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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"290\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-219-1024x290.png\" alt=\"\" class=\"wp-image-9860\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-219-1024x290.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-219-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-219-768x218.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-219.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u8fd9\u4e9b\u65b9\u6cd5\u4e2d\uff0c3D-LaneNet\u662f\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u9886\u57df\u7684\u5f00\u521b\u6027\u5de5\u4f5c\u30023D-LaneNet\u5f15\u5165\u4e86\u4e00\u4e2a\u7f51\u7edc\uff0c\u53ef\u4ee5\u4ece\u5355\u76ee\u56fe\u50cf\u4e2d\u76f4\u63a5\u9884\u6d4b\u9053\u8def\u573a\u666f\u4e2d\u7684\u4e09\u7ef4\u8f66\u9053\u4fe1\u606f\u3002\u8be5\u5de5\u4f5c\u9996\u6b21\u4f7f\u7528\u8f66\u8f7d\u5355\u76ee\u89c6\u89c9\u4f20\u611f\u5668\u89e3\u51b3\u4e86\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u4efb\u52a1\u30023D-LaneNet\u5f15\u5165\u4e86\u4e24\u4e2a\u65b0\u6982\u5ff5\uff1a\u7f51\u7edc\u5185\u90e8\u7279\u5f81\u56fe\u9006\u900f\u89c6\u6620\u5c04\uff08IPM\uff09\u548c\u57fa\u4e8eanchor\u7684\u8f66\u9053\u8868\u793a\u3002\u7f51\u7edc\u5185\u90e8IPM\u6295\u5f71\u5728\u524d\u89c6\u56fe\u548c\u9e1f\u77b0\u56fe\u4e2d\u4fc3\u8fdb\u4e86\u53cc\u91cd\u8868\u793a\u4fe1\u606f\u6d41\u3002\u57fa\u4e8eanchor\u7684\u8f66\u9053\u8f93\u51fa\u8868\u793a\u652f\u6301\u7aef\u5230\u7aef\u7684\u8bad\u7ec3\u65b9\u6cd5\uff0c\u8fd9\u4e0e\u5c06\u68c0\u6d4b\u4e09\u7ef4\u8f66\u9053\u7ebf\u7684\u95ee\u9898\u7b49\u540c\u4e8e\u76ee\u6807\u68c0\u6d4b\u95ee\u9898\u7684\u5e38\u89c1\u542f\u53d1\u5f0f\u65b9\u6cd5\u4e0d\u540c\u30023D-LaneNet\u7684\u6982\u8ff0\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"452\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-220.png\" alt=\"\" class=\"wp-image-9861\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-220.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-220-300x202.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p>\u53d7\u5230FCOS\u548cCenterNet\u7b49\u5de5\u4f5c\u7684\u542f\u53d1\uff0c3D LaneNet+\u662f\u4e00\u79cd\u65e0anchor\u7684\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u7b97\u6cd5\uff0c\u53ef\u4ee5\u68c0\u6d4b\u4efb\u610f\u62d3\u6251\u7ed3\u6784\u7684\u4e09\u7ef4\u8f66\u9053\u7ebf\u30023D LaneNet+\u7684\u4f5c\u8005\u9075\u5faa\u4e863D 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Transformer\u7684\u65b0\u578b\u67b6\u6784\uff0c\u5982\u56fe4\u6240\u793a\u3002\u8fd9\u79cd\u57fa\u4e8eTransformer\u7684\u67b6\u6784\u80fd\u591f\u8fdb\u884c\u7a7a\u95f4\u7279\u5f81\u8f6c\u6362\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u4e09\u7ef4\u8f66\u9053\u7ebf\u7684\u51c6\u786e\u68c0\u6d4b\u3002\u6b64\u5916\uff0c\u8be5\u63d0\u51fa\u7684\u6846\u67b6\u5177\u6709\u540c\u65f6\u5904\u74062D\u548c3D\u8f66\u9053\u68c0\u6d4b\u4efb\u52a1\u7684\u72ec\u7279\u80fd\u529b\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u89e3\u51b3\u65b9\u6848\u3002\u6b64\u5916\uff0c\u8be5\u8bba\u6587\u8fd8\u63d0\u51fa\u4e86OpenLane\uff0c\u8fd9\u662f\u4e00\u4e2a\u57fa\u4e8e\u5177\u6709\u5f71\u54cd\u529b\u7684Waymo Open\u6570\u636e\u96c6\u5efa\u7acb\u7684\u5927\u89c4\u6a21\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u6570\u636e\u96c6\u3002OpenLane\u662f\u7b2c\u4e00\u4e2a\u63d0\u4f9b\u9ad8\u8d28\u91cf\u6807\u6ce8\u548c\u591a\u6837\u5316\u5b9e\u9645\u573a\u666f\u7684\u6570\u636e\u96c6\uff0c\u4e3a\u63a8\u52a8\u8be5\u9886\u57df\u7684\u7814\u7a76\u63d0\u4f9b\u4e86\u5b9d\u8d35\u8d44\u6e90\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"832\" height=\"456\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-222.png\" alt=\"\" class=\"wp-image-9863\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-222.png 832w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-222-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-222-768x421.png 768w\" sizes=\"(max-width: 832px) 100vw, 832px\" \/><\/figure>\n\n\n\n<p>\u5728[108]\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u4ecb\u7ecd\u4e86\u6700\u5927\u7684\u771f\u5b9e\u4e16\u754c\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u6570\u636e\u96c6\uff0cONCE-3DLanes\u6570\u636e\u96c6\uff0c\u5e76\u63d0\u4f9b\u4e86\u66f4\u5168\u9762\u7684\u8bc4\u4f30\u6307\u6807\uff0c\u4ee5\u91cd\u65b0\u6fc0\u53d1\u4eba\u4eec\u5bf9\u8fd9\u4e00\u4efb\u52a1\u5728\u771f\u5b9e\u573a\u666f\u4e2d\u7684\u5174\u8da3\u3002\u6b64\u5916\uff0c\u8be5\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3aSALAD\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u76f4\u63a5\u4ece\u524d\u89c6\u56fe\u56fe\u50cf\u751f\u6210\u4e09\u7ef4\u8f66\u9053\u5e03\u5c40\uff0c\u65e0\u9700\u5c06\u7279\u5f81\u6620\u5c04\u8f6c\u6362\u4e3a\u9e1f\u77b0\u56fe\uff08BEV\uff09\uff0cSALAD\u7684\u7f51\u7edc\u67b6\u6784\u5982\u56fe5\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"834\" height=\"527\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-223.png\" alt=\"\" class=\"wp-image-9864\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-223.png 834w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-223-300x190.