{"id":15774,"date":"2023-10-27T12:04:02","date_gmt":"2023-10-27T04:04:02","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=15774"},"modified":"2023-10-27T12:05:44","modified_gmt":"2023-10-27T04:05:44","slug":"%e5%a4%9a%e6%a8%a1%e6%80%81%e5%8d%b7%e8%bf%9b%e8%bd%a6%e8%b7%af%e5%8d%8f%e5%90%8c-v2vformer%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%a4%9a%e6%a8%a1%e6%80%81v2v%e6%a1%86%e6%9e%b6%e9%97%ae%e4%b8%96%ef%bc%81","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2023\/10\/27\/15774\/","title":{"rendered":"\u591a\u6a21\u6001\u5377\u8fdb\u8f66\u8def\u534f\u540c | V2VFormer++\uff1a\u9996\u4e2a\u591a\u6a21\u6001V2V\u6846\u67b6\u95ee\u4e16\uff01"},"content":{"rendered":"
\u5728\u516c\u5f00\u7684 OPV2V \u548c V2X-Sim2.0 \u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u5b9a\u91cf\u548c\u5b9a\u6027\u5b9e\u9a8c\uff0c\u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ \u5f97\u5230\u4e86\u6700\u5148\u8fdb\u7684\u534f\u540c\u611f\u77e5\u6027\u80fd\uff0c\u5c55\u793a\u4e86\u5176\u6709\u6548\u6027\u548c\u5148\u8fdb\u6027\u3002 \u6b64\u5916\uff0c\u6d88\u878d\u7814\u7a76\u548c\u53ef\u89c6\u5316\u5206\u6790\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u5176\u5bf9\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u5404\u79cd\u5e72\u6270\u5177\u6709\u5f88\u5f3a\u7684\u9c81\u68d2\u6027\u3002<\/div>\n
\n
\n

 <\/p>\n

\u7b14\u8005\u7684\u4e2a\u4eba\u7406\u89e3<\/h3>\n

\u6700\u8fd1\u51fa\u73b0\u7684\u591a\u8f66\u8f86\u534f\u4f5c\u611f\u77e5\u65e8\u5728\u4fc3\u8fdb\u8054\u7f51\u81ea\u52a8\u8f66\u8f86\uff08CAV\uff09\u7684\u8fdc\u8ddd\u79bb\u548c\u5927\u89c4\u6a21\u611f\u77e5\u80fd\u529b\u3002 \u5c3d\u7ba1\u5982\u6b64\uff0c\u4eba\u4eec\u4ed8\u51fa\u4e86\u5de8\u5927\u7684\u52aa\u529b\u5c06\u534f\u540c\u611f\u77e5\u5236\u5b9a\u4e3a\u4ec5 LiDAR \u7684 3D \u68c0\u6d4b\u8303\u4f8b\uff0c\u800c\u5ffd\u7565\u4e86\u5bc6\u96c6\u56fe\u50cf\u7684\u91cd\u8981\u6027\u548c\u8865\u5145\u3002 \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u7b2c\u4e00\u4e2a\u591a\u6a21\u6001\u8f66\u5bf9\u8f66\u534f\u540c\u611f\u77e5\u6846\u67b6\uff0c\u79f0\u4e3a V2VFormer++\uff0c\u5176\u4e2d\u5355\u4e2a\u6444\u50cf\u5934-LiDAR \u8868\u793a\u4e0e\u9e1f\u77b0 (BEV) \u7a7a\u95f4\u7684\u52a8\u6001\u901a\u9053\u878d\u5408 (DCF) \u76f8\u7ed3\u5408\uff0c\u5e76\u4e14\u6765\u81ea\u76f8\u90bb\u8f66\u8f86\u7684\u4ee5\u81ea\u6211\u4e3a\u4e2d\u5fc3\u7684 BEV \u5730\u56fe\u7531\u5168\u5c40-\u5c40\u90e8transformer\u6a21\u5757\u805a\u5408\u3002 \u5177\u4f53\u6765\u8bf4\uff0c\u5f00\u53d1\u4e86\u91c7\u7528 MLP \u8bbe\u8ba1\u7684\u901a\u9053token\u6df7\u5408\u5668 (CTM)\uff0c\u4ee5\u6355\u83b7\u76f8\u90bb CAV \u4e4b\u95f4\u7684\u5168\u5c40\u54cd\u5e94\uff0c\u5e76\u4e14\u4f4d\u7f6e\u611f\u77e5\u878d\u5408 (PAF) \u8fdb\u4e00\u6b65\u4ece\u5c40\u90e8\u89d2\u5ea6\u7814\u7a76\u6bcf\u4e2a\u81ea\u6211\u7f51\u7edc\u5730\u56fe\u4e4b\u95f4\u7684\u7a7a\u95f4\u76f8\u5173\u6027\u3002 \u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u53ef\u4ee5\u6218\u7565\u6027\u5730\u786e\u5b9a\u54ea\u4e9b CAV \u9002\u5408\u534f\u540c\u4ee5\u53ca\u5982\u4f55\u4ece\u5b83\u4eec\u4e2d\u805a\u5408\u6700\u91cd\u8981\u7684\u4fe1\u606f\u3002 \u5728\u516c\u5f00\u7684 OPV2V \u548c V2X-Sim2.0 \u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u5b9a\u91cf\u548c\u5b9a\u6027\u5b9e\u9a8c\uff0c\u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ \u5f97\u5230\u4e86\u6700\u5148\u8fdb\u7684\u534f\u540c\u611f\u77e5\u6027\u80fd\uff0c\u5c55\u793a\u4e86\u5176\u6709\u6548\u6027\u548c\u5148\u8fdb\u6027\u3002 \u6b64\u5916\uff0c\u6d88\u878d\u7814\u7a76\u548c\u53ef\u89c6\u5316\u5206\u6790\u8fdb\u4e00\u6b65\u8868\u660e\uff0c\u5176\u5bf9\u73b0\u5b9e\u573a\u666f\u4e2d\u7684\u5404\u79cd\u5e72\u6270\u5177\u6709\u5f88\u5f3a\u7684\u9c81\u68d2\u6027\u3002<\/p>\n

V2VFormer++\u7684\u4e3b\u8981\u601d\u8def\u662f\u4ec0\u4e48\uff1f<\/h3>\n

\u4f5c\u4e3a\u524d\u6cbf\u6280\u672f\uff0c\u81ea\u52a8\u9a7e\u9a76\u88ab\u89c6\u4e3a\u667a\u80fd\u4ea4\u901a\u7cfb\u7edf\uff08ITS\uff09\u7684\u53d1\u5c55\u8d8b\u52bf\uff0c\u4e3a\u89e3\u51b3\u4ea4\u901a\u62e5\u5835\u3001\u78b0\u649e\u548c\u6392\u653e\u6c61\u67d3\u7b49\u68d8\u624b\u95ee\u9898\u63d0\u4f9b\u4e86\u4e00\u79cd\u6709\u524d\u666f\u7684\u89e3\u51b3\u65b9\u6848\u3002 \u968f\u7740\u6df1\u5ea6\u5b66\u4e60\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u53d1\u5c55\uff0c\u73af\u5883\u611f\u77e5\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\uff0c\u5728\u7269\u4f53\u68c0\u6d4b\u548c\u5206\u5272\u4efb\u52a1\u65b9\u9762\u4e5f\u53d6\u5f97\u4e86\u957f\u8db3\u7684\u8fdb\u6b65\u3002\u5728\u51c6\u786e\u6027\u548c\u6548\u7387\u65b9\u9762\u90fd\u83b7\u5f97\u4e86\u663e\u7740\u7684\u6027\u80fd\u6539\u8fdb\u3002 \u7531\u4e8e\u590d\u6742\u7684\u4ea4\u901a\u573a\u666f\u548c\u53d8\u5316\u7684\u7269\u7406\u6761\u4ef6\uff0c\u5355\u7eaf\u4f9d\u9760\u81ea\u8f66\u89c6\u89d2\u4fe1\u606f\u5f88\u96be\u4fdd\u8bc1\u9c81\u68d2\u6027\u548c\u5b89\u5168\u7684\u4f20\u611f\u6027\u80fd\u3002 \u56e0\u6b64\uff0c\u5982\u4f55\u6316\u6398\u548c\u805a\u5408\u591a\u6e90\u4fe1\u606f\u6765\u589e\u5f3a\u611f\u77e5\u80fd\u529b\u662f\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u70ed\u70b9\u95ee\u9898\u3002<\/p>\n

\u6700\u8fd1\u51fa\u73b0\u4e86\u57fa\u4e8e\u4fe1\u606f\u878d\u5408\u548c\u6570\u636e\u5171\u4eab\u7684\u8f66\u8f66\uff08V2V\uff09\u534f\u540c\u611f\u77e5\uff0c\u5b83\u901a\u8fc7\u4f4e\u5ef6\u8fdf\u8f66\u8f86\u901a\u4fe1\u6218\u7565\u6027\u5730\u6574\u5408\u6765\u81ea\u90bb\u8fd1\u8054\u7f51\u81ea\u52a8\u8f66\u8f86\uff08CAV\uff09\u7684\u591a\u89c6\u56fe\u73af\u5883\u3002 \u8fd9\u6837\uff0c\u53ef\u4ee5\u663e\u7740\u7f13\u89e3\u5404\u79cd\u9a7e\u9a76\u573a\u666f\u4e2d\u51fa\u73b0\u7684\u76f2\u70b9\u3001\u8d85\u89c6\u8ddd\u3001\u906e\u6321\u7b49\u611f\u77e5\u6311\u6218\uff0c\u540c\u65f6\u4f7f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5177\u5907\u8fdc\u8ddd\u79bb\u3001\u5927\u8303\u56f4\u7684\u611f\u77e5\u80fd\u529b \u5982\u56fe1\u6240\u793a\u3002\u6839\u636e\u4e0d\u540c\u7684\u534f\u540c\u7b56\u7565\uff0c\u5f53\u524d\u7684\u5de5\u4f5c\u5173\u4e8e\u591a\u667a\u80fd\u4f53\u611f\u77e5\u53ef\u4ee5\u5206\u4e3a\u4e09\u4e2a\u5c42\u6b21\u3002 \u4e00\u65b9\u9762\uff0c\u65e9\u671f\u878d\u5408\u5c06\u6765\u81ea\u6bcf\u8f86\u8f66\u7684\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\u4f20\u8f93\u5230\u76ee\u6807\u8f66\u8f86\uff0c\u7136\u800c\uff0c\u7531\u4e8e\u96be\u4ee5\u627f\u53d7\u7684\u8ba1\u7b97\u5f00\u9500\u548c\u901a\u4fe1\u5e26\u5bbd\uff0c\u5b83\u65e0\u6cd5\u6ee1\u8db3\u5b9e\u65f6\u7cfb\u7edf\u7684\u8981\u6c42\u3002 \u53e6\u4e00\u65b9\u9762\uff0c\u540e\u671f\u878d\u5408\u901a\u8fc7\u6570\u5b66\u8fd0\u7b97\uff08\u5373\u6c42\u548c\u548c\u5e73\u5747\uff09\u6216\u6ce8\u610f\u529b\u673a\u5236\u76f4\u63a5\u5bf9\u5404\u4e2a\u68c0\u6d4b\u8fdb\u884c\u91cd\u65b0\u52a0\u6743\uff0c\u5927\u5927\u63d0\u9ad8\u4e86\u8fd0\u884c\u901f\u5ea6\u3002 \u7136\u800c\uff0c\u4e0d\u540c\u8f66\u8f86\u7684\u8bef\u62a5\u53ef\u80fd\u4f1a\u4ee5\u8fd9\u79cd\u65b9\u5f0f\u88ab\u653e\u5927\uff0c\u7d2f\u79ef\u7684\u7a7a\u95f4\u4f4d\u79fb\u4f1a\u9010\u6b65\u635f\u5bb3\u591a\u667a\u80fd\u4f53\u7684\u534f\u540c\u6027\u80fd\u3002 \u4e2d\u95f4\u7279\u5f81\u534f\u540c\u7531\u4e8e\u5176\u5728\u51c6\u786e\u6027\u548c\u901f\u5ea6\u4e4b\u95f4\u66f4\u597d\u7684\u6743\u8861\u800c\u8d8a\u6765\u8d8a\u53d7\u6b22\u8fce\uff0c\u5c06 CAV \u7d27\u51d1\u7684\u7279\u5f81\u7684\u8868\u793a\uff08\u4f8b\u5982 BEV \u5730\u56fe\uff09\u8f6c\u6362\u4e3a\u7edf\u4e00\u5750\u6807\uff0c\u4ee5\u4fbf\u5728\u5168\u5c40\u89c6\u56fe\u4e2d\u5168\u9762\u4e86\u89e3\u4ea4\u901a\u573a\u666f\u3002 \u7ed9\u5b9a\u591a\u4e2a BEV \u7279\u5f81\uff0c\u57fa\u4e8e\u56fe\u7684\u65b9\u6cd5\u521b\u5efa\u4e00\u4e2a\u52a0\u6743\u534f\u540c\u56fe\uff0c\u5176\u4e2d\u6bcf\u4e2a\u8282\u70b9\u8868\u793a\u5355\u4e2a\u8f66\u8f86\u53ca\u5176\u5b9e\u65f6\u59ff\u6001\u4fe1\u606f\uff0c\u6210\u5bf9\u8fb9\u7f18\u901a\u8fc7\u7a7a\u95f4\u6743\u91cd\u77e9\u9635\u5b9a\u4e49\u76f8\u90bb\u8f66\u8f86\u4e4b\u95f4\u7684\u5173\u7cfb\u3002 \u6b64\u5916\uff0c\u57fa\u4e8e Transformer \u7684\u7b97\u6cd5\u5bf9\u7f16\u7801\u5e8f\u5217\u6267\u884c\u81ea\u6ce8\u610f\u529b\u6216\u4ea4\u53c9\u6ce8\u610f\u529b\u64cd\u4f5c\uff0c\u4ee5\u6355\u83b7 CAV \u4e4b\u95f4\u7684\u5c40\u90e8\u548c\u5168\u5c40\u4f9d\u8d56\u6027\u3002 \u4f5c\u4e3a\u66ff\u4ee3\u65b9\u6848\uff0c\u901a\u8fc7\u6700\u8fdc\u70b9\u91c7\u6837\uff08FPS\uff09\u6709\u6548\u5730\u9009\u62e9\u5173\u952e\u70b9\u8868\u793a\u6765\u7a81\u51fa\u663e\u793a\u91cd\u8981\u70b9\uff0c\u53ea\u6709\u5f53\u5b83\u5b58\u5728\u4e8e\u5019\u9009\u63d0\u6848\u4e2d\u65f6\u624d\u4f1a\u88ab\u8fdb\u4e00\u6b65\u4fdd\u7559\u3002 \u603b\u4e4b\uff0c\u8fd9\u4e9b\u5de5\u4f5c\u7684\u6d41\u7a0b\u662f\u5728\u81ea\u6211\u5750\u6807\u4e0a\u7ed3\u5408\u8f66\u8f86\u95f4\u8868\u793a\u6765\u589e\u5f3a\u7279\u5f81\uff0c\u4f46\u7531\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u7684\u7a00\u758f\u6027\u548c\u4e0d\u5747\u5300\u6027\uff0c\u5f88\u5bb9\u6613\u51fa\u73b0\u7279\u5f81\u6a21\u7cca\u548c\u8bed\u4e49\u7f3a\u9677\u3002 \u66f4\u91cd\u8981\u7684\u662f\uff0c\u4ee5\u524d\u7684\u534f\u540c\u7b56\u7565\u5728\u6295\u5f71\u5230\u53c2\u8003\u5750\u6807\u540e\u663e\u5f0f\u5730\u6784\u5efa\u7a7a\u95f4\u7279\u5f81\u5173\u7cfb\uff0c\u4f46\u7814\u7a76\u5168\u5c40\u4e2d CAV \u4e4b\u95f4\u7684\u901a\u9053\u4ea4\u4e92\u5e76\u975e\u6613\u4e8b\u3002<\/p>\n

