{"id":9736,"date":"2024-04-23T14:02:12","date_gmt":"2024-04-23T06:02:12","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9736"},"modified":"2024-04-23T14:02:12","modified_gmt":"2024-04-23T06:02:12","slug":"2024-04-23-%e5%9c%a8%e7%ba%bf%e5%9c%b0%e5%9b%be%e8%bf%98%e8%83%bd%e8%bf%99%e6%a0%b7%ef%bc%9fmaptracker%ef%bc%9a%e7%94%a8%e8%b7%9f%e8%b8%aa%e7%9a%84%e6%96%b9%e5%bc%8f%e5%ae%9e%e7%8e%b0%e5%9c%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/23\/9736\/","title":{"rendered":"2024-04-23 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alt=\"\" class=\"wp-image-9737\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-150.png 717w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-150-300x213.png 300w\" sizes=\"(max-width: 717px) 100vw, 717px\" \/><\/figure>\n\n\n\n<p>\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/map-tracker.github.io\/<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff0c\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4e00\u79cd\u65b0\u7684\u77e2\u91cfHD\u5efa\u56fe\u7b97\u6cd5\uff0c\u5c06HD\u5efa\u56fe\u516c\u5f0f\u5316\u4e3a\u8ddf\u8e2a\u4efb\u52a1\uff0c\u5e76\u5229\u7528\u4e24\u79cd\u8868\u793a\u4e2d\u7684memory latents\u5386\u53f2\u6765\u5b9e\u73b0\u65f6\u95f4\u4e00\u81f4\u6027\uff1b<\/li>\n\n\n\n<li>\u4e00\u79cd\u6539\u8fdb\u7684\u77e2\u91cfHD\u5efa\u56fe\u57fa\u51c6\uff0c\u5177\u6709\u65f6\u95f4\u4e00\u81f4\u7684GT\u548c\u4e00\u81f4\u6027\u611f\u77e5\u7684mAP 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memories\uff1a1\uff09\u81ea\u4e0a\u800c\u4e0b\u7684BEV\u5750\u6807\u7cfb\u4e2d\u8f66\u8f86\u5468\u56f4\u533a\u57df\u7684\u9e1f\u77b0\uff08BEV\uff09\u8bb0\u5fc6\u4f5c\u4e3a\u6f5c\u5728\u56fe\u50cf\uff1b\u548c2\uff09\u9053\u8def\u5143\u7d20\uff08\u5373\uff0c\u884c\u4eba\u4e13\u7528\u533a\u4ea4\u53c9\u53e3\u3001\u8f66\u9053\u7ebf\u548c\u9053\u8def\u8fb9\u754c\uff09\u7684\u77e2\u91cf\uff08VEC\uff09\u8bb0\u5fc6\u4f5c\u4e3a\u4e00\u7ec4\u6f5c\u5728\u77e2\u91cf\u3002<\/p>\n\n\n\n<p>\u4e24\u4e2a\u7b80\u5355\u7684\u60f3\u6cd5\u4e0ememory\u673a\u5236\u5b9e\u73b0\u4e86\u4e00\u81f4\u7684\u5efa\u56fe\u3002\u7b2c\u4e00\u4e2a\u60f3\u6cd5\u662f\u4f7f\u7528\u5386\u53f2\u7684memory buffer\uff0c\u800c\u4e0d\u662f\u5f53\u524d\u5e27\u7684\u5355\u4e2amemory\u3002\u5355\u4e2amemory\u5e94\u8be5\u4fdd\u5b58\u6574\u4e2a\u5386\u53f2\u7684\u4fe1\u606f\uff0c\u4f46\u5f88\u5bb9\u6613\u4e22\u5931memory\uff0c\u5c24\u5176\u662f\u5728\u6709\u5927\u91cf\u8f66\u8f86\u906e\u6321\u9053\u8def\u7ed3\u6784\u7684\u6742\u4e71\u73af\u5883\u4e2d\u3002\u5177\u4f53\u5730\u8bf4\uff0c\u4e3a\u4e86\u6548\u7387\u548c\u8986\u76d6\u7387\uff0c\u6211\u4eec\u57fa\u4e8e\u8f66\u8f86\u8fd0\u52a8\u5728\u6bcf\u4e00\u5e27\u9009\u62e9\u8fc7\u53bblatent memories\u7684\u5b50\u96c6\u8fdb\u884c\u878d\u5408\u3002\u7b2c\u4e8c\u4e2a\u60f3\u6cd5\u662f\u5c06\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u5236\u5b9a\u4e3a\u8ddf\u8e2a\u4efb\u52a1\u3002VEC memory\u673a\u5236\u4fdd\u6301\u6bcf\u4e2a\u9053\u8def\u5143\u7d20\u7684memory latents\u671f\u5e8f\u5217\uff0c\u5e76\u901a\u8fc7\u501f\u7528\u8ddf\u8e2a\u6587\u732e\u4e2d\u7684\u67e5\u8be2\u4f20\u64ad\u8303\u5f0f\u4f7f\u8be5\u516c\u5f0f\u53d8\u5f97\u7b80\u5355\u3002\u672c\u8282\u7684\u5176\u4f59\u90e8\u5206\u89e3\u91ca\u4e86\u6211\u4eec\u7684\u795e\u7ecf\u67b6\u6784\uff08\u89c1\u56fe2\u548c\u56fe3\uff09\uff0c\u5305\u62ecBEV\u548cVEC memory buffers\u53ca\u5176\u76f8\u5e94\u7684\u7f51\u7edc\u6a21\u5757\uff0c\u7136\u540e\u4ecb\u7ecd\u4e86\u8bad\u7ec3\u7ec6\u8282\u3002<\/p>\n\n\n\n<p><strong>Memory Buffers<\/strong><\/p>\n\n\n\n<p>BEV memory\u662fBEV\u5750\u6807\u7cfb\u4e2d\u76842D