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-223-768x485.png 768w\" sizes=\"(max-width: 834px) 100vw, 834px\" \/><\/figure>\n\n\n\n<p>\u6587\u7ae0[45]\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u635f\u5931\u51fd\u6570\uff0c\u5229\u7528\u4e86\u4e09\u7ef4\u7a7a\u95f4\u8f66\u9053\u7684\u51e0\u4f55\u7ed3\u6784\u5148\u9a8c\uff0c\u5b9e\u73b0\u4e86\u4ece\u5c40\u90e8\u5230\u5168\u5c40\u7684\u7a33\u5b9a\u91cd\u5efa\uff0c\u5e76\u63d0\u4f9b\u4e86\u660e\u786e\u7684\u76d1\u7763\u3002\u5b83\u5f15\u5165\u4e86\u4e00\u4e2a2D\u8f66\u9053\u7279\u5f81\u63d0\u53d6\u6a21\u5757\uff0c\u5229\u7528\u4e86\u6765\u81ea\u9876\u89c6\u56fe\u7684\u76f4\u63a5\u76d1\u7763\uff0c\u786e\u4fdd\u8f66\u9053\u7ed3\u6784\u4fe1\u606f\u7684\u6700\u5927\u4fdd\u7559\uff0c\u7279\u522b\u662f\u5728\u8fdc\u5904\u533a\u57df\uff0c\u6574\u4f53\u6d41\u7a0b\u5982\u56fe7\u6240\u793a\u3002\u6b64\u5916\uff0c\u8be5\u8bba\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u9488\u5bf9\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u7684\u4efb\u52a1\u7279\u5b9a\u6570\u636e\u589e\u5f3a\u65b9\u6cd5\uff0c\u4ee5\u89e3\u51b3\u5730\u9762\u5761\u5ea6\u548c\u6444\u50cf\u673a\u59ff\u6001\u7684\u6570\u636e\u5206\u5e03\u4e0d\u5e73\u8861\u95ee\u9898\uff0c\u589e\u5f3a\u4e86\u5728\u7f55\u89c1\u60c5\u51b5\u4e0b\u7684\u6cdb\u5316\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"832\" height=\"603\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-224.png\" alt=\"\" class=\"wp-image-9865\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-224.png 832w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-224-300x217.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-224-768x557.png 768w\" sizes=\"(max-width: 832px) 100vw, 832px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"832\" height=\"603\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-225.png\" alt=\"\" class=\"wp-image-9866\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-225.png 832w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-225-300x217.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-225-768x557.png 768w\" sizes=\"(max-width: 832px) 100vw, 832px\" \/><\/figure>\n\n\n\n<p>Bai\u7b49\u4eba\u63d0\u51fa\u4e86CurveFormer\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8eTransformer\u7684\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u7b97\u6cd5\u3002\u5728\u8fd9\u7bc7\u8bba\u6587\u4e2d\uff0c\u7814\u7a76\u4eba\u5458\u5c06\u89e3\u7801\u5668\u5c42\u4e2d\u7684\u67e5\u8be2\u5f62\u5f0f\u5316\u4e3a\u4e00\u4e2a\u52a8\u6001\u7684anchor\u96c6\uff0c\u5e76\u5229\u7528\u66f2\u7ebf\u4ea4\u53c9\u6ce8\u610f\u529b\u6a21\u5757\u8ba1\u7b97\u67e5\u8be2\u4e0e\u56fe\u50cf\u7279\u5f81\u4e4b\u95f4\u7684\u76f8\u4f3c\u5ea6\u3002\u6b64\u5916\uff0c\u4ed6\u4eec\u8fd8\u5f15\u5165\u4e86\u4e00\u4e2a\u4e0a\u4e0b\u6587\u91c7\u6837\u5355\u5143\uff0c\u901a\u8fc7\u7ec4\u5408\u53c2\u8003\u7279\u5f81\u548c\u67e5\u8be2\u6765\u9884\u6d4b\u504f\u79fb\u91cf\uff0c\u5f15\u5bfc\u91c7\u6837\u504f\u79fb\u7684\u5b66\u4e60\u8fc7\u7a0b\u3002Ai\u7b49\u4eba\u63d0\u51fa\u4e86WS-3D-Lane\uff0c\u8fd9\u662f\u9996\u6b21\u63d0\u51fa\u4e86\u4e00\u79cd\u5f31\u76d1\u7763\u7684\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u65b9\u6cd5\uff0c\u53ea\u4f7f\u75282D\u8f66\u9053\u6807\u7b7e\uff0c\u5e76\u5728\u8bc4\u4f30\u4e2d\u80dc\u8fc7\u4e86\u4e4b\u524d\u76843D-LaneNet \u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u6444\u50cf\u673a\u4fef\u4ef0\u81ea\u6821\u51c6\u65b9\u6cd5\uff0c\u53ef\u4ee5\u5b9e\u65f6\u5728\u7ebf\u8ba1\u7b97\u6444\u50cf\u673a\u7684\u4fef\u4ef0\u89d2\uff0c\u4ece\u800c\u51cf\u5c11\u7531\u4e0d\u5e73\u6574\u7684\u8def\u9762\u5f15\u8d77\u7684\u6444\u50cf\u673a\u548c\u5730\u5e73\u9762\u4e4b\u95f4\u7684\u4fef\u4ef0\u89d2\u53d8\u5316\u5bfc\u81f4\u7684\u8bef\u5dee\u3002\u5728BEV-LaneDet 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"838\" height=\"475\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-226.png\" alt=\"\" class=\"wp-image-9867\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-226.png 838w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-226-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-226-768x435.png 768w\" sizes=\"(max-width: 838px) 100vw, 838px\" 