\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u5c06\u611f\u77e5\u8f6c\u5316\u4e3a3D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\uff0c\u5e76\u5f00\u53d1\u4e86\u591a\u6a21\u6001\u8f66\u8f66\u534f\u540c\u611f\u77e5\u6846\u67b6\uff0c\u79f0\u4e3aV2VFormer++\u3002 \u5bf9\u4e8e\u6bcf\u4e2a CAV\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u76f8\u673a-LiDAR \u8303\u4f8b\u6765\u514b\u670d\u4ec5 LiDAR \u68c0\u6d4b\u7684\u7f3a\u70b9\uff0c\u5b83\u7528\u5bc6\u96c6\u7684\u4e0a\u4e0b\u6587\uff08\u5373\u7eb9\u7406\u3001\u8f6e\u5ed3\u7b49\uff09\u8865\u507f\u7cbe\u786e\u7684\u51e0\u4f55\u5f62\u72b6\uff0c\u4ee5\u5b9e\u73b0\u591a\u529f\u80fd\u7684\u73af\u5883\u63cf\u8ff0\u3002\u4e3a\u4e86\u83b7\u5f97\u7edf\u4e00\u5e73\u9762\u4e0a\u7684\u8868\u8fbe\u8868\u793a\uff0c\u6211\u4eec\u901a\u8fc7\u89c6\u56fe\u53d8\u6362\u5c06\u4e24\u79cd\u5f02\u6784\u6a21\u6001\u6295\u5f71\u5230\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\u4e2d\uff0c\u5e76\u8fdb\u4e00\u6b65\u8bbe\u8ba1\u4e86\u4e00\u79cd\u7b80\u5355\u800c\u9ad8\u6548\u7684\u591a\u6a21\u6001\u878d\u5408\u6a21\u5757\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u50cf\u7d20 -\u4ee5\u81ea\u9002\u5e94\u65b9\u5f0f\u8fdb\u884c\u70b9\u5bf9\u5e94\u805a\u5408\u3002 \u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u53ef\u4ee5\u901a\u8fc7\u8fb9\u9645\u8ba1\u7b97\u9884\u7b97\u5145\u5206\u5229\u7528\u6bcf\u4e2a\u4ee5\u81ea\u6211\u4e3a\u4e2d\u5fc3\u7684\u89c6\u89d2\u7684\u4e30\u5bcc\u8bed\u4e49\u5c5e\u6027\u3002\u5bf9\u4e8e\u8f66\u8f86\u5230\u8f66\u8f86\u7684\u611f\u77e5\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5168\u5c40-\u5c40\u90e8\u53d8\u6362\u7b56\u7565\u6765\u805a\u5408 CAV \u7684\u4e2d\u95f4\u7279\u5f81\u3002 \u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u91c7\u7528MLP\u8bbe\u8ba1\u7684\u901a\u9053token\u6df7\u5408\u5668\uff08CTM\uff09\u6765\u8ba1\u7b97\u4e0d\u540c\u8f66\u8f86\u4e4b\u95f4\u7684\u5168\u5c40\u54cd\u5e94\uff0c\u4ece\u800c\u6839\u636e\u76f8\u5173\u6027\u5f97\u5206\u6765\u5339\u914d\u6bcf\u4e2a\u81ea\u6211\u7f51\u7edc\u5bf9\u3002 \u4e3a\u4e86\u66f4\u591a\u5730\u5173\u6ce8\u611f\u5174\u8da3\u533a\u57df\uff08RoI\uff09\uff0c\u5f15\u5165\u4e86\u4f4d\u7f6e\u611f\u77e5\u878d\u5408\uff08PAF\uff09\u6765\u5173\u6ce8\u6240\u6709\u8f66\u8f86\u7684\u4fe1\u606f\u533a\u57df\uff0c\u5e76\u4e14\u8fd8\u4f7f\u7528\u81ea\u6ce8\u610f\u529btransformer\u63a2\u7d22\u4e86\u5c40\u90e8\u7684\u50cf\u7d20\u7ea7\u7279\u5f81\u8bed\u4e49\u3002 \u6700\u540e\uff0c\u6211\u4eec\u5bf9 OPV2V \u548c V2X-Sim 2.0\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u5168\u9762\u7684\u5b9e\u8bc1\u7814\u7a76\uff0c\u63d0\u51fa\u7684 V2VFormer++ \u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u534f\u4f5c\u611f\u77e5\u7cbe\u5ea6\uff0c\u5bf9\u6bd4\u540c\u884c\uff08\u4f8b\u5982\uff0c\u591a \u8f66\u8f86\u5355\u6a21\u5f0f\u548c\u591a\u8f66\u8f86\u591a\u6a21\u5f0f\uff09\u5927\u5e45\u63d0\u9ad8\u3002 \u6b64\u5916\uff0c\u5bf9\u4e0d\u540c\u914d\u7f6e\u548c\u573a\u666f\u7684\u6d88\u878d\u5206\u6790\u8fdb\u4e00\u6b65\u8868\u660e\u5176\u9488\u5bf9\u73b0\u5b9e\u4e16\u754c\u4e2d\u65ad\u7684\u9c81\u68d2\u6027\u548c\u901a\u7528\u6027\u3002<\/p>\n

\u7efc\u4e0a\u6240\u8ff0\uff0c\u8fd9\u9879\u5de5\u4f5c\u7684\u8d21\u732e\u4e3b\u8981\u63cf\u8ff0\u5982\u4e0b\uff1a<\/p>\n

    \n
  • \u6211\u4eec\u63d0\u51fa\u4e86 V2VFormer++\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u591a\u6a21\u6001\u8f66\u8f86\u95f4\u534f\u540c\u611f\u77e5\u6846\u67b6\uff0c\u5b83\u4f7f\u7528\u6765\u81ea\u5355\u72ec\u8f66\u8f86\u7684\u5f02\u6784\u6a21\u6001\u6765\u589e\u5f3a\u591a\u667a\u80fd\u4f53\u534f\u4f5c\u6027\u80fd\u3002<\/li>\n
  • \u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u6a21\u5757\u65e8\u5728\u4ee5\u81ea\u9002\u5e94\u65b9\u5f0f\u4ece\u76f8\u673a\u548c LiDAR BEV \u89c6\u56fe\u8fdb\u884c\u5bf9\u5e94\u805a\u5408\u3002<\/li>\n
  • \u5168\u5c40-\u5c40\u90e8transformer\u534f\u540c\u662f\u4e00\u79cd\u4e2d\u95f4\u878d\u5408\u7b56\u7565\uff0c\u5176\u4e2d\u5f00\u53d1\u901a\u9053token\u6df7\u5408\u5668\uff08CTM\uff09\u7528\u4e8e\u6355\u83b7CAV\u4e4b\u95f4\u7684\u5168\u5c40\u54cd\u5e94\uff0c\u5e76\u5229\u7528\u4f4d\u7f6e\u611f\u77e5\u878d\u5408\uff08PAF\uff09\u6a21\u5757\u4ece\u5c40\u90e8\u89d2\u5ea6\u63a2\u7d22\u7a7a\u95f4\u8bed\u4e49 \u3002<\/li>\n
  • \u6ca1\u6709\u82b1\u91cc\u80e1\u54e8\u7684\u4e1c\u897f\uff0c\u6211\u4eec\u7684 V2VFormer++ \u62a5\u544a\u4e86 OPV2V\u548cV2X-Sim 2.0\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u6700\u5148\u8fdb\u7684\u534f\u540c\u68c0\u6d4b\u6027\u80fd\uff0c\u5176\u6027\u80fd\u663e\u7740\u4f18\u4e8e\u6240\u6709\u66ff\u4ee3\u65b9\u6848\u3002 \u6b64\u5916\uff0c\u6d88\u878d\u7814\u7a76\u548c\u53ef\u89c6\u5316\u7ed3\u679c\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u5176\u9488\u5bf9\u73b0\u5b9e\u573a\u666f\u4e2d\u5404\u79cd\u5e72\u6270\u7684\u9c81\u68d2\u6027\u3002<\/li>\n<\/ul>\n

    \u9886\u57df\u76ee\u524d\u7684\u5de5\u4f5c<\/h3>\n

    \u672c\u8282\u65e8\u5728\u56de\u987e\u57fa\u4e8e LiDAR \u548c\u6444\u50cf\u5934 LiDAR 3D \u76ee\u6807\u68c0\u6d4b\u4ee5\u53ca\u8f66\u8f66\u534f\u540c\u611f\u77e5\u7684\u76f8\u5173\u7814\u7a76\u3002<\/p>\n