latent\uff0c\u4ee5\u8f66\u8f86\u4e3a\u4e2d\u5fc3\u5e76\u5728\u7b2ct\u5e27\u5904\u5b9a\u5411\u3002\u7a7a\u95f4\u7ef4\u5ea6\uff08\u537350\u00d7100\uff09\u8986\u76d6\u77e9\u5f62\u533a\u57df\uff0c\u5de6\/\u53f315m\uff0c\u524d\/\u540e30m\u3002\u6bcf\u4e2a\u5b58\u50a8\u5668\u6f5c\u4f0f\u65f6\u95f4\u7d2f\u79ef\u6574\u4e2a\u8fc7\u53bb\u7684\u4fe1\u606f\uff0c\u800cbuffer\u5728\u6700\u540e20\u5e27\u4e2d\u4fdd\u6301\u8fd9\u6837\u7684memory latents\u65f6\u95f4\uff0c\u4f7f\u5f97memory\u673a\u5236\u5197\u4f59\u4f46\u7a33\u5065\u3002<\/p>\n\n\n\n<p>VECmemory\u662f\u4e00\u7ec4\u5411\u91cf\u6f5c\u4f0f\u65f6\u95f4\uff0c\u6bcf\u4e2a\u5411\u91cflatents\u65f6\u95f4\u7d2f\u79ef\u76f4\u5230\u5e27t\u7684\u6d3b\u52a8\u9053\u8def\u5143\u7d20\u7684\u4fe1\u606f\u3002\u6d3b\u52a8\u5143\u7d20\u7684\u6570\u91cf\u968f\u5e27\u800c\u53d8\u5316\u3002buffer\u4fdd\u5b58\u8fc7\u53bb20\u5e27\u7684latent vectors\u53ca\u5176\u5728\u5e27\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\uff08\u5373\uff0c\u5bf9\u5e94\u4e8e\u76f8\u540c\u9053\u8def\u5143\u7d20\u7684\u77e2\u91cf\u6f5c\u4f0f\u5e8f\u5217\uff09\u3002<\/p>\n\n\n\n<p><strong>BEV Module<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"693\" height=\"501\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-152.png\" alt=\"\" class=\"wp-image-9739\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-152.png 693w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-152-300x217.png 300w\" sizes=\"(max-width: 693px) 100vw, 693px\" \/><\/figure>\n\n\n\n<p>\u8f93\u5165\u662f 1\uff09\u7531\u56fe\u50cf\u4e3b\u5e72\u5904\u7406\u7684\u673a\u8f7d\u73af\u89c6\u56fe\u50cf\u7684CNN\u7279\u5f81\u53ca\u5176\u76f8\u673a\u53c2\u6570\uff1b2\uff09 BEV memory buffer\u548c3\uff09\u8f66\u8f86\u8fd0\u52a8\u3002\u4ee5\u4e0b\u5185\u5bb9\u89e3\u91ca\u4e86BEV\u6a21\u5757\u4f53\u7cfb\u7ed3\u6784\u7684\u56db\u4e2a\u7ec4\u6210\u90e8\u5206\u53ca\u5176\u8f93\u51fa\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>BEV Query Propagation\uff1aBEV memory\u662f\u8f66\u8f86\u5750\u6807\u7cfb\u4e2d\u76842D latent image\u3002\u4eff\u5c04\u53d8\u6362\u548c\u53cc\u7ebf\u6027\u63d2\u503c\u5c06\u5f53\u524dBEV memory\u521d\u59cb\u5316\u4e3a\u5148\u524d\u7684BEV memory\u3002\u5bf9\u4e8e\u53d8\u6362\u540e\u4f4d\u4e8elatent image\u4e4b\u5916\u7684\u50cf\u7d20\uff0c\u6bcf\u50cf\u7d20\u53ef\u5b66\u4e60\u7684\u5d4c\u5165\u5411\u91cf\u662f\u521d\u59cb\u5316\uff0c\u5176\u64cd\u4f5c\u5728\u56fe3\u4e2d\u8868\u793a\u4e3a\u201cMaskBlend\u201d\u3002<\/li>\n\n\n\n<li>Deformable Self-Attention\uff1a\u53ef\u53d8\u5f62\u7684\u81ea\u6ce8\u610f\u529b\u5c42\u4e30\u5bcc\u4e86BEV memory\u3002<\/li>\n\n\n\n<li>Perspective-to-BEV Cross-Attention\uff1a\u4e0eStreamMapNet\u7c7b\u4f3c\uff0cBEVFormer\u7684\u7a7a\u95f4\u53ef\u53d8\u5f62\u4ea4\u53c9\u6ce8\u610f\u529b\u5c42\u5c06\u900f\u89c6\u56fe\u4fe1\u606f\u6ce8\u5165MBEV(t)\u3002<\/li>\n\n\n\n<li>BEV Memory Fusion\uff1abuffer\u4e2d\u7684memory latents\u88ab\u878d\u5408\u4ee5\u4e30\u5bccMBEV\uff08t\uff09\u3002\u4f7f\u7528\u6240\u6709\u7684memories\u5728\u8ba1\u7b97\u4e0a\u662f\u6602\u8d35\u4e14\u5197\u4f59\u7684\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8f93\u51fa\u662f1\uff09\u4fdd\u5b58\u5230buffer\u5e76\u4f20\u9012\u5230VEC\u6a21\u5757\u7684\u6700\u7ec8memory MBEV\uff08t\uff09\uff1b\u4ee5\u53ca2\uff09\u7531\u5206\u5272\u5934\u63a8\u7406\u5e76\u7528\u4e8e\u635f\u5931\u8ba1\u7b97\u7684\u5149\u6805\u5316\u9053\u8def\u5143\u7d20\u51e0\u4f55\u56fe\u5f62S\uff08t\uff09\u3002\u5206\u5272\u5934\u662f\u4e00\u4e2a\u7ebf\u6027\u6295\u5f71\u6a21\u5757\uff0c\u5c06memory latent\u4e2d\u7684\u6bcf\u4e2a\u50cf\u7d20\u6295\u5f71\u52302\u00d72\u7684\u5206\u5272\u63a9\u6a21\uff0c\u4ece\u800c\u4ea7\u751f100\u00d7200\u7684\u63a9\u6a21\u3002<\/p>\n\n\n\n<p><strong>VEC Module<\/strong><\/p>\n\n\n\n<p>\u8f93\u5165\u662fBEV memory MBEV(t)\u548cvector memory