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[46]\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528MobileNet\u4f5c\u4e3a\u9aa8\u5e72\u7f51\u7edc\uff0c\u4ee5\u51cf\u5c11\u5bf9\u8ba1\u7b97\u8d44\u6e90\u7684\u9700\u6c42\u3002\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5305\u62ec\u4ee5\u4e0b\u4e09\u4e2a\u9636\u6bb5\u3002\u9996\u5148\uff0c\u4f7f\u7528MobileNet\u6a21\u578b\u4ece\u5355\u4e2aRGB\u56fe\u50cf\u751f\u6210\u591a\u5c3a\u5ea6\u7684\u524d\u89c6\u56fe\u7279\u5f81\u3002\u7136\u540e\uff0c\u900f\u89c6transformer\u4ece\u524d\u89c6\u56fe\u7279\u5f81\u8ba1\u7b97\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\u3002\u6700\u540e\uff0c\u4f7f\u7528\u4e24\u4e2a\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u9884\u6d4b2D\u548c3D\u5750\u6807\u53ca\u5176\u5404\u81ea\u7684\u8f66\u9053\u7c7b\u578b\u3002\u5728\u8bba\u6587[26]\u4e2d\uff0cHan\u7b49\u4eba\u8ba4\u4e3a\uff0c\u57fa\u4e8e\u66f2\u7ebf\u7684\u8f66\u9053\u8868\u793a\u53ef\u80fd\u4e0d\u9002\u7528\u4e8e\u73b0\u5b9e\u573a\u666f\u4e2d\u8bb8\u591a\u4e0d\u89c4\u5219\u8f66\u9053\u7ebf\uff0c\u8fd9\u53ef\u80fd\u4f1a\u5bfc\u81f4\u4e0e\u95f4\u63a5\u8868\u793a\uff08\u4f8b\u5982\u57fa\u4e8e\u5206\u5272\u6216\u57fa\u4e8e\u70b9\u7684\u65b9\u6cd5\uff09\u76f8\u6bd4\u7684\u6027\u80fd\u5dee\u8ddd\u3002\u6587\u4e2d\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u8f66\u9053\u68c0\u6d4b\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u5206\u89e3\u4e3a\u4e24\u90e8\u5206\uff1a\u66f2\u7ebf\u5efa\u6a21\u548c\u5730\u9762\u9ad8\u5ea6\u56de\u5f52\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4f7f\u7528\u53c2\u6570\u5316\u66f2\u7ebf\u6765\u8868\u793a\u9e1f\u77b0\u56fe\u7a7a\u95f4\u4e2d\u7684\u8f66\u9053\uff0c\u4ee5\u53cd\u6620\u8f66\u9053\u7684\u539f\u59cb\u5206\u5e03\u3002\u5bf9\u4e8e\u7b2c\u4e8c\u90e8\u5206\uff0c\u7531\u4e8e\u5730\u9762\u9ad8\u5ea6\u7531\u8def\u51b5\u7b49\u81ea\u7136\u56e0\u7d20\u51b3\u5b9a\uff0c\u56e0\u6b64\u5730\u9762\u9ad8\u5ea6\u4e0e\u66f2\u7ebf\u5efa\u6a21\u5206\u5f00\u56de\u5f52\u3002\u6b64\u5916\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u65b0\u7684\u6846\u67b6\u548c\u4e00\u7cfb\u5217\u635f\u5931\u51fd\u6570\uff0c\u4ee5\u7edf\u4e002D\u548c3D\u8f66\u9053\u68c0\u6d4b\u4efb\u52a1\uff0c\u5f15\u5bfc\u5177\u6709\u6216\u4e0d\u5177\u67093D\u8f66\u9053\u6807\u7b7e\u7684\u6a21\u578b\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u65b9\u6cd5\u7684\u76f4\u89c2\u603b\u7ed3\u5982\u8868II\u6240\u793a\uff0c\u5305\u62ec\u65b9\u6cd5\u63cf\u8ff0\u3001\u4f7f\u7528\u7684\u6570\u636e\u96c6\u3001\u5f00\u6e90\u72b6\u6001\u4ee5\u53ca\u7f51\u7edc\u67b6\u6784\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"582\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-227-1024x582.png\" alt=\"\" class=\"wp-image-9868\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-227-1024x582.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-227-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-227-768x437.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-227.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>3D\u8f66\u9053\u68c0\u6d4b\u6027\u80fd\u8bc4\u4f30<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u5c06\u8ba8\u8bba\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u6a21\u578b\u7684\u6027\u80fd\u8bc4\u4f30\u3002\u5728\u6b64\uff0c\u6211\u4eec\u89e3\u91ca\u8bc4\u4f30\u6307\u6807\u3001\u4e0d\u540c\u7c7b\u578b\u7684\u76ee\u6807\u51fd\u6570\u3001\u5206\u6790\u8ba1\u7b97\u590d\u6742\u5ea6\uff0c\u5e76\u6700\u7ec8\u63d0\u4f9b\u5404\u79cd\u6a21\u578b\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002\u6240\u4f7f\u7528\u53d8\u91cf\u7684\u547d\u540d\u65b9\u5f0f\u89c1\u8868I\u3002\u9996\u5148\uff0c\u5448\u73b0\u4e863D\u8f66\u9053\u7ebf\u68c0\u6d4b\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002\u7531\u4e8e\u4e00\u4e9b\u7b97\u6cd5\u672a\u516c\u5f00\u6e90\u4ee3\u7801\uff0c\u6211\u4eec\u53ea\u5728ApolloSim\u6570\u636e\u96c6\u4e0a\u5bf9\u4e00\u4e9b\u5f00\u6e90\u7b97\u6cd5\u8fdb\u884c\u4e86\u53ef\u89c6\u5316\u6d4b\u8bd5\u3002\u8fd9\u4e9b\u7b97\u6cd5\u5df2\u5728ApolloSim\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u53ef\u89c6\u5316\u7ed3\u679c\u5982\u56fe8\u6240\u793a\uff0c\u5176\u4e2d\u7ea2\u8272\u7ebf\u8868\u793a\u9884\u6d4b\u7684\u8f66\u9053\u7ebf\uff0c\u84dd\u8272\u7ebf\u8868\u793a\u771f\u503c\u8f66\u9053\u7ebf\u3002\u63a5\u4e0b\u6765\uff0c\u5c06\u4ecb\u7ecd\u8bc4\u4f30\u6307\u6807\u3001\u7528\u4e8e\u8bad\u7ec3\u7b97\u6cd5\u7684\u635f\u5931\u51fd\u6570\u4ee5\u53ca\u5728\u516c\u5171\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u76843D\u8f66\u9053\u7ebf\u68c0\u6d4b\u7684\u5b9a\u91cf\u6d4b\u8bd5\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"647\" height=\"861\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-228.png\" alt=\"\" class=\"wp-image-9869\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-228.png 647w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-228-225x300.png 225w\" sizes=\"(max-width: 647px) 100vw, 647px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"629\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-230-1024x629.png\" alt=\"\" class=\"wp-image-9871\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-230-1024x629.