c03\u6574\u3002<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u76ee\u524d\u5df2\u6709\u7684\u591a\u4efb\u52a1\u5b66\u4e60\u6846\u67b6\u800c\u8a00\uff0c\u4e3b\u8981\u90fd\u662f\u91c7\u7528\u4e00\u4e2a\u5171\u4eab\u7684\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u6765\u5904\u7406\u4e0d\u540c\u7684\u611f\u77e5\u4efb\u52a1\u3002\u7136\u800c\uff0c\u901a\u8fc7\u8fd9\u4e9b\u8bba\u6587\u4e2d\u5217\u4e3e\u7684\u76f8\u5173\u5b9e\u9a8c\u7ed3\u679c\u6211\u4eec\u53d1\u73b0\uff0c\u901a\u8fc7\u591a\u4efb\u52a1\u8054\u5408\u5b66\u4e60\u7684\u65b9\u5f0f\u901a\u5e38\u5728\u4e0d\u540c\u4efb\u52a1\u4e0a\u7684\u8868\u73b0\u8981\u5f31\u4e8e\u6bcf\u4e2a\u4efb\u52a1\u5355\u72ec\u8bad\u7ec3\u7684\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u63d0\u5230\u7684\u7aef\u5230\u7aef\u591a\u4efb\u52a1\u611f\u77e5\u6a21\u578b\u5b58\u5728\u7684\u8bf8\u591a\u6311\u6218\uff0c\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7528\u4e8e\u7aef\u5230\u7aef\u591a\u4efb\u52a13D\u611f\u77e5\u7684\u6df7\u5408\u7279\u5f81\u7f16\u7801\u7b97\u6cd5\u6a21\u578bHENet\uff0c\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u591a\u4e2a\u4efb\u52a1\u7684SOTA\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"845\" height=\"636\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-105.png\" alt=\"\" class=\"wp-image-9608\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-105.png 845w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-105-300x226.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-105-768x578.png 768w\" sizes=\"(max-width: 845px) 100vw, 845px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2404.02517.pdf\uff1b<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u7f51\u7edc\u6a21\u578b\u7684\u6574\u4f53\u67b6\u6784&amp;\u7ec6\u8282\u68b3\u7406<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5728\u8be6\u7ec6\u4ecb\u7ecd\u672c\u6587\u63d0\u51fa\u7684HENet\u7aef\u5230\u7aef\u7684\u591a\u4efb\u52a1\u611f\u77e5\u7b97\u6cd5\u6a21\u578b\u4e4b\u524d\uff0c\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684HENet\u7b97\u6cd5\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"466\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-106-1024x466.png\" alt=\"\" class=\"wp-image-9609\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-106-1024x466.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-106-300x137.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-106-768x350.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-106.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u7f51\u7edc\u7ed3\u6784\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684HENet\u7f51\u7edc\u7ed3\u6784\u4e3b\u8981\u5305\u62ec<strong>Hybrid Image Encoding Network<\/strong>\uff08\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\uff09\u3001<strong>Temporal Feature Integration<\/strong>\uff08\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\uff09\u4ee5\u53ca<strong>Independent BEV Feature