    A. \u57fa\u4e8e LiDAR \u7684 3D \u68c0\u6d4b<\/h4>\n

    \u6839\u636e\u4e0d\u540c\u7684\u6570\u636e\u683c\u5f0f\uff0c\u57fa\u4e8eLiDAR\u76843D\u68c0\u6d4b\u53ef\u5927\u81f4\u5206\u4e3a\u4e09\u7c7b\uff1a<\/strong>\u57fa\u4e8e\u70b9\u3001\u57fa\u4e8e\u4f53\u7d20\u548c\u6df7\u5408\u8868\u793a\u3002 \u57fa\u4e8e\u70b9\u7684\u7b97\u6cd5\u76f4\u63a5\u4f7f\u7528PointNet \u548cPointNet ++\u67b6\u6784\u7684\u539f\u59cbLiDAR\u6570\u636e\u6765\u8fdb\u884c\u53ef\u9760\u7684\u51e0\u4f55\u7279\u5f81\u63d0\u53d6\uff0c\u524d\u8005\u91c7\u7528\u96c6\u5408\u62bd\u8c61\uff08SA\uff09\u8fd0\u7b97\u7b26\u6765\u805a\u5408\u9010\u70b9\u8868\u793a\u5e76\u5229\u7528\u53d8\u6362\u7f51\u7edc\uff08T-Net\uff09\u7528\u4e8e\u8f93\u5165\u548c\u7279\u5f81\u7ea7\u522b\u7684\u7279\u5f81\u5bf9\u9f50\uff0c\u800c\u540e\u8005\u901a\u8fc7\u5206\u5c42\u91c7\u6837\u65b9\u6cd5\u8fdb\u4e00\u6b65\u4ece\u70b9\u4e91\u5b66\u4e60\u5c40\u90e8\u548c\u5168\u5c40\u4e0a\u4e0b\u6587\u3002 \u5bf9\u4e8e3D\u68c0\u6d4b\u4efb\u52a1\uff0c3DSSD\u540c\u65f6\u5f15\u5165\u8ddd\u79bb\uff08D-\uff09\u548c\u7279\u5f81\uff08F-\uff09\u6700\u8fdc\u70b9\u91c7\u6837\uff08FPS\uff09\u7b56\u7565\u6765\u5904\u7406\u70b9\u8868\u793a\u7684\u7a00\u758f\u6027\uff0c\u5e76\u901a\u8fc7SSD\uff08\u5355\u7ea7\uff09\u8fdb\u884c\u76ee\u6807\u5b9a\u4f4d\u548c\u5206\u7c7b \u63a2\u6d4b\u5668\uff09\u7c7b\u4f3c\u7684\u67b6\u6784\u3002 \u4e3a\u4e86\u66f4\u597d\u5730\u533a\u5206\u524d\u666f\u70b9\u548c\u80cc\u666f\uff0cCenterPoint \u63d0\u53d6\u5173\u952e\u70b9\u7279\u5f81\u4ee5\u4ece\u76ee\u6807\u7684\u4e2d\u5fc3\u70b9\u9884\u6d4b 3D \u8fb9\u754c\u6846\uff0c\u800c IA-SSD\u5229\u7528 SSD \u67b6\u6784\u7684\u5b9e\u4f8b\u611f\u77e5\u7279\u5f81\u8fdb\u884c 3D \u76ee\u6807\u68c0\u6d4b\u3002 \u57fa\u4e8e\u4f53\u7d20\u7684\u68c0\u6d4b\u5668\u662f\u4e00\u79cd\u6709\u6548\u7684\u8303\u4f8b\uff0c\u5176\u4e2d 3D \u70b9\u7a7a\u95f4\u9996\u5148\u88ab\u79bb\u6563\u5316\u4e3a\u89c4\u5219\u7f51\u683c\uff0c\u7136\u540e\u5f15\u5165\u5377\u79ef\u7f51\u7edc\u6765\u5904\u7406\u6bcf\u4e2a\u4f53\u7d20\u5185\u7f16\u7801\u7684\u7ec6\u7c92\u5ea6\u7279\u5f81\u3002 \u4f5c\u4e3a\u5f00\u521b\u6027\u5de5\u4f5c\uff0cVoxelNet\u8bbe\u8ba1\u4e86\u5806\u53e0\u4f53\u7d20\u7279\u5f81\u7f16\u7801\uff08VFE\uff09\u5c42\u6765\u8fdb\u884c\u9010\u70b9\u4fe1\u606f\u63d0\u53d6\uff0c\u7136\u540e\u5229\u7528 3D \u5377\u79ef\u8fdb\u884c\u5c40\u90e8\u4e2d\u95f4\u7279\u5f81\u805a\u5408\u3002 \u4e3a\u4e86\u52a0\u5feb\u63a8\u7406\u901f\u5ea6\uff0cSECOND \u5f00\u53d1\u4e86 3D \u7a00\u758f\u5377\u79ef\u6765\u8fdb\u884c\u9ad8\u6548\u4f53\u7d20\u7279\u5f81\u7f16\u7801\uff0c\u800c PointPillars\u5c06\u70b9\u4e91\u6298\u53e0\u4e3a 2D \u8868\u793a\u5e76\u4f7f\u7528\u7a00\u758f\u5377\u79ef\u4e3b\u5e72\u3002 \u53d7 2D Faster RCNN \u601d\u60f3\u7684\u542f\u53d1\uff0cDeng et al.\u63d0\u51fa\u4e86\u4e00\u79cd\u540d\u4e3a Voxel RCNN \u7684\u4e24\u9636\u6bb5 3D \u68c0\u6d4b\u6846\u67b6\uff0c\u5728\u7cbe\u5ea6\u548c\u6548\u7387\u4e4b\u95f4\u5177\u6709\u66f4\u597d\u7684\u6743\u8861\uff0c\u9996\u5148\u751f\u6210\u7c97\u7565\u7684 3D \u5019\u9009\u63a8\u8350\uff0c\u5e76\u5728\u7b2c\u4e8c\u9636\u6bb5\u901a\u8fc7\u4f53\u7d20 RoI \u6c60\u5316\u5c42\u6267\u884c\u6846\u7ec6\u5316\u3002 \u6b64\u5916\uff0cCAGroup3D\u63a2\u7d22\u5168\u5377\u79ef3D\u6c60\u5316\u6765\u589e\u5f3a\u6bcf\u4e2a\u63a8\u8350\u6846\u5185\u7684\u4e3b\u5e72\u7279\u5f81\uff0c\u8ffd\u6c42\u6700\u7ec8\u7684\u68c0\u6d4b\u6027\u80fd\u3002 \u5c06\u9010\u70b9\u7279\u5f81\u4e0e\u4f53\u7d20\u7279\u5f81\u7ed3\u5408\u8d77\u6765\u8fdb\u884c 3D \u76ee\u6807\u68c0\u6d4b\u7684\u7814\u7a76\u6700\u8fd1\u6210\u4e3a\u4e00\u4e2a\u70ed\u70b9\u95ee\u9898\u3002 STD\u9075\u5faa\u7a00\u758f\u5230\u5bc6\u96c6\u7684\u68c0\u6d4b\u8303\u5f0f\uff0c\u8be5\u8303\u5f0f\u901a\u8fc7\u65b0\u9896\u7684\u7403\u5f62\u951a\u4ece\u539f\u59cb\u70b9\u83b7\u5f97\u51c6\u786e\u7684\u63a8\u8350\uff0c\u5e76\u901a\u8fc7\u70b9\u6c60\u5316\u4ece\u7a00\u758f\u70b9\u8868\u8fbe\u751f\u6210\u7d27\u51d1\u7684\u8868\u793a\u3002 PV-RCNN\u4f7f\u7528\u4f53\u7d20\u96c6\u62bd\u8c61\u6a21\u5757\u5c063D\u573a\u666f\u6982\u62ec\u4e3a\u4e00\u7ec4\u5173\u952e\u70b9\uff0c\u5e76\u901a\u8fc7RoI\u7f51\u683c\u6c60\u5316\u5c06\u7279\u5b9a\u4e8e\u63a8\u8350\u7684\u7279\u5f81\u62bd\u8c61\u4e3a\u5bc6\u96c6\u7f51\u683c\u3002 \u6b64\u5916\uff0cPV-RCNN++\u5f15\u5165\u4e86\u4f4d\u7f6e\u654f\u611f\u878d\u5408\u6a21\u5757\uff0c\u7528\u4e8e\u70b9\u4e91\u548c\u4f53\u7d20\u7f51\u683c\u4e0a\u7684\u7279\u5f81\u589e\u5f3a\u3002 Part-A2 Net\u7531\u90e8\u5206\u611f\u77e5\u548c\u90e8\u5206\u805a\u5408\u9636\u6bb5\u7ec4\u6210\uff0c\u524d\u8005\u65e8\u5728\u751f\u6210\u5177\u6709\u76ee\u6807\u5185\u90e8\u5206\u4f4d\u7f6e\u7684\u9ad8\u8d28\u91cf\u63a8\u8350\uff0c\u800c\u540e\u8005\u5728\u6c60\u5316\u540e\u6839\u636e\u7a7a\u95f4\u4f4d\u7f6e\u5173\u7cfb\u8fdb\u884c\u6846\u7ec6\u5316\u3002 SE-SSD\u91c7\u7528\u4e00\u5bf9teacher\u548cstudent\u68c0\u6d4b\u5668\uff0c\u91c7\u7528\u6709\u6548\u7684\u57fa\u4e8e IoU \u7684\u5339\u914d\u7b56\u7565\u548c\u4e00\u81f4\u6027 ODIoU \u635f\u5931\u6765\u63d0\u9ad8\u6027\u80fd\u3002 \u6b64\u5916\uff0cNoh et al.\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684 HVPR \u67b6\u6784\uff0c\u5b83\u5c06\u57fa\u4e8e\u70b9\u548c\u57fa\u4e8e\u4f53\u7d20\u7684\u7279\u5f81\u96c6\u6210\u5230\u5355\u4e2a 3D \u8868\u793a\u4e2d\uff0c\u5e76\u8bbe\u8ba1\u4e86\u7ec6\u5fc3\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u6a21\u5757\uff0c\u4ee5\u4ece\u7a00\u758f\u548c\u4e0d\u89c4\u5219\u7684\u70b9\u6a21\u5f0f\u4e2d\u5b66\u4e60\u5c3a\u5ea6\u611f\u77e5\u4fe1\u606f\u3002 \u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u91c7\u7528 PointPillars \u4f5c\u4e3a\u5355\u8f66 LiDAR \u9aa8\u5e72\u7f51\uff0c\u4ee5\u5b9e\u73b0\u6548\u7387\u548c\u7cbe\u5ea6\u4e4b\u95f4\u7684\u6743\u8861\u3002<\/p>\n

    B. \u76f8\u673a-LiDAR 3D \u7269\u4f53\u68c0\u6d4b<\/h4>\n

    \u76f8\u673a-LiDAR\u878d\u5408\u611f\u77e5\u6700\u8fd1\u5c55\u793a\u4e86\u5176\u4f18\u8d8a\u6027\u5e76\u5f15\u8d77\u4e863D\u68c0\u6d4b\u7684\u5e7f\u6cdb\u5173\u6ce8<\/strong>\uff0c\u5b83\u5f25\u8865\u4e86\u4ec5\u6fc0\u5149\u96f7\u8fbe\u65b9\u6cd5\u7684\u7a00\u758f\u6027\u3001\u4e0d\u786e\u5b9a\u6027\u548c\u8bed\u4e49\u788e\u7247\u5316\u3002 \u5728\u6ca1\u6709\u590d\u6742\u7684\u4f2a\u6fc0\u5149\u96f7\u8fbe\u751f\u6210\u8fc7\u7a0b\u7684\u60c5\u51b5\u4e0b\uff0cPointpainting\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u987a\u5e8f\u7684\u878d\u5408\u673a\u5236\uff0c\u9996\u5148\u7528\u56fe\u50cf\u5206\u5272\u7f51\u7edc\u4ea7\u751f\u7684\u50cf\u7d20\u7ea7\u8bed\u4e49\u5f97\u5206\u6765\u4fee\u9970\u539f\u59cb\u70b9\u4e91\uff0c\u7136\u540e\u5c06\u5b83\u4eec\u653e\u5165\u4efb\u4f55\u4ec5\u6fc0\u5149\u96f7\u8fbe\u6d41\u7a0b\u4e2d\u3002 3D-CVF\u5c06\u5bc6\u96c6\u7684\u76f8\u673a\u4f53\u7d20\u6295\u5f71\u5230 BEV \u5e73\u9762\u4e0a\uff0c\u5e76\u901a\u8fc7\u81ea\u9002\u5e94\u95e8\u63a7\u6ce8\u610f\u529b\u56fe\u8fde\u63a5\u6bcf\u4e2a\u6a21\u6001\u3002 \u6b64\u5916\uff0cChen et al.\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u900f\u89c6\u5bf9\u9f50\u800c\u4e0d\u662f\u56fa\u6709\u7684\u6295\u5f71\u77e9\u9635\u5efa\u7acb\u50cf\u7d20-\u4f53\u7d20\u89c6\u56fe\u5173\u8054\uff0c\u7075\u6d3b\u5730\u5b9e\u73b0\u5f02\u6784\u8868\u793a\u7684\u4e00\u81f4\u6027\u3002\u6700\u8fd1\uff0cTransfusion\u9996\u6b21\u5c1d\u8bd5\u5c06transformer\u5f15\u5165\u76f8\u673a LiDAR 3D\u68c0\u6d4b\u4e2d\uff0c\u56e0\u4e3a\u5b83\u5728\u8fdc\u7a0b\u4f9d\u8d56\u5efa\u6a21\u65b9\u9762\u5177\u6709\u4f18\u8d8a\u6027\u3002\u5b83\u5e94\u7528\u4e24\u4e2a\u987a\u5e8f\u89e3\u7801\u5668\u5c42\u5c06\u76ee\u6807\u67e5\u8be2\u4e0e BEV \u5e73\u9762\u4e0a\u7684\u7c97\u7565 LiDAR \u548c\u7cbe\u7ec6\u589e\u76ca\u56fe\u50cf\u7279\u5f81\u8f6f\u5173\u8054\uff0c\u9010\u6b65\u589e\u5f3a\u611f\u77e5\u6027\u80fd\u3002 \u7c7b\u4f3c\u5730\uff0cUVTR\u901a\u8fc7\u57fa\u4e8etransformer\u7684\u89e3\u7801\u5668\u548c\u6982\u7387\u6df1\u5ea6\u5206\u5e03\u5c06\u56fe\u50cf\u7279\u5b9a\u7a7a\u95f4\u6269\u5c55\u5230\u4f53\u7d20\uff0c\u5e76\u8fdb\u4e00\u6b65\u901a\u8fc7\u77e5\u8bc6\u8fc1\u79fb\u8fdb\u884c\u4ea4\u53c9\u6ce8\u610f\u7279\u5f81\u4ea4\u4e92\u3002 BEVFusion\u5c06\u591a\u6a21\u6001\u6d41\u8f6c\u6362\u4e3a\u89c4\u8303\u5750\u6807\uff0c\u5e76\u91c7\u7528\u52a8\u6001\u878d\u5408\u7b56\u7565\u6765\u9632\u6b62 LiDAR \u6545\u969c\u9020\u6210\u7684\u6545\u969c\u60c5\u51b5\u3002 \u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u7684\u76ee\u6807\u662f\u4e00\u79cd\u7b80\u5355\u800c\u4f18\u96c5\u7684\u50cf\u7d20\u70b9\u878d\u5408\u8303\u5f0f\uff0c\u5176\u4e2d\u5f02\u6784\u7279\u5f81\u53ef\u4ee5\u8f6c\u6362\u4e3a\u7edf\u4e00\u7684\u8868\u793a\uff0c\u5e76\u4e14\u4e24\u4e2a BEV \u56fe\u4ee5\u81ea\u9002\u5e94\u805a\u5408\u7684\u65b9\u5f0f\u6295\u5f71\u5230\u4e0e\u9ad8\u5ea6\u65e0\u5173\u7684\u81ea\u8f66\u5e73\u9762\u4e0a\u3002<\/p>\n