buffer\u4ee5\u53ca\u8f66\u8f86\u8fd0\u52a8\uff1b<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Vector Query Propagation\uff1avector memory\u662f\u6d3b\u52a8\u9053\u8def\u5143\u7d20\u7684\u4e00\u7ec4\u6f5c\u5728\u77e2\u91cf\u3002<\/li>\n\n\n\n<li>Vector Instance Self Attention\uff1a\u6807\u51c6\u7684\u81ea\u6ce8\u610f\u529b\u5c42\uff1b<\/li>\n\n\n\n<li>BEV-to-Vector Cross Attention\uff1aMulti-Point Attention\uff1b<\/li>\n\n\n\n<li>Vector Memory Fusion\uff1a\u5bf9\u4e8e\u5f53\u524d\u5b58\u50a8\u5668MVEC\uff08t\uff09\u4e2d\u7684\u6bcf\u4e2a\u6f5c\u5728\u77e2\u91cf\uff0c\u5c06\u7f13\u51b2\u5668\u4e2d\u4e0e\u76f8\u540c\u9053\u8def\u5143\u7d20\u76f8\u5173\u8054\u7684\u6f5c\u5728\u77e2\u91cf\u8fdb\u884c\u878d\u5408\u4ee5\u4e30\u5bcc\u5176\u8868\u793a\u3002\u76f8\u540c\u7684\u8de8\u6b65\u5e27\u9009\u62e9\u9009\u62e9\u56db\u4e2a\u6f5c\u5728\u5411\u91cf\uff0c\u5176\u4e2d\u5bf9\u4e8e\u4e00\u4e9b\u5177\u6709\u77ed\u8ddf\u8e2a\u5386\u53f2\u7684\u9053\u8def\u5143\u7d20\uff0c\u6240\u9009\u62e9\u7684\u5e27\u03c0\uff08t\uff09\u5c06\u4e0d\u540c\u4e14\u66f4\u5c11\u3002\u4f8b\u5982\uff0c\u8ddf\u8e2a\u4e86\u4e24\u5e27\u7684\u5143\u7d20\u5728buffer\u4e2d\u53ea\u6709\u4e24\u4e2alatents\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u8f93\u51fa\u662f1\uff09\u901a\u8fc7\u6765\u81eaMVEC\uff08t\uff09\u7684\u5355\u4e2a\u5b8c\u5168\u8fde\u63a5\u5c42\u7684\u5206\u7c7b\u6d4b\u8bd5\u7684\u201cpositive\u201d\u9053\u8def\u5143\u7d20\u7684\u6700\u7ec8\u5b58\u50a8\u5668MVEC\uff08t\uff09\uff1b\u4ee5\u53ca2\uff09\u7531\u6765\u81eaMVEC\uff08t\uff09\u76843\u5c42MLP\u56de\u5f52\u7684\u6b63\u9053\u8def\u5143\u7d20\u7684\u77e2\u91cf\u9053\u8def\u51e0\u4f55\u5f62\u72b6\u3002<\/p>\n\n\n\n<p><strong>Training<\/strong><\/p>\n\n\n\n<p>BEV loss:<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"567\" height=\"46\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-153.png\" alt=\"\" class=\"wp-image-9740\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-153.png 567w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-153-300x24.png 300w\" sizes=\"(max-width: 567px) 100vw, 567px\" \/><\/figure>\n\n\n\n<p>VEC\u635f\u5931\u3002\u53d7MOTR\uff08\u4e00\u79cd\u7528\u4e8e\u591a\u76ee\u6807\u8ddf\u8e2a\u7684\u7aef\u5230\u7aef\u8f6c\u6362\u5668\uff09\u7684\u542f\u53d1\uff0c\u6211\u4eec\u5c06\u57fa\u4e8e\u5339\u914d\u7684\u635f\u5931\u6269\u5c55\u5230\u660e\u786e\u8003\u8651GT\u8ddf\u8e2a\u3002\u65b0\u5143\u7d20\u7684\u6700\u4f73\u5b9e\u4f8b\u7ea7\u6807\u7b7e\u5206\u914d\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"596\" height=\"48\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-154.png\" alt=\"\" class=\"wp-image-9741\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-154.png 596w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-154-300x24.png 300w\" sizes=\"(max-width: 596px) 100vw, 596px\" \/><\/figure>\n\n\n\n<p>\u7136\u540e\u5f52\u7eb3\u5b9a\u4e49\u6240\u6709\u8f93\u51fa\u548cGT\u4e4b\u95f4\u7684\u6807\u7b7e\u5206\u914d\u03c9\uff08t\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"622\" height=\"79\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-155.png\" alt=\"\" class=\"wp-image-9742\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-155.png 622w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-155-300x38.png 300w\" sizes=\"(max-width: 622px) 100vw, 622px\" \/><\/figure>\n\n\n\n<p>\u77e2\u91cf\u8f93\u51fa\u7684\u8ddf\u8e2a\u6837\u5f0f\u635f\u5931\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"606\" height=\"39\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-156.png\" alt=\"\" class=\"wp-image-9743\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-156.png 606w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-156-300x19.png 