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-230-300x184.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-230-768x472.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-230.png 1073w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"619\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-231-1024x619.png\" alt=\"\" class=\"wp-image-9872\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-231-1024x619.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-231-300x181.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-231-768x464.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-231.png 1079w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"337\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-232-1024x337.png\" alt=\"\" class=\"wp-image-9873\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-232-1024x337.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-232-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-232-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-232.png 1074w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"632\" height=\"785\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-233.png\" alt=\"\" class=\"wp-image-9874\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-233.png 632w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-233-242x300.png 242w\" sizes=\"(max-width: 632px) 100vw, 632px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"633\" height=\"302\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-234.png\" alt=\"\" class=\"wp-image-9875\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-234.png 633w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-234-300x143.png 300w\" sizes=\"(max-width: 633px) 100vw, 633px\" \/><\/figure>\n\n\n\n<p><strong>3D\u8f66\u9053\u68c0\u6d4b\u7684\u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n<p>\u5728\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u4efb\u52a1\u4e2d\uff0c\u5e38\u89c1\u7684\u57fa\u672c\u635f\u5931\u51fd\u6570\u5305\u62ec\u4ee5\u4e0b\u51e0\u79cd\uff1a<\/p>\n\n\n\n<p>MSE\u635f\u5931\uff1a\u8fd9\u662f\u6700\u5e38\u7528\u7684\u635f\u5931\u51fd\u6570\u4e4b\u4e00\uff0c\u5b83\u8ba1\u7b97\u6a21\u578b\u9884\u6d4b\u503c\u4e0e\u771f\u5b9e\u503c\u4e4b\u95f4\u7684\u5e73\u65b9\u5dee\uff0c\u7136\u540e\u53d6\u5e73\u5747\u503c\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"650\" height=\"119\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-235.png\" alt=\"\" class=\"wp-image-9876\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-235.png 650w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-235-300x55.png 300w\" sizes=\"(max-width: 650px) 100vw, 650px\" \/><\/figure>\n\n\n\n<p>MAE\u635f\u5931\uff1a\u8fd9\u662f\u53e6\u4e00\u79cd\u5e38\u7528\u7684\u635f\u5931\u51fd\u6570\uff0c\u5b83\u8ba1\u7b97\u6a21\u578b\u9884\u6d4b\u503c\u4e0e\u771f\u5b9e\u503c\u4e4b\u95f4\u7684\u7edd\u5bf9\u5dee\u503c\uff0c\u7136\u540e\u53d6\u5e73\u5747\u503c\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"553\" height=\"100\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-236.png\" alt=\"\" class=\"wp-image-9877\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-236.png 553w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-236-300x54.png 300w\" sizes=\"(max-width: 553px) 100vw, 553px\" \/><\/figure>\n\n\n\n<p>Huber\u635f\u5931\uff1aHuber\u635f\u5931\u7ed3\u5408\u4e86MSE\u548cMAE\u7684\u4f18\u70b9\uff0c\u4f7f\u5176\u5bf9\u5f02\u5e38\u503c\u66f4\u52a0\u7a33\u5065\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"602\" height=\"104\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-237.png\" alt=\"\" class=\"wp-image-9878\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-237.png 602w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-237-300x52.png 300w\" sizes=\"(max-width: 602px) 100vw, 602px\" \/><\/figure>\n\n\n\n<p>\u4ea4\u53c9\u71b5\u635f\u5931\uff1a\u4ea4\u53c9\u71b5\u901a\u5e38\u7528\u4e8e\u5206\u7c7b\u4efb\u52a1\uff0c\u4f46\u4e5f\u53ef\u5e94\u7528\u4e8e\u56de\u5f52\u4efb\u52a1\u3002\u5728\u8f66\u9053\u68c0\u6d4b\u4e2d\uff0c\u901a\u8fc7\u786e\u5b9a\u50cf\u7d20\u662f\u5426\u5c5e\u4e8e\u8f66\u9053\u6765\u5c06\u95ee\u9898\u8f6c\u5316\u4e3a\u5206\u7c7b\u4efb\u52a1\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"517\" height=\"123\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-238.png\" alt=\"\" class=\"wp-image-9879\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-238.png 517w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-238-300x71.png 300w\" sizes=\"(max-width: 517px) 100vw, 