    C. \u8f66\u4e0e\u8f66\u534f\u540c\u611f\u77e5<\/h4>\n

    \u8f66\u8f86\u5bf9\u8f66\u8f86\uff08V2V\uff09\u534f\u540c\u611f\u77e5\u6700\u8fd1\u968f\u7740\u5148\u8fdb\u7684\u8f66\u8f86\u901a\u4fe1\u548c\u4fe1\u606f\u878d\u5408\u800c\u51fa\u73b0\uff0c\u4ece\u800c\u4e3a\u7f13\u89e3\u5355\u667a\u80fd\u4f53\u68c0\u6d4b\u5e26\u6765\u7684\u8d85\u89c6\u8ddd\u548c\u76f2\u70b9\u6311\u6218\u63d0\u4f9b\u4e86\u6709\u6548\u7684\u89e3\u51b3\u65b9\u6848\u3002 \u603b\u4f53\u800c\u8a00\uff0c\u8be5\u6d41\u7a0b\u5c06\u6765\u81ea\u8054\u7f51\u81ea\u52a8\u8f66\u8f86\uff08CAV\uff09\u7684\u591a\u89c6\u56fe\u5468\u56f4\u611f\u77e5\u6570\u636e\u4e0e\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u89c2\u5bdf\u76f8\u7ed3\u5408\uff0c\u4ee5\u4fc3\u8fdb\u5168\u5c40\u611f\u77e5\u80fd\u529b\uff0c\u5e76\u4e14\u6839\u636e\u4e0d\u540c\u7684\u5408\u4f5c\u9636\u6bb5\uff0c\u5148\u524d\u7684\u5de5\u4f5c\u53ef\u4e3b\u8981\u5206\u4e3a\u65e9\u671f\u3001 \u4e2d\u671f\u548c\u540e\u671f\u534f\u540c\u3002 Cooper\u4e3b\u8981\u5171\u4eab\u591a\u5206\u8fa8\u7387 LiDAR \u70b9\uff0c\u5e76\u5c06\u81ea\u5df1\u7684\u7a00\u758f\u8868\u793a\u6295\u5f71\u5230\u7d27\u51d1\u7684\u7a7a\u95f4\u4e2d\uff0c\u7136\u540e\u4f7f\u7528\u7a00\u758f\u70b9\u4e91\u76ee\u6807\u68c0\u6d4b\uff08SPOD\uff09\u7f51\u7edc\u6765\u9002\u5e94\u4f4e\u5bc6\u5ea6\u70b9\u4e91\u3002 \u7136\u800c\uff0c\u5b83\u5728\u65e9\u671f\u878d\u5408\u65b9\u5f0f\u4e2d\u5bfc\u81f4\u4e86\u96be\u4ee5\u627f\u53d7\u7684\u8ba1\u7b97\u5f00\u9500\u3002 \u76f8\u53cd\uff0c\u540e\u671f\u878d\u5408\u65b9\u6cd5\u7ed3\u5408\u4e86\u6765\u81ea\u4e0d\u540c\u8f66\u8f86\u7684\u72ec\u7acb\u9884\u6d4b\uff0c\u5e76\u8fdb\u884c\u63a8\u8350\u7ec6\u5316\u4ee5\u4ea7\u751f\u6700\u7ec8\u7ed3\u679c\u3002 Hurl et al.\u5f15\u5165\u4e86\u7528\u4e8e\u5b89\u5168\u6d88\u606f\u9009\u62e9\u7684\u4fe1\u4efb\u673a\u5236\uff0c\u5e76\u96c6\u6210\u4e86\u4e00\u79cd\u65b0\u9896\u7684 TruPercept \u6839\u636e\u4e00\u81f4\u6027\u5f97\u5206\u91cd\u65b0\u52a0\u6743\u8f93\u51fa\u3002 \u7136\u800c\uff0c\u7531\u4e8e\u8fc7\u5ea6\u4f9d\u8d56\u4e2a\u4f53\u9884\u6d4b\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5f88\u5bb9\u6613\u51fa\u73b0\u4e0d\u4ee4\u4eba\u6ee1\u610f\u7684\u7ed3\u679c\u3002 \u4e3a\u4e86\u5728\u611f\u77e5\u7cbe\u5ea6\u548c\u63a8\u7406\u5ef6\u8fdf\u4e4b\u95f4\u8fdb\u884c\u6743\u8861\uff0c\u76f8\u90bb\u8f66\u8f86\u4e4b\u95f4\u7684\u4e2d\u95f4\u7279\u5f81\u878d\u5408\u5df2\u88ab\u5e7f\u6cdb\u63a2\u7d22\uff0c\u4ee5\u8ffd\u6c42\u826f\u597d\u7684\u6027\u80fd\u589e\u76ca\u3002 Wang et al. \u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u56fe\u7684\u65b9\u6cd5\uff0c\u901a\u8fc7\u5377\u79ef\u95e8\u63a7\u5faa\u73af\u5355\u5143\uff08ConvGRU\uff09\u8fed\u4ee3\u6355\u83b7\u548c\u66f4\u65b0\u6bcf\u8f86\u8f66\u7684\u5730\u7406\u4fe1\u606f\u3002 \u4e3a\u4e86\u5f3a\u8c03\u4ee3\u7406\u7684\u91cd\u8981\u6027\uff0cDiscoNet\u901a\u8fc7\u8fb9\u7f18\u6743\u91cd\u77e9\u9635\u4e22\u5f03\u8f66\u8f86\u4e4b\u95f4\u9ad8\u5ea6\u76f8\u4f3c\u7684\u50cf\u7d20\uff0c\u5e76\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\u6784\u5efa\u6574\u4f53\u51e0\u4f55\u62d3\u6251\u3002 \u4e3a\u4e86\u6a21\u62df\u73b0\u5b9e\u4e16\u754c\u4e2d\u4f20\u8f93\u5ef6\u8fdf\u7684\u5f71\u54cd\uff0cLiu et al.\u63d0\u51fa\u4e86\u4e00\u4e2a\u4e09\u6b65\u63e1\u624b\u901a\u4fe1\u534f\u8bae\uff0c\u5305\u62ec\u8bf7\u6c42\u3001\u5339\u914d\u548c\u8fde\u63a5\uff0c\u786e\u5b9a\u4e0e\u54ea\u4e2a\u534f\u540c\u8005\u4ea4\u4e92\u3002 \u6b64\u5916\uff0cLiu et al.\u8003\u8651\u4e86\u4e00\u79cd\u53ef\u5b66\u4e60\u7684\u81ea\u6211\u6ce8\u610f\u673a\u5236\u6765\u63a8\u65ad\u81ea\u6211\u4ee3\u7406\u662f\u5426\u8fdb\u884c\u989d\u5916\u7684\u901a\u4fe1\u4ee5\u83b7\u5f97\u66f4\u591a\u4fe1\u606f\u3002 Hu et al.\u5f00\u53d1\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7a00\u758f\u7f6e\u4fe1\u56fe\u6765\u63a9\u76d6\u7279\u5f81\u538b\u7f29\u7684\u65e0\u5173\u7d27\u8981\u5143\u7d20\u3002 \u4f5c\u4e3a\u8f66\u8f7d\u6444\u50cf\u5934\u7684\u7ec6\u7c92\u5ea6\u548c\u5bc6\u96c6\u9884\u6d4b\uff0cXu et al.\u7814\u7a76\u4e86 BEV \u5e73\u9762\u4e0b\u7684\u4ec5\u76f8\u673a\u5730\u56fe\u9884\u6d4b\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u5229\u7528\u65b0\u9896\u7684\u878d\u5408\u8f74\u5411\uff08FAX\uff09\u6ce8\u610f\u6765\u91cd\u5efa\u5730\u5e73\u9762\u4e0a\u7684\u52a8\u6001\u573a\u666f\u3002 \u5c3d\u7ba1\u4e0a\u8ff0\u7b97\u6cd5\u53d6\u5f97\u4e86\u663e\u7740\u7684\u6027\u80fd\uff0c\u4f46\u5b83\u4eec\u4e3b\u8981\u5173\u6ce8\u5c40\u90e8\u533a\u57df\u4e2d CAV \u4e4b\u95f4\u7684\u7a7a\u95f4\u76f8\u5173\u6027\uff0c\u800c\u6ca1\u6709\u7528\u4e8e\u91cd\u53e0\u8bed\u4e49\u7ec6\u5316\u7684\u5168\u5c40\u7279\u5f81\u4ea4\u4e92\u3002 \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u5c1d\u8bd5\u8bbe\u8ba1\u4e00\u79cd\u540d\u4e3a V2VFormer++ \u7684\u65b0\u578b\u4e2d\u95f4\u7279\u5f81\u534f\u4f5c\uff0c\u5b83\u663e\u5f0f\u5730\u6355\u83b7\u6bcf\u8f86\u8f66\u4e4b\u95f4\u7684\u5168\u5c40\u54cd\u5e94\uff0c\u5e76\u4e14\u81ea\u6211\u7f51\u7edc\u5bf9\u5229\u7528\u57fa\u4e8e\u53d8\u538b\u5668\u7684\u64cd\u4f5c\u4ee5\u4f4d\u7f6e\u65b9\u5f0f\u5173\u6ce8\u5c40\u90e8\u5224\u522b\u7279\u5f81\u3002<\/p>\n

    <\/p>\n

    \u56fe1 \u534f\u540c\u611f\u77e5\u7684\u4f18\u52bf\u3002 \u5de6\u8fb9\u3002 \u6c7d\u8f66\u5728\u8def\u53e3\u884c\u9a76\u65f6\u672a\u80fd\u63d0\u524d\u611f\u77e5\u516c\u5171\u8f66\u8f86\uff08PV\uff09\u7684\u6f5c\u5728\u5a01\u80c1\u3002 \u501f\u52a9\u8054\u7f51\u81ea\u52a8\u8f66\u8f86\uff08CAV\uff09\uff0c\u53ef\u4ee5\u5c06\u6574\u4f53\u89c6\u56fe\u4fe1\u606f\u4f20\u8f93\u5230\u81ea\u8f66\uff08Ego\uff09\uff0c\u4ee5\u89c4\u907f\u76f2\u70b9\u533a\u57df\u7684\u4ea4\u901a\u51b2\u7a81\u3002 \u53f3\u8fb9\u3002 \u68c0\u6d4b\u7ed3\u679c\u5728\u9e1f\u77b0\uff08BEV\uff09\u7a7a\u95f4\u4e2d\u53ef\u89c6\u5316\u3002<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    \u56fe2. V2VFormer++\u67b6\u6784\u56fe\u3002 \u5bf9\u4e8e\u6bcf\u8f86\u8f66\uff0c\u91c7\u7528\u5177\u6709\u7279\u5b9a\u6a21\u6001backbone<\/strong>\u7684\u53cc\u6d41\u7f51\u7edc\u5728 BEV \u5e73\u9762\u4e2d\u8fdb\u884c\u76f8\u673a-LiDAR \u7279\u5f81\u63d0\u53d6\uff08\u4f7f\u7528\u7a00\u758f\u4ea4\u53c9\u6ce8\u610f SCA \u6a21\u5757\u8fdb\u884c\u76f8\u673a-\u89c6\u56fe\u53d8\u6362\uff09\uff0c\u5e76\u8bbe\u8ba1\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u4ee5\u5b9e\u73b0\u7cbe\u7ec6 – \u7c92\u5ea6\u50cf\u7d20\u70b9\u805a\u5408\u3002 \u7ed9\u5b9a\u591a\u6a21\u6001BEV\u56fe\uff0c\u8fdb\u884c\u6570\u636e\u538b\u7f29\u548c\u5171\u4eab\u4ee5\u751f\u6210\u4e00\u7ec4\u5728\u81ea\u8f66-\u5750\u6807\u5904\u7684\u7279\u5f81\u56fe\u3002 \u968f\u540e\uff0c\u63d0\u51fa\u4e86\u5168\u5c40-\u5c40\u90e8transformer\u534f\u540c\u7b56\u7565\uff0c\u7528\u4e8e\u76f8\u90bb CAV \u4e4b\u95f4\u7684\u901a\u9053\u8bed\u4e49\u63a2\u7d22\u548c\u7a7a\u95f4\u76f8\u5173\u5efa\u6a21\u3002 \u6700\u540e\uff0c\u5c06\u591a\u8f66\u8f86\u878d\u5408\u56fe\u00a0\u00a0\u8f93\u5165\u5230\u9884\u6d4b\u5934\u4e2d\u4ee5\u8fdb\u884c\u76ee\u6807\u5206\u7c7b\u548c\u5b9a\u4f4d\u56de\u5f52\u3002<\/p>\n