Encoding<\/strong>\uff08\u72ec\u7acbBEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\uff09\u4e09\u4e2a\u5b50\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u5bf9\u4e8e\u7ed9\u5b9a\u7684\u65f6\u5e8f\u73af\u89c6\u56fe\u50cf\u8f93\u5165\uff0c\u9996\u5148\u5229\u7528\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u63d0\u53d6\u5176BEV\u7a7a\u95f4\u7279\u5f81\u3002\u7136\u540e\uff0c\u5229\u7528\u63d0\u51fa\u7684\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u6765\u805a\u5408\u591a\u5e27\u7684BEV\u7279\u5f81\u4fe1\u606f\u3002\u6700\u540e\uff0c\u5c06\u5177\u6709\u4e0d\u540cBEV\u7279\u5f81\u5206\u8fa8\u7387\u7684BEV\u7279\u5f81\u9001\u5165\u5230\u72ec\u7acbBEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\u4e2d\u5b9e\u73b0\u8fdb\u4e00\u6b65\u7684\u7279\u5f81\u63d0\u53d6\uff0c\u5e76\u9001\u5165\u5230\u89e3\u7801\u5668\u4e2d\u5b8c\u6210\u6700\u7ec8\u7684\u591a\u4efb\u52a1\u611f\u77e5\u7ed3\u679c\u7684\u9884\u6d4b\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\uff08Hybrid Image Encoding Network\uff09<\/strong><\/h3>\n\n\n\n<p>\u901a\u8fc7\u7f51\u7edc\u7ed3\u6784\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u5305\u542b\u4e24\u79cd\u4e0d\u540c\u590d\u6742\u5ea6\u7684\u56fe\u50cf\u7f16\u7801\u5668\uff0c\u5177\u4f53\u914d\u7f6e\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u77ed\u65f6\u5e8f\u4fe1\u606f\u7684\u5904\u7406\u65b9\u5f0f<\/strong>\uff1a\u6211\u4eec\u9996\u5148\u91c7\u7528\u9ad8\u5206\u8fa8\u7684\u8f93\u5165\u56fe\u50cf\u4ee5\u53ca\u66f4\u52a0\u5f3a\u5927\u7684\u56fe\u50cf\u7279\u5f81\u63d0\u53d6\u4e3b\u5e72\u7f51\u7edc\uff08VoVNetV2-99\uff09\u4ee5\u53caFPN\u7279\u5f81\u91d1\u5b57\u5854\u7ec4\u5408\u6765\u5904\u7406\u77ed\u65f6\u5e8f\u7684\u8f93\u5165\u4fe1\u606f\u3002\u7136\u540e\uff0c\u5bf9\u4e8e2D\u7279\u5f81\u5411BEV\u7a7a\u95f4\u7684\u5750\u6807\u6620\u5c04\uff0c\u6211\u4eec\u91c7\u7528\u4e86BEVStereo\u4e2d\u7684\u53cc\u76ee\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u6765\u9884\u6d4b\u50cf\u7d20\u6df1\u5ea6\u4fe1\u606f\u4ee5\u53ca\u6784\u5efa\u76f8\u673a\u89c6\u9525\u7279\u5f81\u3002\u6700\u540e\uff0c\u5229\u7528BEVPoolv2\u7684BEV\u6c60\u5316\u6a21\u5757\u6765\u751f\u6210\u6700\u7ec8\u7684\u591a\u5c3a\u5ea6BEV\u7279\u5f81\u3002<\/li>\n\n\n\n<li><strong>\u957f\u65f6\u5e8f\u4fe1\u606f\u7684\u5904\u7406\u65b9\u5f0f<\/strong>\uff1a\u6211\u4eec\u9996\u5148\u5bf9\u8f93\u5165\u7684\u73af\u89c6\u56fe\u50cf\u8fdb\u884c\u964d\u91c7\u6837\u7528\u4e8e\u964d\u4f4e\u8f93\u5165\u56fe\u50cf\u7684\u5206\u8fa8\u7387\uff0c\u5e76\u4e14\u91c7\u7528\u4e00\u4e2a\u5c0f\u89c4\u6a21\u7684\u56fe\u50cf\u7279\u5f81\u63d0\u53d6\u4e3b\u5e72\u7f51\u7edc\uff08ResNet-50\uff09\u4ee5\u53caFPN\u7279\u5f81\u91d1\u5b57\u5854\u7ec4\u5408\u6765\u5904\u7406\u957f\u65f6\u5e8f\u7684\u8f93\u5165\u4fe1\u606f\u3002\u7136\u540e\uff0c\u5bf9\u4e8e2D\u7279\u5f81\u5411BEV\u7279\u5f81\u7684\u5750\u6807\u6620\u5c04\uff0c\u6211\u4eec\u91c7\u7528\u4e86BEVDepth\u4e2d\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u6765\u9884\u6d4b\u50cf\u7d20\u6df1\u5ea6\u4fe1\u606f\u4ee5\u53ca\u6784\u5efa\u76f8\u673a\u89c6\u9525\u7279\u5f81\u3002\u6700\u540e\uff0c\u540c\u6837\u662f\u5229\u7528BEVPoolv2\u7684BEV\u6c60\u5316\u6a21\u5757\u6765\u751f\u6210\u6700\u7ec8\u7684\u591a\u5c3a\u5ea6BEV\u7279\u5f81\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u4f46\u662f\uff0c\u6839\u636e\u6211\u4eec\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u68c0\u6d4b\u4ee5\u53ca\u8bed\u4e49\u5206\u5272\u5bf9\u4e8e\u4e0d\u540cBEV\u7f51\u683c\u5206\u8fa8\u7387\u7684\u76f8\u5173\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u4e0d\u540c\u7684\u611f\u77e5\u4efb\u52a1\u5bf9\u4e8eBEV\u7a7a\u95f4\u7279\u5f81\u7684\u5206\u8fa8\u7387\u662f\u4e0d\u76f8\u540c\u7684\uff0c\u7ed3\u679c\u89c1\u4e0b\u8868\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-107-1024x271.png\" alt=\"\" class=\"wp-image-9610\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-107-1024x271.