517px\" \/><\/figure>\n\n\n\n<p>\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931\uff1a\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931\u5e38\u7528\u4e8e\u8bad\u7ec3\u4e8c\u5143\u5206\u7c7b\u4efb\u52a1\uff0c\u65e8\u5728\u6700\u5c0f\u5316\u635f\u5931\u51fd\u6570\u4ee5\u63d0\u9ad8\u6a21\u578b\u5bf9\u4e8c\u5143\u5206\u7c7b\u6837\u672c\u7684\u9884\u6d4b\u51c6\u786e\u6027\u3002\u5b83\u5e7f\u6cdb\u5e94\u7528\u4e8e\u6df1\u5ea6\u5b66\u4e60\u4efb\u52a1\uff0c\u5982\u56fe\u50cf\u5206\u7c7b\u3001\u6587\u672c\u5206\u7c7b\u548c\u5206\u5272\u3002\u5176\u6570\u5b66\u8868\u8fbe\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"634\" height=\"98\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-239.png\" alt=\"\" class=\"wp-image-9880\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-239.png 634w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-239-300x46.png 300w\" sizes=\"(max-width: 634px) 100vw, 634px\" \/><\/figure>\n\n\n\n<p>Focal Loss\uff1aFocal Loss\u662f\u4e00\u79cd\u8bbe\u8ba1\u7528\u4e8e\u89e3\u51b3\u7c7b\u522b\u4e0d\u5e73\u8861\u95ee\u9898\u7684\u635f\u5931\u51fd\u6570\uff0c\u8fd9\u79cd\u4e0d\u5e73\u8861\u7ecf\u5e38\u51fa\u73b0\u5728\u76ee\u6807\u68c0\u6d4b\u6216\u8bed\u4e49\u5206\u5272\u7b49\u4efb\u52a1\u4e2d\uff0c\u5176\u4e2d\u4e00\u4e2a\u7c7b\u522b\u7684\u793a\u4f8b\u6570\u91cf\u8fdc\u8fdc\u8d85\u8fc7\u53e6\u4e00\u4e2a\u7c7b\u522b\u3002\u8fd9\u79cd\u7c7b\u522b\u4e0d\u5e73\u8861\u53ef\u80fd\u5bfc\u81f4\u6a21\u578b\u504f\u5411\u4e8e\u591a\u6570\u7c7b\uff0c\u5c24\u5176\u662f\u5728\u5c11\u6570\u7c7b\u4e0a\u8868\u73b0\u4e0d\u4f73\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"79\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-241.png\" alt=\"\" class=\"wp-image-9882\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-241.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-241-300x47.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<p>IoU\u635f\u5931\uff1aIoU\u635f\u5931\u57fa\u4e8e\u4ea4\u5e76\u6bd4\uff08IoU\uff09\uff0c\u7528\u4e8e\u8861\u91cf\u6a21\u578b\u9884\u6d4b\u533a\u57df\u4e0e\u771f\u503c\u533a\u57df\u4e4b\u95f4\u7684\u91cd\u53e0\u7a0b\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"460\" height=\"96\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-242.png\" alt=\"\" class=\"wp-image-9883\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-242.png 460w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-242-300x63.png 300w\" sizes=\"(max-width: 460px) 100vw, 460px\" \/><\/figure>\n\n\n\n<p>\u4e0d\u540c\u7684\u65b9\u6cd5\u4f7f\u7528\u7279\u5b9a\u7684\u635f\u5931\u51fd\u6570\u7684\u65b9\u5f0f\u5404\u4e0d\u76f8\u540c\uff0c\u4f46\u57fa\u672c\u4e0a\u5927\u591a\u6570\u90fd\u662f\u57fa\u4e8e\u4e0a\u8ff0\u57fa\u672c\u635f\u5931\u51fd\u6570\u7684\u53d8\u4f53\u6216\u7ec4\u5408\u3002\u6b64\u5916\uff0c\u901a\u5e38\u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\u6765\u5c06\u9884\u6d4b\u8f66\u9053\u4e0e\u771f\u503c\u8f66\u9053\u5339\u914d\u3002<\/p>\n\n\n\n<p><strong>\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u6a21\u578b\u7684\u5b9a\u91cf\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u672c\u8282\u8be6\u7ec6\u9610\u8ff0\u4e86\u672c\u6587\u8c03\u67e5\u7684\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u65b9\u6cd5\u7684\u5b9a\u91cf\u5b9e\u8bc1\u5206\u6790\uff0c\u8fd9\u6709\u52a9\u4e8e\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u3002\u5bf9\u4e8e\u5b9a\u91cf\u8bc4\u4f30\uff0c\u5229\u7528\u56db\u4e2a\u8bc4\u4f30\u6307\u6807\u6765\u68c0\u67e5\u6bcf\u79cd\u5355\u76ee3D\u8f66\u9053\u68c0\u6d4b\u65b9\u6cd5\u5728ApolloSim\u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\uff1aAP\u3001F-Score\u3001x\u8bef\u5dee\u548cz\u8bef\u5dee\uff0c\u5e76\u5728\u8868IV\u4e2d\u62a5\u544a\u7ed3\u679c\u3002\u5728Openlane\u6570\u636e\u96c6\u4e0a\uff0c\u8bc4\u4f30\u4e86\u6bcf\u4e2a\u6a21\u578b\u7684F-Score\uff0c\u5982\u8868V\u6240\u793a\u3002\u5728ONCE3DLane\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u8bc4\u4f30\u4e86\u56db\u4e2a\u6307\u6807\uff0c\u5373\uff1aF-Score\u3001Precision\u3001Recall\u548cCD\u8bef\u5dee\uff0c\u7ed3\u679c\u62a5\u544a\u5728\u8868VI\u4e2d\u3002\u6b64\u5916\uff0c\u8fd8\u8003\u8651\u4e86\u8ba1\u7b97\u6548\u7387\uff0c\u901a\u8fc7\u62a5\u544a\u6bcf\u79cd\u65b9\u6cd5\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d\u53ef\u8fbe\u5230\u7684\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u3002\u8fd9\u4e9b\u6a21\u578b\u7684\u603b\u8fd0\u884c\u65f6\u95f4\u5728\u8868IV\u3001V\u548cVI\u4e2d\u62a5\u544a\u3002\u5728\u4e00\u4e9b\u8bba\u6587\u4e2d\uff0c\u62a5\u544a\u4e86\u7b97\u6cd5\u7684\u63a8\u7406\u65f6\u95f4\u53ca\u5176\u76f8\u5e94\u7684\u786c\u4ef6\u5e73\u53f0\uff0c\u76f4\u63a5\u4f7f\u7528\u3002\u7136\u800c\uff0c\u5728\u5176\u4ed6\u4e00\u4e9b\u8bba\u6587\u4e2d\uff0c\u672a\u663e\u793a\u7b97\u6cd5\u7684\u63a8\u7406\u65f6\u95f4\uff0c\u56e0\u6b64\u6211\u4eec\u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u5e73\u53f0\u4e0a\u8fdb\u884c\u4e86\u81ea\u5df1\u7684\u5b9e\u9a8c\u6765\u6d4b\u8bd5\u63a8\u7406\u65f6\u95f4\u3002\u6211\u4eec\u7684\u5b9e\u9a8c\u5e73\u53f0\u7684CPU\u914d\u7f6e\u5305\u62ec\u8fd0\u884cUbuntu 