    \u65b9\u6cd5\u7684\u6574\u4f53\u8bbe\u8ba1<\/h3>\n

    \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u4ecb\u7ecd\u6240\u63d0\u51fa\u7684\u591a\u6a21\u6001\u8f66\u5bf9\u8f66\u534f\u540c\u611f\u77e5\u6846\u67b6V2VFormer++\u3002 \u5982\u56fe2\u6240\u793a\uff0c\u6574\u4f53\u67b6\u6784\u4e3b\u8981\u5305\u542b\u56db\u4e2a\u90e8\u5206\uff1a\uff081\uff09\u7528\u4e8e\u591a\u89c6\u56fe\u76f8\u673a\u548cLiDAR\u70b9\u7279\u5f81\u63d0\u53d6\u7684\u6a21\u6001\u7279\u5b9abackbone\uff1b (2)\u50cf\u7d20\u70b9\u878d\u5408\u6a21\u5757\uff0c\u7528\u4e8e\u81ea\u9002\u5e94\u5730\u805a\u5408\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\uff1b \uff083\uff09\u5177\u6709\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7684\u4fe1\u606f\u533a\u57df\u7684\u5168\u5c40\u5c40\u90e8transformer\uff1b (4)\u7528\u4e8e\u4ea7\u751f\u76ee\u6807\u5b9a\u4f4d\u548c\u5206\u7c7b\u5206\u6570\u7684\u9884\u6d4b\u5934\u3002<\/p>\n

    <\/p>\n

    \u56fe3 \u6839\u636e\u76f8\u673a\u7279\u5f81\u751f\u6210BEV\u5730\u56fe\u7684\u793a\u610f\u56fe\u3002 BEV \u5730\u56fe\u00a0\u00a0\u7531\u4e00\u7ec4\u4ece\u4e16\u754c\u5750\u6807\u91c7\u6837\u7684 X-Y \u7f51\u683c\u521d\u59cb\u5316\u3002 \u540c\u65f6\uff0c\u5229\u7528\u6ed1\u52a8\u7a97\u53e3\u91c7\u6837\u65b9\u6cd5\u5c06BEV\u548c\u591a\u5c3a\u5ea6\u76f8\u673a\u56fe\u00a0\u5212\u5206\u4e3a\u66f4\u5c0f\u7684\u6bd4\u4f8b\u3002 \u7ebf\u6027\u6295\u5f71\u540e\uff0c\u67e5\u8be2\uff08\uff09\u3001\u952e\uff08\uff09\u548c\u503c\uff08\uff09\u5d4c\u5165\u88ab\u8f93\u5165\u7a00\u758f\u4ea4\u53c9\u6ce8\u610f\uff08SCA\uff09\u6a21\u5757\u4ee5\u8fdb\u884c\u8fed\u4ee3 BEV \u6620\u5c04\u66f4\u65b0\u3002<\/p>\n

    <\/p>\n

    \u56fe4 \u52a8\u6001\u4fe1\u9053\u878d\u5408(DCF)\u793a\u610f\u56fe\u3002 \u7ed9\u5b9a\u76f8\u673a-LiDAR BEV \u5730\u56fe\u00a0\u00a0\u548c\u00a0\uff0cDCF \u4ee5\u5143\u7d20\u65b9\u5f0f\u5c06\u5b83\u4eec\u8fde\u63a5\u8d77\u6765\uff0c\u5e76\u91c7\u7528 3 \u00d7 3 \u5377\u79ef\u6765\u63a2\u7d22\u6709\u4ef7\u503c\u7684\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\u3002 \u7ecf\u8fc7\u5168\u5c40\u5e73\u5747\u6c60\u5316\u7b97\u5b50\u548c MLP\uff08\u7531 1 \u00d7 1 \u5377\u79ef\u5b9e\u73b0\uff09\u540e\uff0csigmoid \u51fd\u6570 \u03b4(\u00b7) \u4ea7\u751f\u901a\u9053\u7279\u5f81\u91cd\u65b0\u52a0\u6743\u7684\u6fc0\u6d3b\u6982\u7387\u3002 \u7ed3\u679c\uff0c\u4ece\u6bcf\u4e2a\u5355\u89c6\u56fe\u7f16\u7801\u5668\u6a21\u5757\u751f\u6210\u591a\u6a21\u6001\u878d\u5408\u56fe<\/p>\n

    A. \u7279\u5b9a\u6a21\u6001\u7684backbone<\/h4>\n

    \u4e3a\u4e86\u4fc3\u8fdb\u4e0d\u540c\u6a21\u6001\u7684\u6709\u6548\u7279\u5f81\u5b66\u4e60\uff0c\u6211\u4eec\u91c7\u7528\u7279\u5b9a\u4e8e\u6a21\u6001\u7684backbone\u6765\u8fdb\u884c\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u63d0\u53d6\u3002 \u5bf9\u4e8e\u5355\u4e2a\u8f66\u8f86\uff0c\u7ed9\u5b9a\u4e00\u7ec4\u73af\u89c6\u56fe\u50cf\u00a0\uff0cResNet \u98ce\u683c\u7684backbone\u7f51\u7edc\u88ab\u7528\u4e8e\u4ece\u76f8\u673a\u56fe\u50cf\u4e2d\u8fdb\u884c\u5168\u9762\u7684\u7279\u5f81\u5b66\u4e60\uff0c\u5176\u4e2d\u5305\u542b\u51e0\u4e2astrided\u7684 3 \u00d7 3 \u5377\u79ef\u5c42\uff0c\u540e\u9762\u662f\u6279\u5f52\u4e00\u5316\uff08BN\uff09\u548c\u4fee\u6b63\u7ebf\u6027\u5355\u5143\uff08ReLU\uff09\u3002 \u6b64\u5916\uff0cshortcut\u8fde\u63a5\u4e5f\u662f\u75281\u00d71\u5377\u79ef\u6784\u5efa\u7684\uff0c\u4ece\u800c\u5b9e\u73b0\u7a33\u5b9a\u7684\u68af\u5ea6\u4f20\u64ad\u548c\u4fe1\u606f\u4f20\u9012\u3002 \u8fd9\u6837\uff0c\u76f8\u673a\u5206\u652f\u4ea7\u751f\u591a\u5c3a\u5ea6\u7279\u5f81\u56fe\u00a0\uff0c\u5176\u4e2d\u00a0\u8868\u793a\u4e0d\u540c\u5206\u8fa8\u7387\u4e0b\u7279\u5f81\u56fe\u7684\u9ad8\u5ea6\u3001\u5bbd\u5ea6\u548c\u901a\u9053\u6570\uff0cn\u662f\u7279\u5f81\u5c3a\u5ea6\u7684\u6570\u91cf\u3002<\/p>\n

    \u5148\u524d\u5173\u4e8e\u4ece\u900f\u89c6\u5230\u9e1f\u77b0\uff08BEV\uff09\u7a7a\u95f4\u7684\u7a7a\u95f4\u6295\u5f71\u7684\u5de5\u4f5c\u660e\u786e\u5730\u901a\u8fc7\u76f8\u673a\u5185\u5728\u548c\u5916\u5728\u53c2\u6570\u8fdb\u884c\u6df1\u5ea6\u4f30\u8ba1\uff0c\u7136\u800c\uff0c\u7279\u5f81\u6a21\u7cca\u548c\u4e0d\u51c6\u786e\u7684\u5bf9\u5e94\u53cd\u800c\u4e0d\u53ef\u907f\u514d\u5730\u635f\u5bb3\u4e86\u6700\u7ec8\u7684\u6027\u80fd\u3002 \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u4e3b\u8981\u4ece\u4e16\u754c\u5750\u6807\u4e2d\u91c7\u6837\u4e00\u7ec4X-Y\u5e73\u9762\u4e0a\u7684\u7f51\u683c\uff0c\u7136\u540e\u5c06\u5b83\u4eec\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\u4e0a\uff0c\u5f62\u6210\u611f\u77e5\u8303\u56f4\u5185\u7684BEV\u56fe\uff0c\u5982\u56fe3\u6240\u793a\u3002 \u4e3a\u4e86\u5229\u7528\u6df1\u5ea6\u4fe1\u606f \u6839\u636e\u5404\u79cd\u76f8\u673a\u8bbe\u7f6e\uff0c\u91c7\u7528\u65b0\u9896\u7684\u7a00\u758f\u4ea4\u53c9\u6ce8\u610f\uff08SC A\uff09\u6a21\u5757\u6765\u5b9e\u73b0\u6b63\u9762\u56fe\u50cf\u548c BEV \u8868\u793a\u4e4b\u95f4\u7684\u7279\u5f81\u4ea4\u4e92\u3002 \u5177\u4f53\u6765\u8bf4\uff0c\u9996\u5148\u5229\u7528\u81ea\u9002\u5e94\u6ed1\u52a8\u7a97\u53e3\u91c7\u6837\u7b56\u7565\u5c06\u591a\u5c3a\u5ea6\u7279\u5f81\u00a0\u00a0\u548c BEV\u00a0\u00a0\u6620\u5c04\u7684\u5206\u8fa8\u7387\u5212\u5206\u4e3a\u8f83\u5c0f\u7684\u6bd4\u4f8b\uff0c\u5e76\u5177\u6709\u53ef\u627f\u53d7\u7684\u8ba1\u7b97\u5f00\u9500\u3002 \u7ed9\u5b9a\u7a97\u53e3\u5927\u5c0f\u00a0\u00a0\u548c\u00a0\uff0c\u5f97\u5230\u7684\u7279\u5f81\u5757\u548c BEV \u7f51\u683c\u5206\u522b\u8868\u793a\u4e3a\u00a0\u00a0\u548c\u00a0\u00a0\u3002 \u901a\u8fc7\u72ec\u7acb\u7684\u7ebf\u6027\u6295\u5f71\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u4ece\u4e24\u4e2a\u5206\u533a\u5e8f\u5217\u751f\u6210\u67e5\u8be2 Qbev\u3001\u952e Kcam \u548c\u503c Vcam\uff0c\u7136\u540e\u901a\u8fc7\u4f4d\u7f6e\u5d4c\u5165\u6765\u7a81\u51fa\u663e\u793a\u7a7a\u95f4\u4fe1\u606f\u3002 \u56e0\u6b64\uff0c\u7a00\u758f\u4ea4\u53c9\u6ce8\u610f\u8fc7\u7a0b\u53ef\u4ee5\u5728\u6570\u5b66\u4e0a\u63cf\u8ff0\u4e3a\u7b49\u5f0f1-4\uff1a<\/p>\n

    <\/p>\n

    <\/p>\n

    \u5176\u4e2dLinear(\u00b7)\u662f\u5177\u6709\u5168\u8fde\u63a5\u5c42\u7684\u7ebf\u6027\u6295\u5f71\uff0cMulti Head(\u00b7)\u662f\u591a\u5934\u81ea\u6ce8\u610f\u529b\u5c42\uff0cConcate[\u00b7]\u662f\u9010\u5143\u7d20\u7279\u5f81\u8fde\u63a5\uff0c\u03c3(\u00b7)\u662fsoftmax\u51fd\u6570 \uff0ch \u662f\u5934\u6570\uff0cF F N(\u00b7) \u5b9a\u4e49\u4e86\u7528\u591a\u5c42\u611f\u77e5\u673a\u5b9e\u73b0\u7684\u524d\u9988\u7f51\u7edc\uff0cL N(\u00b7) \u662f\u5c42\u5f52\u4e00\u5316[55]\u3002\u6211\u4eec\u8fdb\u884c\u4e86\u4e09\u4e2a SCA \u5757\u4ee5\u8fdb\u884c\u5206\u5c42\u7279\u5f81\u805a\u5408\u548c\u7a7a\u95f4\u76f8\u5173\u6027 \u5efa\u6a21\uff0c\u6700\u7ec8\u56fe\u50cfBEV\u56fe\u53ef\u8868\u793a\u4e3a\u3002<\/p>\n

    \u5bf9\u4e8e LiDAR \u5206\u652f\uff0c\u6211\u4eec\u91c7\u7528 PointPillars [27] backbone\u8fdb\u884c\u70b9\u7279\u5f81\u63d0\u53d6\u3002 \u5c06\u539f\u59cb\u70b9\u4e91\u8868\u793a\u4e3a\u00a0\uff0c\u5176\u4e2d\u00a0\u548c\u00a0\u00a0\u5206\u522b\u4ee3\u8868\u7a7a\u95f4\u5750\u6807\u3001\u53cd\u5c04\u7387\u548c\u70b9\u7684\u6570\u91cf\uff0c\u5f62\u6210\u5177\u6709\u76f8\u5e94\u7d22\u5f15\u7684\u5806\u53e0\u67f1\u5f20\u91cf\uff0c\u5e76\u4e14\u6211\u4eec\u5229\u7528\u7b80\u5355\u7684 PointNet [21] \u67b6\u6784\u8fdb\u884c\u67f1\u7279\u5f81\u63d0\u53d6\u3002 \u4e3a\u4e86\u751f\u6210\u4f2a BEV \u56fe\u50cf\uff0c\u8fd9\u4e9b\u7279\u5f81\u88ab\u8fdb\u4e00\u6b65\u5206\u6563\u56de X-Y \u5e73\u9762\uff0c\u5e76\u5f15\u5165 2D CNN backbone\uff0c\u7528\u4e8e\u5c06\u591a\u5206\u8fa8\u7387\u56fe\u5408\u5e76\u4e3a\u5bc6\u96c6 LiDAR BEV \u7279\u5f81\u00a0\u3002<\/p>\n