300w\" sizes=\"(max-width: 606px) 100vw, 606px\" \/><\/figure>\n\n\n\n<p>\u8f6c\u6362\u635f\u5931\u3002\u6211\u4eec\u501f\u7528StreamMapNet\u4e2d\u7684\u8f6c\u6362\u635f\u5931Ltrans\u6765\u8bad\u7ec3PropMLP\uff0c\u8fd9\u5f3a\u5236\u6f5c\u5728\u7a7a\u95f4\u4e2d\u7684\u67e5\u8be2\u8f6c\u6362\u4fdd\u6301\u5411\u91cf\u51e0\u4f55\u548c\u7c7b\u7c7b\u578b\u3002\u6700\u540e\u7684\u8bad\u7ec3\u635f\u5931\u662f:<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"494\" height=\"36\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-157.png\" alt=\"\" class=\"wp-image-9744\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-157.png 494w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-157-300x22.png 300w\" sizes=\"(max-width: 494px) 100vw, 494px\" \/><\/figure>\n\n\n\n<p><strong>Consistent Vector HD Mapping Benchmarks<\/strong><\/p>\n\n\n\n<p><strong>Consistent ground truth<\/strong><\/p>\n\n\n\n<p>MapTR\u4ecenuScenes\u548cAgroverse2\u6570\u636e\u96c6\u521b\u5efa\u4e86\u77e2\u91cfHD\u5efa\u56fe\u57fa\u51c6\uff0c\u88ab\u8bb8\u591a\u540e\u7eed\u7814\u7a76\u91c7\u7528\u3002\u7136\u800c\uff0c\u4eba\u884c\u6a2a\u9053\u662f\u5929\u771f\u5730\u5408\u5e76\u5728\u4e00\u8d77\u7684\uff0c\u800c\u4e14\u8de8\u6846\u67b6\u4e0d\u4e00\u81f4\u3002\u5206\u5272\u7ebf\u4e5f\u4e0e\u5176\u56fe\u5f62\u8ddf\u8e2a\u8fc7\u7a0b\u7684\u5931\u8d25\u4e0d\u4e00\u81f4\uff08\u5bf9\u4e8eArgoverse2\uff09\u3002<\/p>\n\n\n\n<p>StreamMapNet\u7ee7\u627f\u4e86VectorMapNet\u7684\u4ee3\u7801\uff0c\u5e76\u521b\u5efa\u4e86\u4e00\u4e2a\u5177\u6709\u66f4\u597d\u771f\u5b9e\u6027\u7684\u57fa\u51c6\uff0c\u8be5\u57fa\u51c6\u5df2\u5728\u7814\u8ba8\u4f1a\u6311\u6218\u4e2d\u4f7f\u7528\u3002\u7136\u800c\uff0c\u4ecd\u7136\u5b58\u5728\u4e00\u4e9b\u95ee\u9898\u3002\u5bf9\u4e8eArgoverse2\uff0c\u5206\u9694\u7ebf\u6709\u65f6\u4f1a\u62c6\u5206\u4e3a\u8f83\u77ed\u7684\u7ebf\u6bb5\u3002\u5bf9\u4e8enuScenes\uff0c\u5927\u578b\u4eba\u884c\u6a2a\u9053\u6709\u65f6\u4f1a\u5206\u5272\u51fa\u5c0f\u73af\u8def\uff0c\u5176\u4e0d\u4e00\u81f4\u6027\u5728\u6bcf\u5e27\u4e2d\u968f\u673a\u51fa\u73b0\uff0c\u5bfc\u81f4\u6682\u65f6\u4e0d\u4e00\u81f4\u7684\u8868\u793a\u3002\u6211\u4eec\u5728\u9644\u5f55\u4e2d\u63d0\u4f9b\u4e86\u73b0\u6709\u57fa\u51c6\u95ee\u9898\u7684\u53ef\u89c6\u5316\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u6539\u8fdb\u4e86\u73b0\u6709\u57fa\u51c6\u7684\u5904\u7406\u4ee3\u7801\uff0c\u4ee5\uff081\uff09\u589e\u5f3a\u6bcf\u5e27\u7684GT\u51e0\u4f55\u7ed3\u6784\uff0c\u7136\u540e\uff082\uff09\u8ba1\u7b97\u5b83\u4eec\u5728\u5e27\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\uff0c\u5f62\u6210GT\u201c\u8f68\u8ff9\u201d\u3002<\/p>\n\n\n\n<p>\uff081\uff09 \u589e\u5f3a\u6bcf\u5e27\u51e0\u4f55\u56fe\u5f62\u3002\u6211\u4eec\u7ee7\u627f\u548c\u6539\u8fdb\u4e86\u5728\u793e\u533a\u4e2d\u6d41\u884c\u7684MapTR\u4ee3\u7801\u5e93\uff0c\u540c\u65f6\u8fdb\u884c\u4e86\u4e24\u4e2a\u66f4\u6539\uff1a\u7528StreamMapNet\u4e2d\u7684\u5904\u7406\u53d6\u4ee3\u6b65\u884c\u533a\u5904\u7406\uff0c\u5e76\u901a\u8fc7\u66f4\u591a\u7684\u51e0\u4f55\u7ea6\u675f\u6765\u63d0\u9ad8\u8d28\u91cf\uff1b\u4ee5\u53ca\u901a\u8fc7\u589e\u5f3a\u56fe\u8ddf\u8e2a\u7b97\u6cd5\u6765\u5904\u7406\u539f\u59cb\u6ce8\u91ca\u7684\u566a\u58f0\u6765\u589e\u5f3a\u9664\u6cd5\u5668\u5904\u7406\u4e2d\u7684\u65f6\u95f4\u4e00\u81f4\u6027\uff08\u4ec5\u9002\u7528\u4e8eArgoverse2\uff09\u3002<\/p>\n\n\n\n<p>\uff082\uff09 Forming