20.04\u64cd\u4f5c\u7cfb\u7edf\u7684Intel(R) Core i9-12900K CPU\u5904\u7406\u5668\uff0c\u800c\u5b9e\u9a8c\u4e2d\u4f7f\u7528\u7684GPU\u662f\u4e00\u5757\u5177\u670912GB\u663e\u5b58\u7684NVIDIA GeForce RTX 3080Ti GPU\u3002\u5728\u4e0a\u8ff0\u8868\u683c\u4e2d\uff0c\u6211\u4eec\u6307\u5b9a\u4e86\u6bcf\u79cd\u65b9\u6cd5\u63a8\u7406\u6240\u4f7f\u7528\u7684\u786c\u4ef6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"594\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-244-1024x594.png\" alt=\"\" class=\"wp-image-9885\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-244-1024x594.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-244-300x174.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-244-768x445.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-244.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"567\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-245-1024x567.png\" alt=\"\" class=\"wp-image-9886\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-245-1024x567.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-245-300x166.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-245-768x425.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-245.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u5728\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u89c6\u89c9\u4efb\u52a1\u4e2d\uff0c\u540c\u6837\u91cd\u8981\u7684\u7ec4\u6210\u90e8\u5206\u662f\u6570\u636e\u96c6\u3002\u5728\u672c\u8282\u4e2d\uff0c\u5c06\u4ecb\u7ecd\u5f53\u524d\u7528\u4e8e\u5355\u76ee3D\u8f66\u9053\u7ebf\u68c0\u6d4b\u4efb\u52a1\u7684\u6570\u636e\u96c6\u3002\u5176\u4e2d\u4e00\u4e9b\u6570\u636e\u96c6\u662f\u5f00\u653e\u6e90\u4ee3\u7801\u4e14\u53d7\u5230\u793e\u533a\u5e7f\u6cdb\u4f7f\u7528\u7684\uff0c\u800c\u53e6\u4e00\u4e9b\u4ec5\u5728\u8bba\u6587\u4e2d\u63cf\u8ff0\uff0c\u672a\u516c\u5f00\u3002\u65e0\u8bba\u662f\u5f00\u6e90\u8fd8\u662f\u4e13\u6709\u6570\u636e\u96c6\uff0c\u4e3a\u4e86\u66f4\u76f4\u89c2\u5730\u4e86\u89e3\u8fd9\u4e9b\u6570\u636e\u96c6\uff0c\u6211\u4eec\u7f16\u5236\u4e86\u4e00\u5f20\u8be6\u7ec6\u7684\u8868\u683c\uff0c\u5c55\u793a\u4e86\u6240\u6709\u73b0\u6709\u7684\u5355\u76ee3D\u8f66\u9053\u7ebf\u68c0\u6d4b\u6570\u636e\u96c6\uff0c\u5982\u8868III\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"240\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-246-1024x240.png\" alt=\"\" class=\"wp-image-9887\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-246-1024x240.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-246-300x70.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-246-768x180.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-246.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Apollo 3D Lane\u5408\u6210\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>Apollo 3D Lane\u5408\u6210\u6570\u636e\u96c6\u662f\u4e00\u4e2a\u7a33\u5065\u7684\u5408\u6210\u6570\u636e\u96c6\uff0c\u5305\u62ec10,500\u5e27\u9ad8\u5206\u8fa8\u7387\u76841080 \u00d7 1920\u5355\u76eeRGB\u56fe\u50cf\uff0c\u4f7f\u7528Unity 3D\u5f15\u64ce\u6784\u5efa\u3002\u6bcf\u4e2a\u5e27\u90fd\u9644\u5e26\u76f8\u5e94\u76843D\u8f66\u9053\u6807\u7b7e\u548c\u6444\u50cf\u673a\u4fef\u4ef0\u6570\u636e\u3002\u5b83\u57fa\u4e8e\u7f8e\u56fd\u7845\u8c37\uff0c\u6db5\u76d6\u4e86\u5404\u79cd\u73af\u5883\uff0c\u5305\u62ec\u9ad8\u901f\u516c\u8def\u3001\u57ce\u5e02\u533a\u57df\u3001\u4f4f\u5b85\u533a\u548c\u5e02\u533a\u8bbe\u7f6e\u3002\u8be5\u6570\u636e\u96c6\u7684\u56fe\u50cf\u56ca\u62ec\u4e86\u5e7f\u6cdb\u7684\u65e5\u95f4\u548c\u5929\u6c14\u6761\u4ef6\u3001\u5404\u79cd\u4ea4\u901a\/\u969c\u788d\u60c5\u51b5\u4ee5\u53ca\u4e0d\u540c\u7684\u9053\u8def\u8868\u9762\u8d28\u91cf\uff0c\u4ece\u800c\u4f7f\u6570\u636e\u96c6\u5177\u6709\u9ad8\u5ea6\u7684\u591a\u6837\u6027\u548c\u903c\u771f\u5ea6\u3002\u6570\u636e\u96c6\u5206\u4e3a\u4e09\u79cd\u4e0d\u540c\u7684\u573a\u666f\u7c7b\u522b\uff1a\u5e73\u8861\u573a\u666f\u3001\u7f55\u89c1\u89c2\u5bdf\u5230\u7684\u573a\u666f\u548c\u5177\u6709\u89c6\u89c9\u53d8\u5316\u7684\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u5e73\u8861\u573a\u666f\u7528\u4e8e\u4f5c\u4e3a\u5168\u9762\u548c\u65e0\u504f\u89c1\u7684\u6570\u636e\u96c6\uff0c\u7528\u4e8e\u57fa\u51c6\u6807\u51c6\u9a7e\u9a76\u573a\u666f\u3002\u7f55\u89c1\u89c2\u5bdf\u5230\u7684\u573a\u666f\u7528\u4e8e\u6d4b\u8bd5\u7b97\u6cd5\u5bf9\u4e8e\u590d\u6742\u57ce\u5e02\u5730\u56fe\u4e2d\u7f55\u89c1\u9047\u5230\u7684\u60c5\u51b5\u7684\u9002\u5e94\u80fd\u529b\uff0c\u5176\u4e2d\u5305\u62ec\u6025\u5267\u7684\u9ad8\u7a0b\u53d8\u5316\u548c\u6025\u8f6c\u5f2f\u3002\u5177\u6709\u89c6\u89c9\u53d8\u5316\u7684\u573a\u666f\u65e8\u5728\u8bc4\u4f30\u7b97\u6cd5\u5728\u4e0d\u540c\u7167