    B. \u50cf\u7d20\u70b9\u878d\u5408\u6a21\u5757<\/h4>\n

    \u7ed9\u5b9a\u4e0e\u6a21\u6001\u65e0\u5173\u7684 BEV \u8868\u793a\u00a0\u00a0\u548c\u00a0\uff0c\u4e00\u4e2a\u76f4\u89c2\u7684\u60f3\u6cd5\u662f\u5c06\u5b83\u4eec\u8fde\u63a5\u5728\u4e00\u8d77\u4ee5\u8fdb\u884c\u591a\u6a21\u6001\u7279\u5f81\u589e\u5f3a\u3002 \u5c3d\u7ba1\u5982\u6b64\uff0c\u7531\u4e8e\u56fa\u6709\u7684\u5f02\u6784\u6027\uff0c\u5b83\u5f88\u5bb9\u6613\u906d\u53d7\u7a7a\u95f4\u9519\u4f4d\uff0c\u76f4\u63a5\u4e32\u8054\u6216\u6c42\u548c\u8fd0\u7b97\u901a\u5e38\u4f1a\u5bfc\u81f4\u7c97\u7565\u7684\u4fe1\u606f\u878d\u5408\uff0c\u800c\u6ca1\u6709\u5b8c\u5168\u7684\u76ee\u6807\u8bed\u4e49\u76d1\u7763\u3002 \u4e3a\u6b64\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u6a21\u5757\uff0c\u4ee5\u901a\u9053\u65b9\u5f0f\u5229\u7528\u56fe\u50cf\u548c LiDAR \u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u5982\u56fe 4 \u6240\u793a\u3002\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u6211\u4eec\u6839\u636e\u7d22\u5f15\u8fde\u63a5\u6bcf\u5bf9\u50cf\u7d20\u70b9\u7279\u5f81 \uff0c\u5e76\u91c7\u75283\u00d73\u5377\u79ef\u6765\u63a2\u7d22\u6709\u4ef7\u503c\u7684\u8bed\u4e49\u548c\u51e0\u4f55\u7ebf\u7d22\uff0c\u4ece\u800c\u5f97\u5230\u91cd\u65b0\u7ec4\u7ec7\u7684\u7279\u5f81\u3002 \u4e3a\u4e86\u7a81\u51fa\u76ee\u6807\u7684\u53ef\u8fa8\u522b\u6027\uff0c\u5c06\u5168\u5c40\u5e73\u5747\u6c60\u7b97\u5b50 G AP(\u00b7) \u5e94\u7528\u4e8e\u7279\u5f81\u901a\u9053\uff0c\u5e76\u8fdb\u4e00\u6b65\u5229\u7528\u5177\u6709 sigmoid \u51fd\u6570 \u03b4(\u00b7) \u7684\u591a\u5c42\u611f\u77e5\u5668\uff08MLP\uff09\u6765\u4ea7\u751f\u901a\u9053\u6fc0\u6d3b\u6982\u7387\u3002 \u6700\u540e\uff0c\u6211\u4eec\u5c06\u5176\u4e0e\u5377\u79ef\u7279\u5f81 Fconv \u76f8\u4e58\uff0c\u751f\u6210\u6bcf\u8f86\u8f66\u7684\u8054\u5408\u7279\u5f81\u56fe\u00a0\u3002 \u6574\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u8868\u8ff0\u4e3a\u7b49\u5f0f 5\uff1a<\/p>\n

    <\/p>\n

    \u603b\u7684\u6765\u8bf4\uff0cDCF \u63d0\u4f9b\u4e86\u4e00\u79cd\u6709\u6548\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u53ef\u4ee5\u5728\u7edf\u4e00\u7684\u81ea\u4e0a\u800c\u4e0b\u5e73\u9762\u4e2d\u5229\u7528\u4e24\u79cd\u6a21\u6001\u7684\u901a\u9053\u8bed\u4e49\uff0c\u5e76\u4e14\u7531\u4e8e\u5176\u9ad8\u6548\u7684\u8bbe\u8ba1\uff0c\u8fd9\u4e2a\u7b80\u5355\u7684\u6a21\u5757\u4e0d\u4f1a\u964d\u4f4e\u63a8\u7406\u901f\u5ea6\u3002<\/p>\n

    <\/p>\n

    \u56fe5 \u5168\u5c40-\u5c40\u90e8transformer\u793a\u610f\u56fe\u3002 \u7ed9\u5b9a\u4e00\u7ec4\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u7279\u5f81\u56fe\uff0c\u901a\u9053token\u6df7\u5408\u5668\uff08CTM\uff09\u901a\u8fc7\u6c60\u5316\u7b97\u5b50\u751f\u6210\u201c\u8865\u4e01\u00d7\u901a\u9053\u201d\u8868\uff0c\u7ecf\u8fc7MLP\u6a21\u5757\u540e\uff0csoftmax\u51fd\u6570\u03c3\uff08\u00b7\uff09\u8f93\u51fa\u5168\u5c40\u54cd\u5e94\u503c\uff0c\u5f62\u6210\u901a\u9053 -\u6df7\u5408\u6620\u5c04\u3002 \u5728\u4f4d\u7f6e\u611f\u77e5\u6ce8\u610f\u878d\u5408\uff08PAF\uff09\u4e2d\uff0c\u8fdb\u884c\u6807\u8bb0\u5316\u4ee5\u5c06\u5d4c\u5165\u5212\u5206\u4e3a\u4e00\u7cfb\u5217\u56fa\u5b9a\u5927\u5c0f\u7684\u7a97\u53e3\u7279\u5f81\uff0c\u5e76\u8fdb\u4e00\u6b65\u91c7\u7528\u591a\u5934\u81ea\u6ce8\u610f\uff08MHSA\uff09\u6765\u63a2\u7d22\u6bcf\u4e2a\u8054\u7f51\u81ea\u8f66\u7684\u7a7a\u95f4\u76f8\u5173\u6027\u3002\u8bf7\u6ce8\u610f\uff0c\u9644\u52a0\u7684\u76f8\u5bf9\u504f\u5dee B \u8d1f\u8d23\u6bcf\u4e2a\u67e5\u8be2\u952e\u5bf9\u7684\u4e0a\u4e0b\u6587\u5173\u7cfb\u7f16\u7801\u3002<\/p>\n

    C. \u5168\u5c40-\u5c40\u90e8Transformer<\/h4>\n

    \u5bf9\u4e8e\u6bcf\u8f86\u8054\u7f51\u8f66\u8f86\uff0c\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u79cd\u7f16\u7801\u5668-\u89e3\u7801\u5668\u67b6\u6784\uff0c\u5176\u4e2d\u878d\u5408\u56fe\u00a0\u00a0\u88ab\u8f93\u5165\u5230\u5806\u53e0\u7684 1 \u00d7 1 \u5377\u79ef\u4e2d\u4ee5\u8fdb\u884c\u6e10\u8fdb\u5f0f\u6570\u636e\u538b\u7f29\uff0c\u5e76\u76f8\u5e94\u5730\u6267\u884c\u51e0\u6b21\u53cd\u5377\u79ef\u4ee5\u8fdb\u884c\u7279\u5f81\u6062\u590d\uff0c\u79f0\u4e3a\u00a0\u3002 \u4e3a\u4e86\u8865\u507f\u65f6\u7a7a\u5f02\u6b65\uff0c\u6211\u4eec\u8fd8\u91c7\u7528\u4eff\u5c04\u53d8\u6362\u00a0\u00a0\u5c06\u4e0d\u540c\u7684 CAV \u7279\u5f81\u6295\u5f71\u5230\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u89c6\u56fe\u4e2d\uff0c\u5176\u4e2d\u00a0\u00a0\u8868\u793a\u4f7f\u7528\u4f20\u611f\u5668\u6821\u51c6\u77e9\u9635\u7684\u626d\u66f2\u51fd\u6570\uff0ck \u662f\u9644\u8fd1\u6c7d\u8f66\u7684\u6570\u91cf\u3002 \u7ed3\u679c\uff0c\u6211\u4eec\u5728\u901a\u4fe1\u8303\u56f4\u5185\u7684\u81ea\u8f66\u5750\u6807\u5904\u83b7\u5f97\u4e00\u7ec4\u7279\u5f81\u56fe\uff0c\u5176\u4e2d\u8868\u793a\u76ee\u6807\u8f66\u8f86\u3002<\/p>\n

    \u4ee5\u524d\u7684\u5de5\u4f5c\u901a\u5e38\u901a\u8fc7\u65e2\u4e0d\u63a5\u6536\u9644\u8fd1 CAV \u7684\u6240\u6709\u8868\u793a\u4e5f\u4e0d\u4e22\u5f03\u4f4e\u76f8\u5173\u6027\u534f\u540c\u8005\u63d0\u4f9b\u7684\u6574\u4e2a\u6d88\u606f\u6765\u589e\u5f3a\u5355\u4e2a\u7279\u5f81\u56fe\uff0c\u524d\u8005\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u5bfc\u81f4\u91cd\u53e0\u533a\u57df\u4e2d\u7684\u7279\u5f81\u5197\u4f59\uff0c\u800c\u540e\u8005\u53ef\u80fd\u4f1a\u5bfc\u81f4\u8f66\u8f86\u4e4b\u95f4\u7684\u4fe1\u606f\u4ea4\u4e92\u4e0d\u8db3\u3002 \u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5168\u5c40\u5c40\u90e8transformer\uff0c\u5176\u4e2d\u5305\u62ec\u7528\u4e8e\u901a\u9053\u8bed\u4e49\u8fc7\u6ee4\u548c\u5728\u6574\u4f53\u89c6\u56fe\u4e2d\u8de8\u8f66\u8f86\u95f4\u8865\u4e01\u8fdb\u884c\u6df7\u5408\u7684\u901a\u9053token\u6df7\u5408\u5668\uff08CTM\uff09\uff0c\u4ee5\u53ca\u7528\u4e8e\u5c40\u90e8\u533a\u57df\u7684\u7a7a\u95f4\u76f8\u5173\u6027\u5efa\u6a21\u3002 \u56fe5\u8bf4\u660e\u4e86\u5168\u5c40-\u5c40\u90e8transformer\u7684\u6574\u4f53\u7ed3\u6784\u3002<\/p>\n

    1\uff09\u901a\u9053token\u6df7\u5408\u5668\uff08CTM\uff09<\/strong><\/p>\n

    \u4e24\u9636\u6bb5\u8f6c\u6362\u53ef\u4ee5\u53c2\u8003token\u5316\u548c\u6df7\u5408\u8fc7\u7a0b\u3002 \u7ed9\u5b9a CAV \u7279\u5f81\u56fe\u00a0\uff0c\u6211\u4eec\u4e3b\u8981\u5229\u7528 3D \u7279\u5f81\u6c60\u7b97\u5b50\uff08\u5373\u5168\u5c40\u6700\u5927\u6c60\u5316 (GM P(\u00b7)) \u548c\u5168\u5c40\u5e73\u5747\u6c60\u5316 ( G AP(\u00b7)) \u5206\u522b\u53cd\u6620\u901a\u9053\u4fe1\u606f\u7684\u7279\u6b8a\u6027\u548c\u5171\u6027\u3002\u7136\u540e\uff0c\u901a\u8fc7\u5c06\u5b83\u4eec\u8fde\u63a5\u5e76\u6241\u5e73\u5316 (flatten(\u00b7)) \u4e3a\u56fe\u50cf\u6807\u8bb0\u5e8f\u5217\u6765\u8fdb\u884c\u7279\u5f81\u5411\u91cf\u5316\uff0c\u5f62\u6210\u201cpatches<\/strong>\u00d7channels<\/strong>\u201d\u8868\u00a0\u3002\u6574\u4e2a\u8fc7\u7a0b\u53ef\u4ee5\u63cf\u8ff0\u4e3a\u7b49\u5f0f 6\uff1a<\/p>\n

    <\/p>\n

    \u968f\u540e\uff0cMixer \u901a\u8fc7\u4e24\u5c42 MLP \u5c06\u7ebf\u6027\u7279\u5f81\u6295\u5f71\u5230\u9690\u85cf\u7a7a\u95f4\uff0c\u7136\u540e\u8fdb\u884c\u5c42\u5f52\u4e00\u5316\u548c\u9ad8\u65af\u8bef\u5dee\u7ebf\u6027\u5355\u5143\uff08GE LU(\u00b7)\uff09\u3002 \u5b83\u4f5c\u7528\u4e8e\u8868 T \u7684\u884c\uff0c\u6620\u5c04\u00a0\uff0c\u5e76\u5728\u6240\u6709\u884c\u4e4b\u95f4\u5171\u4eab\u4fe1\u606f\uff0c\u4ece\u800c\u4fc3\u8fdb\u901a\u9053\u901a\u4fe1\u3002 \u6700\u540e\uff0c\u5c06 sofxmax \u51fd\u6570\u5e94\u7528\u4e8e\u901a\u9053\u91cd\u8981\u6027\u8bc4\u4f30\uff0c\u5e76\u4ee5\u5143\u7d20\u65b9\u5f0f\u5c06\u5176\u4e0e CAV \u56fe\u76f8\u4e58\uff0c\u5982\u7b49\u5f0f 7 \u6240\u793a\uff1a<\/p>\n