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-107-300x79.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-107-768x203.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-107.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8ff0\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u4e0d\u540c\u76843D\u611f\u77e5\u4efb\u52a1\uff08\u57fa\u4e8eBEV\u7a7a\u95f4\u76843D\u76ee\u6807\u68c0\u6d4b\u53ca\u57fa\u4e8eBEV\u7a7a\u95f4\u7684\u8bed\u4e49\u5206\u5272\uff09\u5bf9\u4e8eBEV\u7f51\u683c\u7684\u8981\u6c42\u5e76\u4e0d\u5b8c\u5168\u76f8\u540c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5bf9\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u800c\u8a00\uff0c\u6a21\u578b\u66f4\u52a0\u5173\u6ce8\u5b9a\u4f4d\u5c40\u90e8\u7684\u524d\u666f\u76ee\u6807\uff0c\u6240\u4ee5\u9002\u5408\u91c7\u7528\u66f4\u5c0f\u7684BEV\u7279\u5f81\u5206\u8fa8\u7387\u3002\u4f46\u662f\u4e0e\u4e4b\u76f8\u53cd\uff0cBEV\u7a7a\u95f4\u7684\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u9700\u8981\u5bf9\u4e8e\u5927\u5c3a\u5ea6\u573a\u666f\u7684\u6574\u4f53\u7406\u89e3\uff0c\u5305\u62ec\u8f66\u9053\u7ebf\u548c\u9053\u8def\u533a\u57df\uff0c\u6240\u4ee5\u66f4\u9002\u5408\u91c7\u7528\u66f4\u5927\u4e00\u4e9b\u7684BEV\u7279\u5f81\u5206\u8fa8\u7387\u3002\u56e0\u6b64\uff0c\u5728\u5b9e\u9a8c\u4e2d\u6211\u4eec\u5bf9\u4e8e3D\u68c0\u6d4b\u4efb\u52a1\u91c7\u7528\u7684BEV\u7279\u5f81\u5927\u5c0f\u4e3a256\u00d7256\uff0c\u5bf9\u4e8e\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u91c7\u7528\u7684BEV\u7279\u5f81\u5927\u5c0f\u4e3a128\u00d7128\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\uff08Temporal Feature Integration\uff09<\/strong><\/h3>\n\n\n\n<p>\u5728\u5229\u7528\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u751f\u6210\u591a\u5e27\u3001\u591a\u5c3a\u5ea6\u7684BEV\u7279\u5f81\u4e4b\u540e\uff0c\u6211\u4eec\u91c7\u7528\u63d0\u51fa\u7684\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u6765\u5b9e\u73b0\u65f6\u5e8f\u7279\u5f81\u7684\u878d\u5408\uff0c\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"575\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-108-1024x575.png\" alt=\"\" class=\"wp-image-9611\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-108-1024x575.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-108-300x168.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-108-768x431.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-108.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u5305\u62ec\u524d\u5411\u548c\u53cd\u5411\u4e24\u4e2a\u7279\u5f81\u805a\u5408\u8fc7\u7a0b\u3002\u6211\u4eec\u63d0\u4f9b\u4e86\u8be5\u8fc7\u7a0b\u7684\u4e00\u4e2a\u5b8c\u6574\u7684\u4f2a\u4ee3\u7801\u6765\u8bf4\u660e\u5176\u5177\u4f53\u7684\u5b9e\u73b0\u6d41\u7a0b\u3002\u5728\u6bcf\u4e2a\u5904\u7406\u7684\u6b65\u9aa4\u4e2d\uff0c\u6211\u4eec\u4f1a\u91c7\u7528\u5e26\u6709\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\u7684\u76f8\u90bb\u5e27\u878d\u5408\u6a21\u5757\uff08AFFM\uff09\u6765\u878d\u5408\u4e24\u4e2a\u76f8\u90bb\u5e27\u7684BEV\u7279\u5f81\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"859\" height=\"291\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-109.png\" alt=\"\" class=\"wp-image-9612\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-109.png 859w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-109-300x102.