tracks\u3002\u7ed9\u5b9a\u6bcf\u5e27\u9053\u8def\u5143\u7d20\u7684\u51e0\u4f55\u7ed3\u6784\uff0c\u6211\u4eec\u6c42\u89e3\u6bcf\u5bf9\u76f8\u90bb\u5e27\u4e4b\u95f4\u7684\u6700\u4f18\u4e8c\u5206\u5339\u914d\u95ee\u9898\uff0c\u4ee5\u5efa\u7acb\u9053\u8def\u5143\u7d20\u7684\u5bf9\u5e94\u5173\u7cfb\u3002\u6210\u5bf9\u7684\u5bf9\u5e94\u5173\u7cfb\u88ab\u94fe\u63a5\u4ee5\u5f62\u6210\u9053\u8def\u5143\u7d20\u7684\u8f68\u8ff9\u3002\u4e00\u5bf9\u9053\u8def\u5143\u7d20\u4e4b\u95f4\u7684\u5339\u914d\u5206\u6570\u5b9a\u4e49\u5982\u4e0b\u3002\u9053\u8def\u5143\u7d20\u51e0\u4f55\u56fe\u5f62\u662f\u591a\u8fb9\u5f62\u66f2\u7ebf\u6216\u73af\u5f62\u3002\u6211\u4eec\u6839\u636e\u8f66\u8f86\u8fd0\u52a8\u5c06\u65e7\u5e27\u4e2d\u7684\u5143\u7d20\u51e0\u4f55\u4f53\u8f6c\u6362\u4e3a\u65b0\u5e27\uff0c\u7136\u540e\u5c06\u5177\u6709\u4e00\u5b9a\u539a\u5ea6\u7684\u4e24\u6761\u66f2\u7ebf\/\u5faa\u73af\u5149\u6805\u5316\u4e3a\u5b9e\u4f8b\u906e\u7f69\u3002\u4ed6\u4eec\u5728\u5e76\u96c6\u4e0a\u7684\u4ea4\u96c6\u662f\u5339\u914d\u7684\u5206\u6570\u3002<\/p>\n\n\n\n<p><strong>Consistency-aware mAP metric<\/strong><\/p>\n\n\n\n<p>mAP\u5ea6\u91cf\u4e0d\u4f1a\u60e9\u7f5a\u6682\u65f6\u4e0d\u4e00\u81f4\u7684\u91cd\u5efa\u3002\u6211\u4eec\u5c06\u91cd\u5efa\u7684\u9053\u8def\u5143\u7d20\u548c\u6bcf\u4e2a\u5e27\u4e2d\u7684\u5730\u9762\u5b9e\u51b5\u4e0e\u5012\u89d2\u8ddd\u79bb\u72ec\u7acb\u5339\u914d\uff0c\u5982\u5728\u6807\u51c6mAP\u8fc7\u7a0b\u4e2d\u4e00\u6837\uff0c\u7136\u540e\u901a\u8fc7\u4ee5\u4e0b\u68c0\u67e5\u6d88\u9664\u6682\u65f6\u4e0d\u4e00\u81f4\u7684\u5339\u914d\u3002\u9996\u5148\uff0c\u5bf9\u4e8e\u4e0d\u9884\u6d4b\u8ddf\u8e2a\u4fe1\u606f\u7684\u57fa\u7ebf\u65b9\u6cd5\uff0c\u6211\u4eec\u4f7f\u7528\u4e0e\u83b7\u5f97GT\u65f6\u95f4\u5bf9\u5e94\u5173\u7cfb\u76f8\u540c\u7684\u7b97\u6cd5\u6765\u5f62\u6210\u91cd\u5efa\u9053\u8def\u5143\u7d20\u7684\u8f68\u8ff9\uff08\u6211\u4eec\u8fd8\u6269\u5c55\u4e86\u7b97\u6cd5\uff0c\u901a\u8fc7\u6743\u8861\u901f\u5ea6\u6765\u91cd\u65b0\u8bc6\u522b\u4e22\u5931\u7684\u5143\u7d20\uff1b\u8be6\u7ec6\u4fe1\u606f\u8bf7\u53c2\u9605\u9644\u5f55\uff09\u3002\u63a5\u4e0b\u6765\uff0c\u8ba9\u201c\u7956\u5148\u201d\u662f\u5c5e\u4e8e\u524d\u4e00\u5e27\u4e2d\u76f8\u540c\u8f68\u8ff9\u7684\u9053\u8def\u5143\u7d20\u3002\u4ece\u5e8f\u5217\u7684\u4e00\u5f00\u59cb\uff0c\u5982\u679c\u5b83\u4eec\u7684\u7956\u5148\u4e2d\u6709\u4efb\u4f55\u4e00\u4e2a\u4e0d\u5339\u914d\uff0c\u6211\u4eec\u5c31\u4f1a\u5c06\u6bcf\u5e27\u5339\u914d\uff08\u91cd\u5efa\u5143\u7d20\u548c\u5730\u9762\u5b9e\u51b5\u5143\u7d20\uff09\u5220\u9664\u4e3a\u6682\u65f6\u4e0d\u4e00\u81f4\u3002\u7136\u540e\u5229\u7528\u5269\u4f59\u7684\u6682\u65f6\u4e00\u81f4\u7684\u5339\u914d\u6765\u8ba1\u7b97\u6807\u51c6mAP\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u57fa\u4e8eStreamMapNet\u4ee3\u7801\u5e93\u6784\u5efa\u6211\u4eec\u7684\u7cfb\u7edf\uff0c\u540c\u65f6\u4f7f\u75288\u4e2aNVIDIA RTX A5000 GPU\u5728nuScenes\u4e0a\u4e3a72\u4e2aepoch\u548cArgoverse2\u4e0a\u4e3a35\u4e2aepoch\u8bad\u7ec3\u6211\u4eec\u7684\u6a21\u578b\u3002\u4e09\u4e2a\u8bad\u7ec3\u9636\u6bb5\u7684\u6279\u91cf\u5927\u5c0f\u5206\u522b\u4e3a16\u300148\u548c16\u3002\u8bad\u7ec3\u5927\u7ea6\u9700\u8981\u4e09\u5929\u65f6\u95f4\uff0c\u800c\u63a8\u7406\u901f\u5ea6\u5927\u7ea6\u4e3a10 FPS\u3002\u5728\u89e3\u91ca\u4e86\u6570\u636e\u96c6\u3001\u6307\u6807\u548c\u57fa\u7ebf\u65b9\u6cd5\u4e4b\u540e\uff0c\u672c\u8282\u63d0\u4f9b\u4e86\u5b9e\u9a8c\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"538\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-158.png\" alt=\"\" class=\"wp-image-9745\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-158.png 700w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-158-300x231.png 300w\" sizes=\"(max-width: 700px) 100vw, 700px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"697\" height=\"329\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-159.png\" alt=\"\" class=\"wp-image-9746\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-159.png 697w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-159-300x142.png 