    <\/p>\n

    \u5176\u4e2d\u8868\u793a\u7ebf\u6027\u6295\u5f71\u7684\u6743\u91cd\uff0cN\u662f\u77e9\u9635\u4e58\u6cd5\uff0c\u2297\u8868\u793a\u7279\u5f81\u901a\u9053\u4e0a\u7684\u7b97\u5b50\uff0c\u662f\u9690\u85cf\u5c42\u4e2d\u7684\u53ef\u8c03\u901a\u9053\u6570\uff0c\u8868\u793a \u901a\u9053\u6df7\u5408\u7279\u5f81\u56fe\u3002 \u53d7\u76ca\u4e8e MLP \u7684\u5f3a\u5927\u529f\u80fd\uff0cCTM \u80fd\u591f\u52a8\u6001\u8fc7\u6ee4\u4e0d\u76f8\u5173\u7684\u8868\u5f81\uff08\u5373\u91cd\u53e0\u4fe1\u53f7\uff09\uff0c\u540c\u65f6\u6355\u83b7\u5206\u6563\u5728\u6bcf\u4e2a\u4f4d\u7f6e\u56fe\u4e2d\u7684\u5168\u5c40\u54cd\u5e94\u3002 \u66f4\u91cd\u8981\u7684\u662f\uff0c\u5b83\u5de7\u5999\u6027\u5730\u8de8\u901a\u9053\u6267\u884c\u7279\u5f81\u6df7\u5408\uff0c\u4ee5\u589e\u5f3a\u6709\u4ef7\u503c\u7684\u4fe1\u606f\u8868\u8fbe\uff0c\u5e76\u663e\u7740\u8282\u7701\u5185\u5b58\u3002<\/p>\n

    2\uff09\u4f4d\u7f6e\u611f\u77e5\u6ce8\u610f\u529b\u878d\u5408\uff08PAF\uff09<\/strong><\/p>\n

    \u4e3a\u4e86\u8fdb\u4e00\u6b65\u6355\u83b7\u8f66\u8f86\u4e4b\u95f4\u7684\u8fdc\u7a0b\u4f9d\u8d56\u6027\uff0c\u57fa\u4e8etransformer\u7684\u67b6\u6784\u88ab\u5e7f\u6cdb\u5e94\u7528\uff0c\u5e76\u4f7f\u7528\u81ea\u6ce8\u610f\u673a\u5236\u6765\u63a2\u7d22\u6bcf\u4e2a\u81ea\u8f66\u7f51\u7edc\u56fe\u7684\u7a7a\u95f4\u5173\u7cfb\u3002 \u5c3d\u7ba1\u5982\u6b64\uff0c\u5b83\u9700\u8981\u66f4\u957f\u7684\u8bad\u7ec3\u5468\u671f\u624d\u80fd\u6536\u655b\uff0c\u5e76\u4e14\u5bc6\u96c6\u7684\u70b9\u79ef\u8fd0\u7b97\u5e26\u6765\u4e86\u96be\u4ee5\u627f\u53d7\u7684\u8ba1\u7b97\u9884\u7b97\u3002 \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4f4d\u7f6e\u611f\u77e5\u6ce8\u610f\u529b\u878d\u5408\uff08PAF\uff09\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u7531\u57fa\u4e8e\u7a00\u758f\u7a97\u53e3\u7684\u6807\u8bb0\u5316\u548c\u81ea\u6ce8\u610f\u529b\u673a\u5236\u7ec4\u6210\uff0c\u5177\u6709\u9488\u5bf9\u6240\u6709\u4f4d\u7f6e\u7684\u5c40\u90e8\u7279\u5f81\u4ea4\u4e92\u7684\u76f8\u5bf9\u504f\u79fb\u91cf\u3002 \u5f62\u5f0f\u4e0a\uff0c\u901a\u9053\u6df7\u5408\u6620\u5c04\u00a0\u00a0\u88ab\u7ebf\u6027\u6295\u5f71\u5230\u9ad8\u7ef4\u7a7a\u95f4\uff0c\u4ee5\u751f\u6210\u4e09\u4e2a\u7279\u5f81\u5d4c\u5165\u00a0\uff08\u4e3a\u4e86\u7b80\u5316\uff0ce = 1, 2, 3 \u548c\u00a0\uff09 \u3002 \u968f\u540e\uff0c\u6211\u4eec\u5c06\u5b83\u4eec\u5206\u5272\u6210\u4e00\u7cfb\u5217\u5927\u5c0f\u5206\u522b\u4e3aN\u00d7N\u76843D\u4e0d\u91cd\u53e0\u7a97\u53e3\uff0c\u5f62\u6210\uff0c\u548c\uff0c\u5b83\u4eec\u7684\u7ef4\u5ea6\u76f8\u540c\u3002 \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u7a97\u53e3\u7ea7\u5212\u5206\u6bd4\u9010\u50cf\u7d20\u56fe\u4e0a\u7684\u5bc6\u96c6\u8ba1\u7b97\u53ef\u4ee5\u8fbe\u5230\u6709\u6548\u7684\u6807\u8bb0\u5316\u3002 \u56e0\u6b64\uff0c\u6bcf\u4e2a\u6807\u8bb0\u88ab\u5c55\u5e73\u4ee5\u751f\u6210\u67e5\u8be2\uff08Q\uff09\u3001\u952e\uff08K\uff09\u548c\u503c\uff08V\uff09\u7684\u5e8f\u5217\uff0c\u5e76\u4e14\u6211\u4eec\u8fdb\u4e00\u6b65\u5f15\u5165\u5177\u6709\u76f8\u5bf9\u504f\u5dee\u7684\u591a\u5934\u81ea\u6ce8\u610f\u529b\uff08M H S A\uff08\u00b7\uff09\uff09\u5c42\u6765\u63a2\u7d22\u8f66\u8f86\u5185\u548c\u8f66\u8f86\u95f4\u7684\u7a7a\u95f4\u76f8\u5173\u6027\u3002 \u4e0e\u4f4d\u7f6e\u5d4c\u5165\uff08PE\uff09\u7c7b\u4f3c\uff0c\u00a0\u662f\u4e00\u4e2a\u56fa\u5b9a\u5927\u5c0f\u7684\u7a97\u53e3\u7d22\u5f15\uff0c\u8d1f\u8d23\u4ece\u6bcf\u4e2a\u67e5\u8be2\u952e\u5bf9\u4e2d\u5b66\u4e60\u4e0a\u4e0b\u6587\u5173\u7cfb\u3002 \u4ece\u6570\u5b66\u4e0a\u8bb2\uff0cPAF \u8fc7\u7a0b\u53ef\u4ee5\u63cf\u8ff0\u4e3a\u7b49\u5f0f8-11\uff1a<\/p>\n

    <\/p>\n

    \u5176\u4e2d Window[\u00b7] \u8868\u793a\u7a97\u53e3\u7ea7patch\u5206\u533a\u3002 \u6211\u4eec\u5229\u7528\u4e24\u5c42\u81ea\u6ce8\u610f\u529b\u64cd\u4f5c\u6765\u5229\u7528\u7ec6\u7c92\u5ea6\u7684\u4f4d\u7f6e\u4fe1\u606f\uff0c\u591a\u8f66\u8f86\u878d\u5408\u56fe\u53ef\u4ee5\u79f0\u4e3a\u00a0\u3002 \u5229\u7528\u7a97\u53e3\u7ea7\u6ce8\u610f\u529b\u7684\u4f18\u52bf\uff0cPAF\u6a21\u5757\u4e0d\u4ec5\u5bf9\u4f4d\u59ff\u4f30\u8ba1\u548c\u504f\u79fb\u8bef\u5dee\u5177\u6709\u9c81\u68d2\u6027\uff0c\u800c\u4e14\u8f6e\u5ed3\u611f\u77e5\u5c5e\u6027\uff08\u4f8b\u5982\u8fb9\u7f18\u548c\u8fb9\u754c\uff09\u4e5f\u53ef\u4ee5\u63d0\u9ad8\u96be\u7269\u4f53\u7684\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n

    D. \u9884\u6d4b\u5934<\/h4>\n

    \u6b63\u5982\u901a\u5e38\u6240\u505a\u7684\u90a3\u6837\uff0c\u8054\u5408\u7279\u5f81\u56fe\u00a0\u00a0\u88ab\u9001\u5230\u5206\u7c7b\u548c\u56de\u5f52\u5934\u4e2d\uff0c\u5206\u522b\u7528\u4e8e\u76ee\u6807\u7c7b\u522b\u548c\u5b9a\u4f4d\u9884\u6d4b\u3002 \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u91c7\u7528\u975e\u6781\u5927\u503c\u6291\u5236\uff08NMS\uff09\u7684\u540e\u5904\u7406\u6765\u53bb\u9664\u5197\u4f59\u5efa\u8bae\u3002<\/p>\n

    \u6a21\u578b\u8bad\u7ec3\u65f6\uff0c\u635f\u5931\u51fd\u6570\u5305\u542b\u5206\u7c7b\u548c\u56de\u5f52\u90e8\u5206\u3002 \u7ed9\u5b9a\u771f\u5b9e\u6846\u00a0\u03b8\uff0c\u5176\u4e2d\u00a0\u00a0\u8868\u793a\u76ee\u6807\u4e2d\u5fc3\uff0c\u00a0\u5b9a\u4e49 3D \u6846\u5c3a\u5bf8\uff0c\u00a0\u03b8\u662f\u822a\u5411\uff0c\u6211\u4eec\u91c7\u7528\u7126\u70b9\u635f\u5931[56]\uff08F L(\u00b7)\uff09\u6765\u5e73\u8861\u80cc\u666f-\u524d\u666f\u6837\u672c\uff0c\u5e76\u5229\u7528\u5e73\u6ed1\u7684\u51fd\u6570\u6765\u76d1\u77633D\u6846\u5927\u5c0f\u3002 \u8be6\u7ec6\u4fe1\u606f\u53ef\u4ee5\u53c2\u8003\u7b49\u5f0f12-14\uff1a<\/p>\n

    <\/p>\n

    \u5176\u4e2d\u03b2\u548c\u03b2\u662f\u6743\u91cd\u53c2\u6570\uff0c\u03b1\u548c\u03b3\u662f\u7126\u70b9\u635f\u5931\u7684\u8d85\u53c2\u6570\uff0c\u662f\u4f30\u8ba1\u7684softmax\u6982\u7387\u3002 \u8bf7\u6ce8\u610f\uff0c\u5728\u5e73\u6ed1\u00a0\u00a0\u8ba1\u7b97\u4e4b\u524d\uff0c\u822a\u5411\u65b9\u5411\u00a0\u03b8\u7531\u6b63\u5f26\u51fd\u6570\uff08\u5373\u00a0\u03b8\u03b8\u00a0)\uff09\u7f16\u7801\uff0c\u5176\u4e2d\u00a0\u03b8\u548c\u00a0\u03b8\u00a0\u5206\u522b\u8868\u793a\u771f\u5b9e\u89d2\u5ea6\u548c\u9884\u6d4b\u89d2\u5ea6\u3002<\/p>\n

    \u5b9e\u9a8c\u5bf9\u6bd4\u4e00\u89c8<\/h3>\n

    \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5bf9\u8f66\u8f86\u95f4\u611f\u77e5\u57fa\u51c6\u8fdb\u884c\u5b9a\u91cf\u548c\u5b9a\u6027\u5b9e\u9a8c\uff0c\u4ee5\u7814\u7a76\u6211\u4eec\u63d0\u51fa\u7684\u6846\u67b6\u53ca\u5176\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002 \u8be6\u7ec6\u4fe1\u606f\uff08\u5373\u6570\u636e\u96c6\u3001\u5b9e\u65bd\u3001\u6d88\u878d\u7814\u7a76\u7b49\uff09\u5c06\u63cf\u8ff0\u5982\u4e0b\u3002<\/p>\n

    A \u6570\u636e\u96c6<\/h4>\n

    OPV2V\u662f\u4e00\u4e2a\u5927\u89c4\u6a21\u7684\u8f66\u8f66\u534f\u540c\u611f\u77e5\u6570\u636e\u96c6\uff0c\u5b83\u5efa\u7acb\u5728OpenCDA\u5e73\u53f0\u548cCARLA\u6a21\u62df\u5668\u4e4b\u4e0a\u3002 \u4e00\u822c\u6765\u8bf4\uff0c\u5b83\u5305\u542b\u7531\u56db\u4e2a\u8f66\u8f7d\u6444\u50cf\u5934\u548c\u4e00\u4e2a64\u901a\u9053LiDAR\u4f20\u611f\u5668\u751f\u6210\u768412k\u5e273D\u70b9\u4e91\u548cRGB\u56fe\u50cf\uff0c230k\u4e2a3D\u6846\u6ce8\u91ca\u8986\u76d6\u4e86\u5b8c\u6574\u7684360\u00b0\u89c6\u56fe\u3002 \u5728\u6211\u4eec\u7684\u5b9e\u9a8c\u4e2d\uff0c\u6cbf x\u3001y \u548c z \u8f74\u7684\u68c0\u6d4b\u8303\u56f4\u5206\u522b\u8bbe\u7f6e\u4e3a [-64,64] m\u3001[-40,40] m \u548c [-3,1] m\u3002 \u8be5\u6a21\u578b\u4f7f\u7528 6765 \u4e2a\u548c 1980 \u4e2a\u6837\u672c\u8fdb\u884c\u4e86\u8bad\u7ec3\u548c\u9a8c\u8bc1\uff0c\u6211\u4eec\u5728 2170 \u4e2a Default \u548c 550 \u4e2a Culver City \u5206\u5272\u4e0a\u6d4b\u8bd5\u4e86\u6700\u7ec8\u7684\u534f\u540c\u6027\u80fd\u3002<\/p>\n