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-109-768x260.png 768w\" sizes=\"(max-width: 859px) 100vw, 859px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"651\" height=\"150\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4171.png\" alt=\"\" class=\"wp-image-9613\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4171.png 651w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4171-300x69.png 300w\" sizes=\"(max-width: 651px) 100vw, 651px\" \/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0c\u901a\u8fc7\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u7684\u793a\u610f\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u4f7f\u7528\u4e86\u76f8\u90bb\u5e27\u6ce8\u610f\u529b\u673a\u5236\u7684\u60c5\u51b5\u4e0b\uff0c\u76f8\u6bd4\u4e8e\u5e94\u7528\u5168\u5c40\u6ce8\u610f\u529b\u6216\u8005\u5728\u6240\u6709\u5e27\u4e0a\u5e94\u7528\u5377\u79ef\u5c42\u800c\u8a00\uff0c\u4f1a\u5f15\u5165\u66f4\u5c11\u7684\u566a\u58f0\u3002\u901a\u8fc7\u76f8\u90bb\u7684\u6ce8\u610f\u529b\u673a\u5236\uff0c\u76f8\u90bb\u5e27\u878d\u5408\u6a21\u5757\u53ef\u4ee5\u66f4\u51c6\u786e\u7684\u5bf9\u9f50\u8fd0\u52a8\u7269\u4f53\u7684\u7279\u5f81\uff0c\u907f\u514d\u878d\u5408\u5197\u4f59\u80cc\u666f\u4fe1\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u72ec\u7acbBEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\uff08Independent BEV Feature Encoding\uff09<\/strong><\/h3>\n\n\n\n<p>\u5728\u83b7\u5f97\u4e86\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u8f93\u51fa\u7684\u4e0d\u540c\u5206\u8fa8\u7387\u5927\u5c0f\u7684BEV\u7279\u5f81\u4e4b\u540e\uff0c\u6211\u4eec\u5c06\u4e0d\u540c\u7279\u5f81\u5206\u8fa8\u7387\u7684BEV\u7279\u5f81\u5206\u522b\u7528\u4e8e\u4e0d\u540c\u7684\u611f\u77e5\u4efb\u52a1\u4e0a\u3002\u5728\u9001\u5165\u5230\u5404\u4e2a\u4efb\u52a1\u7684\u89e3\u7801\u5668\u4e4b\u524d\uff0c\u6211\u4eec\u501f\u9274\u4e86BEVFusion\u5de5\u4f5c\u4e2d\u8fdb\u4e00\u6b65\u5904\u7406BEV\u7279\u5f81\u7684\u81ea\u9002\u5e94\u7279\u5f81\u9009\u62e9\u4ee5\u53caBEV\u7f16\u7801\u7f51\u7edc\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u72ec\u7acb\u7684BEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\uff0c\u6574\u4f53\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"387\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-110-1024x387.png\" alt=\"\" class=\"wp-image-9614\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-110-1024x387.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-110-300x113.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-110-768x290.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-110.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u72ec\u7acbBEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\u7531\u4e24\u90e8\u5206\u6784\u6210\uff0c\u5206\u522b\u662f\u81ea\u9002\u5e94\u7279\u5f81\u9009\u62e9\u4ee5\u53caBEV Encoder\u4e24\u90e8\u5206\u6a21\u5757\u6784\u6210\u3002\u5176\u4e2d\u81ea\u9002\u5e94\u7279\u5f81\u9009\u62e9\u6a21\u5757\u91c7\u7528\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u901a\u9053\u6ce8\u610f\u529b\u6a21\u5757\u6765\u9009\u62e9\u91cd\u8981\u7684\u7279\u5f81\uff0c\u8fd9\u90e8\u5206\u53ef\u4ee5\u5efa\u6a21\u6210\u5982\u4e0b\u7684\u516c\u5f0f\u5f62\u5f0f\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"676\" height=\"151\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4172.png\" alt=\"\" class=\"wp-image-9615\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4172.png 