300w\" sizes=\"(max-width: 697px) 100vw, 697px\" \/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u8d21\u732e\u4e4b\u4e00\u662f\u5728\u4e24\u4e2a\u73b0\u6709\u7684\u5bf9\u5e94\u7269\uff08\u5373MapTR\u548cStreamMapNet\uff09\u4e0a\u5b9e\u73b0\u4e86\u6682\u65f6\u4e00\u81f4\u7684\u5730\u9762\u5b9e\u51b5\uff08GT\uff09\u3002\u88681\u548c\u88682\u663e\u793a\u4e86\u5728\u4e09\u4e2aGT\u4e2d\u7684\u4e00\u4e2a\u4e0a\u8bad\u7ec3\u548c\u6d4b\u8bd5\u7cfb\u7edf\u7684\u7ed3\u679c\uff08\u5982\u7b2c\u4e00\u5217\u6240\u793a\uff09\u3002\u7531\u4e8e\u6211\u4eec\u7684\u4ee3\u7801\u5e93\u662f\u57fa\u4e8eStreamMapNet\u7684\uff0c\u6211\u4eec\u5728StreamMapNet GT\u548c\u6211\u4eec\u7684\u4e34\u65f6\u4e00\u81f4GT\u4e0a\u8bc4\u4f30\u6211\u4eec\u7684\u7cfb\u7edf\u3002<\/p>\n\n\n\n<p><strong>nuScenes\u7ed3\u679c<\/strong>\u3002\u88681\u663e\u793a\uff0cMapTRv2\u548cStreamMapNet\u90fd\u4f7f\u7528\u6211\u4eec\u7684GT\u5b9e\u73b0\u4e86\u66f4\u597d\u7684mAP\uff0c\u8fd9\u662f\u6211\u4eec\u5728\u4fee\u590d\u5176\u539f\u59cbGT\u4e2d\u7684\u4e0d\u4e00\u81f4\u6027\u65f6\u6240\u671f\u671b\u7684\u3002StreamMapNet\u7684\u6539\u8fdb\u7565\u9ad8\uff0c\u56e0\u4e3a\u5b83\u5177\u6709\u65f6\u95f4\u5efa\u6a21\uff08\u800cMapTR\u6ca1\u6709\uff09\uff0c\u5e76\u5229\u7528\u4e86\u6570\u636e\u4e2d\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002MapTracker\u663e\u8457\u4f18\u4e8e\u7ade\u4e89\u65b9\u6cd5\uff0c\u5c24\u5176\u662f\u5728\u6211\u4eec\u7684\u4e00\u81f4\u6027GT\u5728\u539f\u59cb\u548c\u4e00\u81f4\u6027\u610f\u8bc6mAP\u5f97\u5206\u4e2d\u5206\u522b\u63d0\u9ad8\u4e868%\u548c22%\u4ee5\u4e0a\u7684\u60c5\u51b5\u4e0b\u3002\u6ce8\u610f\uff0cMapTracker\u662f\u552f\u4e00\u4ea7\u751f\u660e\u786e\u8ddf\u8e2a\u4fe1\u606f\uff08\u5373\uff0c\u91cd\u6784\u5143\u7d20\u5728\u5e27\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\uff09\u7684\u7cfb\u7edf\uff0c\u8fd9\u662f\u4e00\u81f4\u6027\u533a\u57dfmAP\u6240\u9700\u8981\u7684\u3002\u4e00\u4e2a\u7b80\u5355\u7684\u5339\u914d\u7b97\u6cd5\u4e3a\u57fa\u7ebf\u65b9\u6cd5\u521b\u5efa\u8f68\u8ff9\u3002<\/p>\n\n\n\n<p><strong>Argoverse2\u7ed3\u679c<\/strong>\u3002\u88682\u663e\u793a\uff0cMapTRv2\u548cStreamMapNet\u90fd\u901a\u8fc7\u6211\u4eec\u4e00\u81f4\u7684GT\u83b7\u5f97\u4e86\u66f4\u597d\u7684mAP\u5206\u6570\uff0c\u5b83\u9664\u4e86\u6682\u65f6\u4e00\u81f4\u4e4b\u5916\uff0c\u8fd8\u5177\u6709\u66f4\u9ad8\u8d28\u91cf\u7684GT\uff08\u7528\u4e8e\u4eba\u884c\u6a2a\u9053\u548c\u5206\u9694\u7269\uff09\uff0c\u4f7f\u6240\u6709\u65b9\u6cd5\u90fd\u53d7\u76ca\u3002MapTracker\u5728\u6240\u6709\u8bbe\u7f6e\u4e2d\u90fd\u4ee5\u663e\u8457\u7684\u4f18\u52bf\uff08\u5373\u5206\u522b\u4e3a11%\u62168%\uff09\u4f18\u4e8e\u6240\u6709\u5176\u4ed6\u57fa\u7ebf\u3002\u4e00\u81f4\u6027\u610f\u8bc6\u8bc4\u5206\uff08C-mAP\uff09\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u6211\u4eec\u5353\u8d8a\u7684\u4e00\u81f4\u6027\uff0c\u6bd4StreamMapNet\u63d0\u9ad8\u4e8618%\u4ee5\u4e0a\u3002<\/p>\n\n\n\n<p><strong>Results with geographically non-overlapping data<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"705\" height=\"326\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-160.png\" alt=\"\" class=\"wp-image-9747\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-160.png 705w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-160-300x139.png 300w\" sizes=\"(max-width: 705px) 100vw, 