\u660e\u6761\u4ef6\u4e0b\u7684\u8868\u73b0\uff0c\u901a\u8fc7\u5728\u8bad\u7ec3\u671f\u95f4\u6392\u9664\u7279\u5b9a\u767d\u5929\u65f6\u6bb5\u5e76\u5728\u6d4b\u8bd5\u671f\u95f4\u4e13\u6ce8\u4e8e\u5b83\u4eec\u3002\u6570\u636e\u96c6\u4e2d\u6444\u50cf\u673a\u7684\u56fa\u5b9a\u5185\u53c2\u53c2\u6570\uff0c\u6444\u50cf\u673a\u9ad8\u5ea6\u8303\u56f4\u57281.4\u52301.8\u7c73\u4e4b\u95f4\uff0c\u4fef\u4ef0\u89d2\u8303\u56f4\u4ece0\u523010\u5ea6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>OpenLane<\/strong><\/h3>\n\n\n\n<p>OpenLane\u662f\u7b2c\u4e00\u4e2a\u5927\u89c4\u6a21\u3001\u771f\u5b9e\u4e16\u754c\u76843D\u8f66\u9053\u68c0\u6d4b\u6570\u636e\u96c6\uff0c\u62e5\u6709\u8d85\u8fc7200,000\u5e27\u548c880,000\u4e2a\u7cbe\u5fc3\u6807\u6ce8\u7684\u8f66\u9053\u3002OpenLane\u5efa\u7acb\u5728\u5177\u6709\u5f71\u54cd\u529b\u7684Waymo Open\u6570\u636e\u96c6\u7684\u57fa\u7840\u4e0a\uff0c\u91c7\u7528\u76f8\u540c\u7684\u6570\u636e\u683c\u5f0f\u3001\u8bc4\u4f30\u7ba1\u9053\u548c10Hz\u7684\u91c7\u6837\u7387\uff0c\u753164\u675fLiDAR\u572820\u79d2\u5185\u8fdb\u884c\u3002\u8be5\u6570\u636e\u96c6\u4e3a\u6bcf\u4e2a\u5e27\u63d0\u4f9b\u4e86\u8be6\u5c3d\u7684\u7ec6\u8282\uff0c\u5305\u62ec\u6444\u50cf\u673a\u5185\u53c2\u548c\u5916\u53c2\uff0c\u4ee5\u53ca\u8f66\u9053\u7c7b\u522b\uff0c\u5176\u4e2d\u5305\u62ec14\u79cd\u4e0d\u540c\u7c7b\u578b\uff0c\u5982\u767d\u8272\u865a\u7ebf\u548c\u8def\u8fb9\u3002\u51e0\u4e4e90%\u7684\u8f66\u9053\u7531\u53cc\u9ec4\u8272\u5b9e\u7ebf\u548c\u5355\u767d\u8272\u5b9e\u7ebf\u548c\u865a\u7ebf\u7ec4\u6210\u3002OpenLane\u6570\u636e\u96c6\u5178\u578b\u5730\u5c55\u793a\u4e86\u73b0\u5b9e\u4e16\u754c\u7684\u60c5\u666f\uff0c\u5145\u5206\u51f8\u663e\u4e86\u957f\u5c3e\u5206\u5e03\u95ee\u9898\u3002OpenLane\u5305\u542b\u5e27\u4e2d\u7684\u6240\u6709\u8f66\u9053\uff0c\u751a\u81f3\u5305\u62ec\u76f8\u53cd\u65b9\u5411\u7684\u8f66\u9053\uff0c\u524d\u63d0\u662f\u6ca1\u6709\u9694\u79bb\u8def\u8fb9\u3002\u7531\u4e8e\u590d\u6742\u7684\u8f66\u9053\u62d3\u6251\u7ed3\u6784\uff0c\u5982\u4ea4\u53c9\u53e3\u548c\u73af\u5f62\u4ea4\u53c9\u53e3\uff0c\u4e00\u4e2a\u5e27\u53ef\u4ee5\u5bb9\u7eb3\u591a\u8fbe24\u6761\u8f66\u9053\u3002\u7ea625%\u7684\u5e27\u4e2d\u5305\u542b\u8d85\u8fc7\u516d\u6761\u8f66\u9053\uff0c\u8d85\u8fc7\u4e86\u5927\u591a\u6570\u5f53\u524d\u8f66\u9053\u6570\u636e\u96c6\u7684\u6700\u5927\u503c\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u8be5\u6570\u636e\u96c6\u8fd8\u63d0\u4f9b\u4e86\u573a\u666f\u6807\u7b7e\u7684\u6ce8\u91ca\uff0c\u4f8b\u5982\u5929\u6c14\u548c\u4f4d\u7f6e\uff0c\u4ee5\u53ca\u6700\u63a5\u8fd1\u8def\u5f84\u7684\u76ee\u6807\uff08CIPO\uff09-\u5b9a\u4e49\u4e3a\u4e0e\u81ea\u8f66\u76f8\u5173\u7684\u6700\u76f8\u5173\u76ee\u6807\u3002\u8fd9\u4e9b\u8f85\u52a9\u6570\u636e\u5bf9\u4e8e\u89c4\u5212\u548c\u63a7\u5236\u4e2d\u7684\u540e\u7eed\u6a21\u5757\u81f3\u5173\u91cd\u8981\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u611f\u77e5\u3002OpenLane\u76843D\u5730\u9762\u771f\u503c\u662f\u4f7f\u7528LiDAR\u5408\u6210\u7684\uff0c\u56e0\u6b64\u5177\u6709\u9ad8\u7cbe\u5ea6\u548c\u51c6\u786e\u6027\u3002\u6570\u636e\u96c6\u5206\u4e3a\u5305\u542b157,000\u5f20\u56fe\u50cf\u7684\u8bad\u7ec3\u96c6\u548c\u5305\u542b39,000\u5f20\u56fe\u50cf\u7684\u9a8c\u8bc1\u96c6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>ONCE-3DLanes<\/strong><\/h3>\n\n\n\n<p>ONCE-3DLanes\u6570\u636e\u96c6\u662f\u53e6\u4e00\u4e2a\u5b9e\u7528\u76843D\u8f66\u9053\u68c0\u6d4b\u6570\u636e\u96c6\uff0c\u7cbe\u5fc3\u4eceONCE\u81ea\u52a8\u9a7e\u9a76\u5b58\u50a8\u5e93\u4e2d\u63d0\u53d6\u800c\u6765\u3002\u8be5\u6570\u636e\u96c6\u5305\u62ec\u7531\u524d\u7f6e\u76f8\u673a\u6355\u83b7\u7684211,000\u4e2a\u56fe\u50cf\uff0c\u4ee5\u53ca\u76f8\u5e94\u7684\u5339\u914dLiDAR\u70b9\u4e91\u6570\u636e\u3002\u5c55\u793a\u4e86\u4e00\u7cfb\u5217\u4e0d\u540c\u65f6\u95f4\u548c\u5929\u6c14\u6761\u4ef6\u4e0b\u7684\u573a\u666f\uff0c\u5982\u9633\u5149\u660e\u5a9a\u3001\u9634\u5929\u548c\u96e8\u5929\u7b49\uff0c\u6570\u636e\u96c6\u6db5\u76d6\u4e86\u57ce\u5e02\u4e2d\u5fc3\u3001\u4f4f\u5b85\u533a\u3001\u9ad8\u901f\u516c\u8def\u3001\u6865\u6881\u548c\u96a7\u9053\u7b49\u591a\u79cd\u5730\u5f62\u3002\u8fd9\u79cd\u591a\u6837\u6027\u4f7f\u6570\u636e\u96c6\u6210\u4e3a\u5728\u5404\u79cd\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e0b\u5f00\u53d1\u548c\u9a8c\u8bc1\u5f3a\u5927\u76843D\u8f66\u9053\u68c0\u6d4b\u6a21\u578b\u7684\u5173\u952e\u8d44\u6e90\u3002\u8be5\u6570\u636e\u96c6\u5206\u4e3a\u4e09\u4e2a\u90e8\u5206\uff1a\u7528\u4e8e\u9a8c\u8bc1\u76843,000\u4e2a\u573a\u666f\uff0c\u7528\u4e8e\u6d4b\u8bd5\u76848,000\u4e2a\u573a\u666f\uff0c\u4ee5\u53ca\u5269\u4f59\u76845,000\u4e2a\u573a\u666f\u7528\u4e8e\u8bad\u7ec3\u3002\u8bad\u7ec3\u7ec4\u4ef6\u8fd8\u989d\u5916\u8865\u5145\u4e86200,000\u4e2a\u672a\u6807\u6ce8\u7684\u573a\u666f\uff0c\u4ee5\u5145\u5206\u5229\u7528\u539f\u59cb\u6570\u636e\u3002\u867d\u7136\u6570\u636e\u96c6\u63d0\u4f9b\u4e86\u7684\u6444\u50cf\u673a\u5185\u53c2\uff0c\u4f46\u7701\u7565\u4e86\u6444\u50cf\u673a\u5916\u53c2\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5176\u4ed6\u6570\u636e\u96c6<\/strong><\/h3>\n\n\n\n<p>\u8bba\u6587\u201c3D-LaneNet: End-to-End 3D Multiple Lane Detection\u201d\u4ecb\u7ecd\u4e86\u4e24\u4e2a\u4e0d\u540c\u7684\u6570\u636e\u96c6\uff1aSynthetic3D-Lanes\u6570\u636e\u96c6\u548c3D-Lanes\u6570\u636e\u96c6\u3002\u901a\u8fc7\u5f00\u6e90\u56fe\u5f62\u5f15\u64ceBlender\u521b\u5efa\u7684Synthetic3D-Lanes\u6570\u636e\u96c6\u5305\u62ec300K\u4e2a\u8bad\u7ec3\u793a\u4f8b\u548c5K\u4e2a\u6d4b\u8bd5\u793a\u4f8b\uff0c\u6bcf\u4e2a\u793a\u4f8b\u90fd\u5305\u542b\u4e00\u4e2a360\u00d7480\u50cf\u7d20\u7684\u56fe\u50cf\u4ee5\u53ca\u4e0e\u4e4b\u5173\u8054\u7684\u771f\u503c\u53c2\u6570\uff0c\u59823D\u8f66\u9053\u3001\u6444\u50cf\u673a\u9ad8\u5ea6\u548c\u4fef\u4ef0\u3002\u8fd9\u4e2a\u6570\u636e\u96c6\u5728\u8f66\u9053\u62d3\u6251\u3001\u76ee\u6807\u4f4d\u7f6e\u548c\u573a\u666f\u6e32\u67d3\u65b9\u9762\u5177\u6709\u91cd\u5927\u7684\u591a\u6837\u6027\uff0c\u4e3a\u65b9\u6cd5\u5f00\u53d1\u548c\u6d88\u878d\u7814\u7a76\u63d0\u4f9b\u4e86\u5b9d\u8d35\u7684\u8d44\u6e90\u3002\u6b64\u5916\uff0c3D-Lanes\u6570\u636e\u96c6\u662f\u4e00\u4e2a\u771f\u5b9e\u4e16\u754c\u7684\u771f\u503c\u6807\u6ce8\u6570\u636e\u96c6\uff0c\u901a\u8fc7\u5229\u7528\u591a\u4f20\u611f\u5668\u8bbe\u7f6e-\u524d\u5411\u76f8\u673a\u3001Velodine 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class=\"wp-block-heading\"><strong><\/strong><strong>\u81ea\u52a8\u9a7e\u9a76\u4e2d\u76843D\u8f66\u9053\u68c0\u6d4b\uff1a\u6311\u6218\u4e0e\u65b9\u5411<\/strong><strong><\/strong><\/h2>\n\n\n\n<p>\u4e0a\u8ff0\u4ecb\u7ecd\u7684\u6570\u636e\u96c6\u6db5\u76d6\u4e86\u5404\u79cd\u516c\u5f00\u53ef\u7528\u7684\u9053\u8def\u573a\u666f\u3002\u5f53\u524d\u4e3b\u6d41\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u5728\u9002\u5408\u8fdb\u884c\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u7684\u6709\u5229\u767d\u5929\u573a\u666f\u4e0a\uff0c\u8fd9\u4e9b\u573a\u666f\u5177\u6709\u5145\u8db3\u7684\u7167\u660e\u548c\u6709\u5229\u7684\u5929\u6c14\u6761\u4ef6\u3002\u7136\u800c\uff0c\u8bb8\u591a\u6c7d\u8f66\u516c\u53f8\u548c\u539f\u59cb\u8bbe\u5907\u5236\u9020\u5546\u62e5\u6709\u5927\u91cf\u6570\u636e\uff0c\u4f46\u7531\u4e8e\u6d89\u53ca\u77e5\u8bc6\u4ea7\u6743\u3001\u4ea7\u4e1a\u7ade\u4e89\u548c\u300a\u901a\u7528\u6570\u636e\u4fdd\u62a4\u6761\u4f8b\u300b\uff08GDPR\uff09\u7b49\u95ee\u9898\uff0c\u4ed6\u4eec\u4e0d\u613f\u610f\u516c\u5f00\u5206\u4eab\u8fd9\u4e9b\u6570\u636e\u3002\u56e0\u6b64\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u4e2d\uff0c\u7f3a\u4e4f\u8db3\u591f\u7684\u5e26\u6807\u6ce8\u6570\u636e\u6765\u51c6\u786e\u7406\u89e3\u52a8\u6001\u5929\u6c14\u6761\u4ef6\uff0c\u5982\u591c\u95f4\u3001\u96fe\u973e\u5929\u6c14\u548c\u8fb9\u7f18\u60c5\u51b5\uff0c\u4ecd\u7136\u662f\u4e00\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e2a\u7814\u7a76\u9886\u57df\u662f\u793e\u533a\u5c1a\u672a\u5145\u5206\u89e3\u51b3\u7684\u6311\u6218\u4e4b\u4e00\u3002\u5728\u672c\u8282\u4e2d\uff0c\u5bf9\u5f53\u524d\u81ea\u52a8\u9a7e\u9a76\u4e2d\u4e09\u7ef4\u8f66\u9053\u68c0\u6d4b\u7684\u73b0\u72b6\u63d0\u51fa\u4e86\u5173\u952e\u89c2\u70b9\uff0c\u603b\u7ed3\u4e86\u4e00\u7cfb\u5217\u6311\u6218\uff0c\u5e76\u63d0\u51fa\u4e86\u7814\u7a76\u65b9\u5411\u5efa\u8bae\uff0c\u4ee5\u5e2e\u52a9\u793e\u533a\u8fdb\u4e00\u6b65\u53d6\u5f97\u8fdb\u5c55\uff0c\u6709\u6548\u5730\u514b\u670d\u8fd9\u4e9b\u6311\u6218\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5f00\u653e\u6027\u6311\u6218<\/strong><\/h3>\n\n\n\n<p>\u867d\u7136\u7814\u7a76\u4eba\u5458\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u8fdb\u884c\u4e86\u5927\u91cf\u7814\u7a76\uff0c\u81ea\u52a8\u9a7e\u9a76\u884c\u4e1a\u4e5f\u5728\u84ec\u52c3\u53d1\u5c55\uff0c\u4f46\u4ecd\u7136\u5b58\u5728\u4e00\u4e9b\u9700\u8981\u7814\u7a76\u4eba\u5458\u5173\u6ce8\u7684\u5f00\u653e\u6027\u6311\u6218\uff0c\u4ee5\u5b9e\u73b0\u5b8c\u5168\u667a\u80fd\u7684\u81ea\u52a8\u9a7e\u9a76\u3002\u8fd9\u4e9b\u6311\u6218\u5df2\u7ecf\u5728\u76f8\u5173\u6587\u732e\u7684\u652f\u6301\u4e0b\u8fdb\u884c\u4e86\u5355\u72ec\u8ba8\u8bba\uff1a<\/p>\n\n\n\n<p><strong>\u7c97\u7ed3\u6784\u5316\u4fe1\u606f\uff1a<\/strong> 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"512\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-247-1024x512.png\" alt=\"\" class=\"wp-image-9888\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-247-1024x512.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-247-300x150.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-247-768x384.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u4e8b\u4ef6\u76f8\u673a\u76843D\u8f66\u9053\u68c0\u6d4b\uff1a<\/strong> 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