676w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4172-300x67.png 300w\" sizes=\"(max-width: 676px) 100vw, 676px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u5b9e\u9a8c\u7ed3\u679c&amp;\u8bc4\u4ef7\u6307\u6807<\/strong><strong><\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9a\u91cf\u5206\u6790\u90e8\u5206<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578bHENet\u5bf9\u4e8e\u591a\u4efb\u52a1\u611f\u77e5\u4efb\u52a1\u7684\u6548\u679c\uff0c\u6211\u4eec\u5728nuScenes\u7684\u9a8c\u8bc1\u96c6\u4e0a\u4e0e\u5176\u4ed6\u7684\u591a\u4efb\u52a1\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\uff0c\u5b9e\u9a8c\u7ed3\u679c\u89c1\u4e0b\u8868\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"210\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-111-1024x210.png\" alt=\"\" class=\"wp-image-9616\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-111-1024x210.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-111-300x61.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-111-768x157.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-111.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c3D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u6a21\u578b\u7684\u7cbe\u5ea6\u5bf9\u6bd4\u60c5\u51b5<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8868\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684HENet\u5728\u5355\u72ec\u76843D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u4e0a\uff0c\u5728\u4e0d\u540c\u7684\u4e3b\u5e72\u7f51\u7edc\u4ee5\u53ca\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u7684\u60c5\u51b5\u4e0b\uff0c\u5747\u8d85\u8fc7\u4e86\u6240\u6709\u7684\u73af\u89c6\u76f8\u673a\u76843D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\uff0c\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u4ee5\u53ca\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u6211\u4eec\u4e5f\u5728\u5355\u72ec\u7684BEV\u7a7a\u95f4\u4e0b\u7684\u8bed\u4e49\u5206\u5272\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u4e0d\u540c\u7b97\u6cd5\u6a21\u578b\u7684\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u76f8\u5173\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u4e0b\u8868\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"286\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-112-1024x286.png\" alt=\"\" class=\"wp-image-9617\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-112-1024x286.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-112-300x84.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-112-768x215.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-112.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540cBEV\u8bed\u4e49\u5206\u5272\u7b97\u6cd5\u6a21\u578b\u7684\u7cbe\u5ea6\u5bf9\u6bd4\u60c5\u51b5<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8868\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684HENet\u4e0e\u73b0\u6709\u7684BEV\u7a7a\u95f4\u8bed\u4e49\u5206\u5272\u7b97\u6cd5\u800c\u8a00\uff0c\u5177\u6709\u66f4\u597d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u4e0d\u540c\u7b97\u6cd5\u6a21\u578b\u7cbe\u5ea6\u5bf9\u6bd4\u7684\u5b9e\u9a8c\uff0c\u6211\u4eec\u4e5f\u8fdb\u884c\u4e86\u6a21\u5757\u7ea7\u7684\u6d88\u878d\u5b9e\u9a8c\uff0c\u9996\u5148\u662f\u6211\u4eec\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\uff0c\u5982\u4e0b\u8868\u5b9e\u9a8c\u7ed3\u679c\u6240\u793a\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