705px\" \/><\/figure>\n\n\n\n<p>nuScenes\u548cAgroverse2\u6570\u636e\u96c6\u7684\u5b98\u65b9\u8bad\u7ec3\/\u6d4b\u8bd5\u5212\u5206\u5177\u6709\u5730\u7406\u91cd\u53e0\uff08\u5373\uff0c\u8bad\u7ec3\/\u6d4b\u8bd5\u4e2d\u51fa\u73b0\u76f8\u540c\u7684\u9053\u8def\uff09\uff0c\u8fd9\u5141\u8bb8\u8fc7\u5ea6\u62df\u5408\u3002\u88683\u6bd4\u8f83\u4e86StreamMapNet\u548cMapTracker\u63d0\u51fa\u7684\u57fa\u4e8e\u5730\u7406\u4e0a\u4e0d\u91cd\u53e0\u5206\u5272\u7684\u6700\u4f73\u57fa\u7ebf\u65b9\u6cd5\u3002MapTracker\u59cb\u7ec8\u4ee5\u663e\u8457\u7684\u4f18\u52bf\u8868\u73b0\u51fa\u8272\uff0c\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u8de8\u573a\u666f\u6cdb\u5316\u80fd\u529b\u3002\u8bf7\u6ce8\u610f\uff0c\u5bf9\u4e8e\u8fd9\u4e24\u79cd\u65b9\u6cd5\uff0cnuScenes\u6570\u636e\u96c6\u7684\u6027\u80fd\u90fd\u4f1a\u964d\u4f4e\u3002\u7ecf\u8fc7\u4ed4\u7ec6\u68c0\u67e5\uff0c\u9053\u8def\u8981\u7d20\u7684\u68c0\u6d4b\u662f\u6210\u529f\u7684\uff0c\u4f46\u56de\u5f52\u7684\u5750\u6807\u8bef\u5dee\u5f88\u5927\uff0c\u5bfc\u81f4\u6027\u80fd\u4f4e\u4e0b\u3002\u9644\u5f55\u63d0\u4f9b\u4e86\u66f4\u591a\u5206\u6790\u3002<\/p>\n\n\n\n<p><strong>Ablation studies<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"700\" height=\"257\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-161.png\" alt=\"\" class=\"wp-image-9748\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-161.png 700w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-161-300x110.png 300w\" sizes=\"(max-width: 700px) 100vw, 700px\" \/><\/figure>\n\n\n\n<p>\u88684\u4e2d\u7684\u6d88\u878d\u7814\u7a76\u8bc1\u660e\u4e86MapTracker\u4e2d\u5173\u952e\u8bbe\u8ba1\u5143\u7d20\u7684\u8d21\u732e\u3002\u7b2c\u4e00\u4e2a\u201c\u57fa\u7ebf\u201d\u6761\u76ee\u662fStreamMapNet\uff0c\u5b83\u6ca1\u6709\u65f6\u95f4\u63a8\u7406\u80fd\u529b\uff08\u5373\u6ca1\u6709BEV\u548c\u77e2\u91cf\u6d41\u5b58\u50a8\u5668\u548c\u6a21\u5757\uff09\u3002\u7b2c\u4e8c\u4e2a\u6761\u76ee\u662fStreamMapNet\u3002\u4e24\u79cd\u65b9\u6cd5\u90fd\u8bad\u7ec3\u4e86110\u4e2a\u65f6\u671f\uff0c\u76f4\u5230\u5b8c\u5168\u6536\u655b\u3002\u6700\u540e\u4e09\u4e2a\u6761\u76ee\u662fMapTracker\u7684\u53d8\u4f53\uff0c\u5305\u542b\u6216\u4e0d\u5305\u542b\u5173\u952e\u8bbe\u8ba1\u5143\u7d20\u3002\u7b2c\u4e00\u79cd\u53d8\u4f53\u4e22\u5f03BEV\/VEC\u6a21\u5757\u4e2d\u7684\u5b58\u50a8\u5668\u878d\u5408\u7ec4\u4ef6\u3002\u8be5\u53d8\u4f53\u5229\u7528\u8ddf\u8e2a\u516c\u5f0f\uff0c\u4f46\u4f9d\u8d56\u4e8e\u5355\u4e2aBEV\/VEC\u5b58\u50a8\u5668\u6765\u4fdd\u5b58\u8fc7\u53bb\u7684\u4fe1\u606f\u3002\u7b2c\u4e8c\u79cd\u53d8\u4f53\u6dfb\u52a0\u4e86\u5185\u5b58\u7f13\u51b2\u533a\u548c\u5185\u5b58\u878d\u5408\u7ec4\u4ef6\uff0c\u4f46\u6ca1\u6709\u8de8\u6b65\uff0c\u5373\u4f7f\u7528\u6700\u65b0\u76844\u5e27\u8fdb\u884c\u878d\u5408\u3002\u8fd9\u79cd\u53d8\u4f53\u63d0\u9ad8\u4e86\u6027\u80fd\uff0c\u8bc1\u660e\u4e86\u6211\u4eec\u8bb0\u5fc6\u673a\u5236\u7684\u6709\u6548\u6027\u3002\u6700\u540e\u4e00\u79cd\u53d8\u4f53\u6dfb\u52a0\u4e86\u5185\u5b58\u8de8\u6b65\uff0c\u4ece\u800c\u66f4\u6709\u6548\u5730\u5229\u7528\u4e86\u5185\u5b58\u673a\u5236\u5e76\u63d0\u9ad8\u4e86\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>Qualitative evaluations<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"701\" height=\"928\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-162.png\" alt=\"\" class=\"wp-image-9749\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-162.png 701w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-162-227x300.png 227w\" sizes=\"(max-width: 701px) 100vw, 701px\" \/><\/figure>\n\n\n\n<p>\u56fe4\u663e\u793a\u4e86MapTracker\u548c\u57fa\u7ebf\u65b9\u6cd5\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u53ef\u89c6\u5316\uff0c\u6211\u4eec\u4f7f\u7528\u4e00\u79cd\u7b80\u5355\u7684\u7b97\u6cd5\u5c06\u6bcf\u5e27\u77e2\u91cfHD\u5730\u56fe\u5408\u5e76\u4e3a\u5168\u5c40\u77e2\u91cfHD\u5730\u56fe\u3002\u6709\u5173\u5408\u5e76\u7b97\u6cd5\u548c\u6bcf\u5e27\u91cd\u5efa\u7684\u53ef\u89c6\u5316\u7684\u8be6\u7ec6\u4fe1\u606f\uff0c\u8bf7\u53c2\u9605\u9644\u5f55\u3002MapTracker\u4ea7\u751f\u4e86\u66f4\u7cbe\u786e\u3001\u66f4\u5e72\u51c0\u7684