8868\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u63d0\u51fa\u7684HENet\u4e0e\u73b0\u6709\u7684BEV\u7a7a\u95f4\u8bed\u4e49\u5206\u5272\u7b97\u6cd5\u800c\u8a00\uff0c\u5177\u6709\u66f4\u597d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u9664\u4e86\u4e0d\u540c\u7b97\u6cd5\u6a21\u578b\u7cbe\u5ea6\u5bf9\u6bd4\u7684\u5b9e\u9a8c\uff0c\u6211\u4eec\u4e5f\u8fdb\u884c\u4e86\u6a21\u5757\u7ea7\u7684\u6d88\u878d\u5b9e\u9a8c\uff0c\u9996\u5148\u662f\u6211\u4eec\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\uff0c\u5982\u4e0b\u8868\u5b9e\u9a8c\u7ed3\u679c\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"276\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-113-1024x276.png\" alt=\"\" class=\"wp-image-9618\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-113-1024x276.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-113-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-113-768x207.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-113.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u7684\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc1\u660e\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u5c06HENet\u7b97\u6cd5\u6a21\u578b\u4e0e\u6240\u91c7\u7528\u7684\u57fa\u7ebf\u7b97\u6cd5\u6a21\u578b\u4ee5\u53ca\u4e8c\u8005\u7684\u96c6\u6210\u6a21\u578b\u8fdb\u884c\u4e86\u5bf9\u6bd4\u3002\u901a\u8fc7\u91c7\u7528\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u7684\u65b9\u5f0f\u6765\u96c6\u6210BEVDepth\u4ee5\u53caBEVStereo\u7b97\u6cd5\u53ef\u4ee5\u663e\u8457\u63d0\u53473D\u76ee\u6807\u68c0\u6d4b\u7684\u6027\u80fd\u3002\u6b64\u5916\uff0c\u4e0e\u8f93\u5165\u66f4\u9ad8\u5206\u8fa8\u7387\u7684\u56fe\u50cf\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u53ef\u4ee5\u5b9e\u73b0\u66f4\u5feb\u7684\u63a8\u7406\u901f\u5ea6\u548c\u66f4\u4f4e\u7684\u8bad\u7ec3\u6210\u672c\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u7684\u68c0\u6d4b\u7cbe\u5ea6\u3002\u4e0e\u589e\u52a0\u65f6\u5e8f\u4fe1\u606f\u7684\u5e27\u6570\u76f8\u6bd4\uff0c\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u53ef\u4ee5\u5728\u8f83\u4f4e\u8bad\u7ec3\u6210\u672c\u4e0b\u83b7\u5f97\u66f4\u9ad8\u7684\u51c6\u786e\u5ea6\u3002<\/p>\n\n\n\n<p>\u63a5\u4e0b\u6765\u662f\u6211\u4eec\u63d0\u51fa\u7684\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u7684\u6d88\u878d\u5bf9\u6bd4\u5b9e\u9a8c\uff0c\u76f8\u5173\u7684\u5b9e\u9a8c\u7ed3\u679c\u6c47\u603b\u5728\u4e0b\u9762\u7684\u8868\u683c\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"265\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-114-1024x265.png\" alt=\"\" class=\"wp-image-9619\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-114-1024x265.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-114-300x78.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-114-768x199.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-114.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u7684\u6d88\u878d\u5bf9\u6bd4\u5b9e\u9a8c\u7ed3\u679c<\/p>\n\n\n\n<p>\u901a\u8fc7\u4e0a\u8868\u7684\u5b9e\u9a8c\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u91c7\u7528\u4e86\u76f8\u90bb\u5e27\u6ce8\u610f\u529b\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u68c0\u6d4b\u7ed3\u679c\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u53d1\u73b0\uff0c\u91c7\u7528\u4e86\u76f8\u90bb\u5e27\u878d\u5408\u7684\u601d\u60f3\u8981\u597d\u4e8e\u91c7\u7528\u5168\u5c40\u64cd\u4f5c\u7684\u65b9\u5f0f\uff0c\u65e0\u8bba\u662f\u91c7\u7528\u6ce8\u610f\u529b\u673a\u5236\u8fd8\u662f\u4f7f\u7528\u5377\u79ef\u8fd8\u662f\u62fc\u63a5\u7b49\u65b9\u6cd5\u3002\u540c\u65f6\uff0c\u5728\u5f15\u5165\u4e86\u5168\u5c40\u6ce8\u610f\u529b\u4ee5\u53ca\u66f4\u5927\u7684BEV