\u7ed3\u679c\uff0c\u663e\u793a\u51fa\u5353\u8d8a\u7684\u6574\u4f53\u8d28\u91cf\u548c\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u5bf9\u4e8e\u8f66\u8f86\u6b63\u5728\u8f6c\u5f2f\u6216\u6ca1\u6709\u8f7b\u5fae\u5411\u524d\u79fb\u52a8\u7684\u573a\u666f\uff08\u5305\u62ec\u56fe1\u4e2d\u7684\u4e24\u4e2a\u793a\u4f8b\uff09\uff0cStreamMapNet\u548cMapTRv2\u53ef\u80fd\u4f1a\u4ea7\u751f\u4e0d\u7a33\u5b9a\u7684\u7ed3\u679c\uff0c\u4ece\u800c\u5bfc\u81f4\u7834\u788e\u548c\u5608\u6742\u7684\u5408\u5e76\u7ed3\u679c\u3002\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u57fa\u4e8e\u68c0\u6d4b\u7684\u516c\u5f0f\u96be\u4ee5\u5728\u590d\u6742\u7684\u8f66\u8f86\u8fd0\u52a8\u4e0b\u7ef4\u6301\u65f6\u95f4\u76f8\u5e72\u91cd\u5efa\u3002<\/p>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86MapTracker\uff0c\u5b83\u5c06\u5728\u7ebfHD\u6620\u5c04\u516c\u5f0f\u5316\u4e3a\u8ddf\u8e2a\u4efb\u52a1\uff0c\u5e76\u5229\u7528raster and vector latents\u7684\u5386\u53f2\u6765\u4fdd\u6301\u65f6\u5e8f\u4e00\u81f4\u6027\u3002\u6211\u4eec\u4f7f\u7528\u67e5\u8be2\u4f20\u64ad\u673a\u5236\u6765\u8de8\u5e27\u5173\u8054\u88ab\u8ddf\u8e2a\u7684\u9053\u8def\u5143\u7d20\uff0c\u5e76\u5c06\u6240\u9009\u62e9\u7684memory entries\u7684\u5b50\u96c6\u4e0e\u8ddd\u79bb\u6b65\u5e45\u878d\u5408\u4ee5\u589e\u5f3a\u4e00\u81f4\u6027\u3002\u6211\u4eec\u8fd8\u901a\u8fc7\u4f7f\u7528\u8ddf\u8e2a\u6807\u7b7e\u751f\u6210\u4e00\u81f4\u7684GT\uff0c\u5e76\u901a\u8fc7\u65f6\u5e8f\u4e00\u81f4\u6027\u68c0\u67e5\u589e\u5f3a\u539f\u59cbmAP\u6307\u6807\uff0c\u6765\u6539\u8fdb\u73b0\u6709\u7684\u57fa\u51c6\u3002\u5f53\u4f7f\u7528\u4f20\u7edf\u5ea6\u91cf\u8fdb\u884c\u8bc4\u4f30\u65f6\uff0cMapTracker\u5728nuScenes\u548cAgroverse2\u6570\u636e\u96c6\u4e0a\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u5e76\u4e14\u5f53\u4f7f\u7528\u6211\u4eec\u7684\u4e00\u81f4\u6027\u611f\u77e5\u5ea6\u91cf\u8fdb\u884c\u8bc4\u4f30\u540e\uff0c\u5b83\u8868\u73b0\u51fa\u4e86\u5353\u8d8a\u7684\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p><strong>\u5c40\u9650\u6027<\/strong>\uff1a\u6211\u4eec\u786e\u5b9a\u4e86MapTracker\u7684\u4e24\u4e2a\u5c40\u9650\u6027\u3002\u9996\u5148\uff0c\u5f53\u524d\u7684\u8ddf\u8e2a\u516c\u5f0f\u4e0d\u5904\u7406\u9053\u8def\u5143\u7d20\u7684\u5408\u5e76\u548c\u5206\u5272\uff08\u4f8b\u5982\uff0cU\u5f62\u8fb9\u754c\u5728\u672a\u6765\u7684\u5e27\u4e2d\u5206\u5272\u6210\u4e24\u6761\u76f4\u7ebf\uff0c\u53cd\u4e4b\u4ea6\u7136\uff09\u3002\u57fa\u672c\u4e8b\u5b9e\u4e5f\u4e0d\u80fd\u6070\u5f53\u5730\u4ee3\u8868\u4ed6\u4eec\u3002\u5176\u6b21\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u4ecd\u5904\u4e8e10 FPS\uff0c\u5b9e\u65f6\u6027\u80fd\u6709\u70b9\u4e0d\u8db3\uff0c\u5c24\u5176\u662f\u5728\u5173\u952e\u7684\u5d29\u6e83\u4e8b\u4ef6\u4e2d\u3002\u4f18\u5316\u6548\u7387\u548c\u5904\u7406\u66f4\u590d\u6742\u7684\u73b0\u5b9e\u4e16\u754c\u9053\u8def\u7ed3\u6784\u662f\u6211\u4eec\u672a\u6765\u7684\u5de5\u4f5c\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u592a\u5f3a\u4e86\uff0c\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u8fd8\u80fd\u7528\u8ddf\u8e2a\u7684\u65b9\u5f0f\u6765\u505a\uff01\uff01\uff01 [&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-9736","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\/9736"}],"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=9736"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9736\/revisions"}],"predecessor-version":[{"id":9750,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9736\/revisions\/9750"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9736"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9736"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9736"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}