Encoder\u6a21\u5757\uff0c\u6a21\u578b\u7684\u53c2\u6570\u91cf\u8fdb\u4e00\u6b65\u63d0\u9ad8\uff0c\u4f46\u662f\u6027\u80fd\u5374\u6709\u6240\u964d\u4f4e\u3002\u8fd9\u4e00\u73b0\u8c61\u8868\u660e\u4e86\u6027\u80fd\u7684\u63d0\u5347\u4e3b\u8981\u6765\u81ea\u4e8e\u6a21\u578b\u8bbe\u8ba1\u672c\u8eab\u800c\u4e0d\u662f\u589e\u52a0\u6a21\u578b\u7684\u53c2\u6570\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9a\u6027\u5206\u6790\u90e8\u5206<\/strong><\/h3>\n\n\n\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86\u6211\u4eec\u63d0\u51fa\u7684HENet\u7b97\u6cd5\u6a21\u578b\u4e0e\u57fa\u7ebf\u6a21\u578b\u7684\u7aef\u5230\u7aef\u591a\u4efb\u52a1\u7684\u9884\u6d4b\u7ed3\u679c\u53ef\u89c6\u5316\u3002\u901a\u8fc7\u53ef\u89c6\u5316\u7684\u7ed3\u679c\u53ef\u4ee5\u8bc1\u660e\uff0c\u6211\u4eec\u63d0\u51fa\u7684HENet\u7b97\u6cd5\u6a21\u578b\u901a\u8fc7\u65f6\u5e8f\u4fe1\u606f\u7684\u5f15\u5165\u66f4\u597d\u7684\u89e3\u51b3\u4e86\u7269\u4f53\u88ab\u906e\u6321\u7684\u95ee\u9898\uff0c\u4ee5\u53ca\u5f97\u76ca\u4e8e\u9ad8\u5206\u8fa8\u7387\u7684\u8f93\u5165\u5b9e\u73b0\u66f4\u52a0\u51c6\u786e\u7684\u9884\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"400\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-115-1024x400.png\" alt=\"\" class=\"wp-image-9620\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-115-1024x400.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-115-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-115-768x300.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-115.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684HENet\u7b97\u6cd5\u6a21\u578b\u4e0e\u57fa\u7ebf\u6a21\u578b\u53ef\u89c6\u5316\u7ed3\u679c\u5bf9\u6bd4<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u7ed3\u8bba<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u591a\u4efb\u52a1\u611f\u77e5\u7b97\u6cd5\u6a21\u578bHENet\u3002\u901a\u8fc7\u63d0\u51fa\u7684\u6df7\u5408\u56fe\u50cf\u7f16\u7801\u7f51\u7edc\u3001\u65f6\u5e8f\u7279\u5f81\u96c6\u6210\u6a21\u5757\u4ee5\u53ca\u72ec\u7acbBEV\u7279\u5f81\u7f16\u7801\u6a21\u5757\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u591a\u4efb\u52a1\u611f\u77e5\u7684SOTA\u6027\u80fd\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><\/strong><strong>\u53c2\u8003<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>[1] HENet: Hybrid Encoding for End-to-end Multi-task 3D Perception from Multi-view Cameras<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u611f\u77e5\u4efb\u52a1\u662f\u975e\u5e38\u91cd\u8981\u7684\u4e00\u73af\uff0c\u662f [&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-9607","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\/9607"}],"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=9607"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9607\/revisions"}],"predecessor-version":[{"id":9621,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9607\/revisions\/9621"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9607"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9607"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9607"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}