    V2X-Sim 2.0 \u662f\u7528\u4e8e\u8f66\u8f86\u5230\u4e00\u5207\uff08V2X\uff09\u611f\u77e5\u8bc4\u4f30\u7684\u7efc\u5408\u591a\u6a21\u6001\u57fa\u51c6\uff0c\u7531 CARLA \u548c\u5fae\u4ea4\u901a\u6a21\u62df\u5668 SUMO \u8054\u5408\u4eff\u771f\u3002 \u5b83\u7531 3 \u4e2a CARLA \u57ce\u9547\u4ea4\u53c9\u53e3\u7684 20 \u79d2\u4ea4\u901a\u6d41\u4e2d\u7684 100 \u4e2a\u573a\u666f\u7ec4\u6210\uff0c\u5305\u542b 37.2k \u8bad\u7ec3\u6570\u636e\u30015k \u9a8c\u8bc1\u6570\u636e\u548c 5k \u6d4b\u8bd5\u6570\u636e\u3002 \u6bcf\u4e2a\u573a\u666f\u6709 2-5 \u4e2a CAV\uff0c\u914d\u5907 6 \u4e2a\u6444\u50cf\u5934\u548c 1 \u4e2a 32 \u901a\u9053 LiDAR\uff0c\u4ee5\u53ca GPU \u548c IMU \u4f20\u611f\u5668\u3002 \u540c\u6837\uff0c\u5728\u6211\u4eec\u7684\u7814\u7a76\u4e2d\uff0c\u611f\u77e5\u533a\u57df\u88ab\u9650\u5236\u4e3a[-32,32]m\u00d7[-32,32]m\u00d7[-3,2]m\u3002<\/p>\n

    B \u5b9e\u73b0\u7ec6\u8282<\/h4>\n

    \u5b9e\u9a8c\u5e73\u53f0\u57fa\u4e8e8\u5757NVIDIA Tesla V100 GPU\uff0c\u6211\u4eec\u9ed8\u8ba4\u5b9a\u4e49\u901a\u4fe1\u8303\u56f4\u4e3a70m\u3002 \u5bf9\u4e8e OPV2V\uff0c\u6211\u4eec\u5f15\u5165\u8bfe\u7a0b\u5b66\u4e60\u7b56\u7565\u6765\u6a21\u4eff\u4eba\u7c7b\u8ba4\u77e5\u673a\u5236\uff1a\u6a21\u578b\u5728 sim \u6a21\u5f0f\u4e0b\u8bad\u7ec3 35 \u4e2a epoch\uff0c\u5e76\u5728\u771f\u5b9e\u8bbe\u7f6e\uff08\u4f8b\u5982\uff0c\u5b9a\u4f4d\u8bef\u5dee\u3001\u5f02\u6b65\u5f00\u9500\u7b49\uff09\u4e0b\u8bad\u7ec3\u53e6\u5916 10 \u4e2a epoch\u3002\u7531 Adam\u4f18\u5316\uff0c\u521d\u59cb\u5b66\u4e60\u7387\u4e3a 0.0002\uff0c\u6743\u91cd\u8870\u51cf\u4e3a 0.02\uff0c\u4f59\u5f26\u5b66\u4e60\u7387\u8c03\u5ea6\u5668\u3002 \u6b64\u5916\uff0c\u8fd8\u91c7\u7528\u4e86\u4e00\u4e9b\u6280\u5de7\uff08\u5373\u9884\u70ed\u548c\u63d0\u524d\u505c\u6b62\uff09\u6765\u4fdd\u8bc1\u8bad\u7ec3\u7a33\u5b9a\u6027\uff0c\u5e76\u5c06 NMS \u540e\u5904\u7406\u7684\u5206\u6570\u548c IoU \u9608\u503c\u5206\u522b\u8bbe\u7f6e\u4e3a 0.6 \u548c 0.15\u3002 \u5bf9\u4e8eV2X-Sim 2.0\uff0c\u6211\u4eec\u9075\u5faaDiscoNet\u8bbe\u7f6e\u3002 NMS \u8fc7\u7a0b\u7684\u5206\u6570\u548c IoU \u9608\u503c\u8bbe\u7f6e\u4e3a 0.6 \u548c 0.15\u3002<\/p>\n

    \u5c06\u5206\u8fa8\u7387\u4e3a520\u00d7520\u50cf\u7d20\u88c1\u526a\u7684\u56fe\u50cf\u8f93\u5165ResNet-34\u7f16\u7801\u5668\u8fdb\u884c\u591a\u5c3a\u5ea6\u7279\u5f81\u63d0\u53d6\uff0c\u751f\u6210\u7684BEV\u7f51\u683c\u4e3a0.25m\u3002 \u6211\u4eec\u5728\u5206\u5c42 SCA \u6a21\u5757\u4e2d\u91c7\u7528\u56db\u4e2a\u6ce8\u610f\u529b\u5934 (h = 4)\uff0c\u7a97\u53e3\u5927\u5c0f D = (8,8,16) \u548c G = (16,16,32)\u3002 \u6b64\u5916\uff0c\u4f53\u7d20\u5927\u5c0f\u6cbf x-y-z \u8f74\u8bbe\u7f6e\u4e3a (0.25, 0.25, 4)\uff0c\u5728\u5168\u5c40\u5c40\u90e8\u53d8\u6362\u5668\u4e2d\uff0c\u7a97\u53e3\u5927\u5c0f N \u4e3a 4\u3002\u9664\u975e\u53e6\u6709\u8bf4\u660e\uff0c\u6211\u4eec\u62a5\u544a 3D \u68c0\u6d4b\u5e73\u5747\u7cbe\u5ea6 (AP) \u4e3a 0.5\uff0c 0.7 IoU \u9608\u503c\u8fdb\u884c\u516c\u5e73\u6bd4\u8f83\u3002<\/p>\n

    C \u5b9a\u91cf\u7ed3\u679c<\/h4>\n

    \u8868 I \u8bf4\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ \u548c\u56db\u4e2a\u5bf9\u5e94\u65b9\u6848\u5728 OPV2V\u00a0Default\u00a0\u548cCulver City\u4e0a\u7684\u534f\u540c\u611f\u77e5\u7ed3\u679c\u3002 \u4e00\u65b9\u9762\uff0c\u6211\u4eec\u4ece\u6bcf\u4e2a\u5355\u89c6\u56fe\u6a21\u5757\u4e2d\u5220\u9664\u76f8\u673a\u6d41\uff0c\u5e76\u8bc4\u4f30\u4ec5 LiDAR \u7684\u68c0\u6d4b\u6027\u80fd\uff0c\u79f0\u4e3a V2VFormer++-L\u3002 \u636e\u89c2\u5bdf\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u5728 Default \u548c Culver City \u96c6\u4e0a\u4f18\u4e8e CoBEVT \u548cWhere2comm\u65b9\u6cd5\uff0c\u6027\u80fd\u63d0\u5347\u4e86 2.3% \u223c 7.5% \u548c 2.0% \u223c 2.8% AP@0.7\uff0c\u8fd9\u8868\u660e\u4e86\u5176\u6709\u6548\u6027 \u548c\u4f18\u8d8a\u611f\u3002 \u53e6\u4e00\u65b9\u9762\uff0c\u6211\u4eec\u5c06\u76f8\u540c\u7684\u76f8\u673a\u6d41\u9644\u52a0\u5230\u4ec5 LiDAR \u7684\u534f\u540c\u68c0\u6d4b\u5668\uff08\u5373 V2VNet\u3001CoBEVT\u3001Where2comm\uff09\u4e2d\uff0c\u5e76\u8bc4\u4f30\u591a\u6a21\u6001\u68c0\u6d4b\u7cbe\u5ea6\u3002 \u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ \u7ed9\u51fa\u4e86\u6700\u4f73\u7684\u534f\u540c\u611f\u77e5\u6027\u80fd\uff1a\u5b83\u5728\u9ed8\u8ba4 IoU \u9608\u503c 0.5 \u548c 0.7 \u4e0b\u5b9e\u73b0\u4e86 93.5% \u548c 89.5% AP\uff0c\u6bd4\u4e09\u79cd\u66ff\u4ee3\u65b9\u6848\u9ad8\u51fa 0.3% \u223c 0.9% AP@0.5 \u548c 0.1% \u223c 1.7% AP@ 0.7\u3002 \u6b64\u5916\uff0cV2VFormer++\u5728Culver City\u4e0a\u4e0e\u7b2c\u4e00\u68af\u961fWhere2comm\u76f8\u5f53\uff08\u4ec5\u843d\u540e0.2% AP\uff09\uff0c\u5c55\u793a\u4e86\u5176\u7ade\u4e89\u529b\u548c\u9002\u5e94\u6027\u3002<\/p>\n

    \u88681\uff1aCOBEVT [48]\u3001WHERE2COMM [16]\u3001V2VNET [14] \u548c V2VFORMER++ \u5728 OPV2V \u6d4b\u8bd5\u5206\u5272\u4e0a\u53d6\u5f97\u7684\u68c0\u6d4b\u7ed3\u679c\uff0c\u6211\u4eec\u7528\u7c97\u4f53\u5b57\u4f53\u7a81\u51fa\u663e\u793a 0.5 \u548c 0.7 IOU \u9608\u503c\u65f6\u7684\u6700\u4f73\u7cbe\u5ea6<\/p>\n

    <\/p>\n

    \u88682\uff1aWHEN2COM\u3001WHO2COM\u3001V2VNET\u3001DISCONET \u548c V2VFORMER++ \u5728 V2X-SIM 2.0 \u6d4b\u8bd5\u96c6\u4e0a\u53d6\u5f97\u7684\u68c0\u6d4b\u7ed3\u679c\u3002 \u6b64\u5916\uff0c\u6211\u4eec\u5217\u51fa\u4e86\u4e0a\u754c\u548c\u4e0b\u754c\u6027\u80fd\uff0c\u5e76\u4e14\u8fd8\u7528\u7c97\u4f53\u7a81\u51fa\u663e\u793a\u4e86 0.5 \u548c 0.7 IOU \u9608\u503c\u65f6\u7684\u6700\u4f73\u7cbe\u5ea6<\/p>\n

    <\/p>\n

    \u540c\u65f6\uff0cV2X-Sim 2.0\u6d4b\u8bd5\u96c6\u4e0a\u7684\u534f\u540c\u68c0\u6d4b\u7ed3\u679c\u4e5f\u5217\u4e8e\u8868II\u4e2d\uff0c\u6211\u4eec\u57fa\u4e8eDiscoNet\u91cd\u73b0\u4e86\u4e0d\u540c\u7684\u878d\u5408\u7b56\u7565\uff08\u4f8b\u5982\u65e9\u671f\u3001\u4e2d\u671f\u548c\u540e\u671f\uff09\u3002 \u6211\u4eec\u7684 V2VFormer++ \u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u534f\u540c\u68c0\u6d4b\u7cbe\u5ea6\uff0c\u5206\u522b\u4e3a 72.7% AP@0.5 \u548c 65.5 AP@0.7\u3002 \u4e0e\u5176\u4ed6\u4e2d\u95f4\u5bf9\u5e94\u90e8\u5206\uff08\u4f8b\u5982 DiscoNet\uff09\u76f8\u6bd4\uff0cV2VFormer++ \u5728\u4e24\u4e2a IoU \u9608\u503c\u4e0b\u90fd\u83b7\u5f97\u4e86\u8d85\u8fc7 10% \u7684 AP \u63d0\u5347\uff0c\u8fd9\u610f\u5473\u7740\u6240\u63d0\u51fa\u7684\u7279\u5f81\u534f\u540c\u7684\u8fdb\u6b65\u3002 \u6b64\u5916\uff0c\u5b83\u7684\u8868\u73b0\u6bd4\u4e0a\u9650\u9ad8\u51fa 9.4% AP@0.5 \u548c 5.3% AP@0.7 \u3002 \u6211\u4eec\u8ba4\u4e3a\uff0c\u7531\u4e8e\u539f\u59cb\u70b9\u4e91\u566a\u58f0\u8f83\u5927\uff0c\u8be5\u6a21\u578b\u65e0\u6cd5\u5229\u7528\u76f8\u90bb CAV \u7684\u6709\u610f\u4e49\u4fe1\u606f\uff0c\u800c\u6211\u4eec\u7684\u4e2d\u95f4\u8868\u793a\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u76ee\u6807\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\uff0c\u4ee5\u5408\u7406\u5730\u4fc3\u8fdb\u534f\u540c\u611f\u77e5\u6027\u80fd\u3002<\/p>\n

    D \u6d88\u878d\u7814\u7a76<\/h4>\n

    \u4e3a\u7b80\u5355\u8d77\u89c1\uff0c\u5c06\u5bf9 OPV2V Default \u548c Culver City \u8fdb\u884c\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8861\u91cf\u6211\u4eec\u63d0\u51fa\u7684\u6846\u67b6\u7684\u6709\u6548\u6027\u548c\u7a33\u5065\u6027\u3002<\/p>\n

    1\uff09\u7ec4\u4ef6\u7684\u6709\u6548\u6027\uff1a\u4e3a\u4e86\u6f84\u6e05\uff0c\u6211\u4eec\u9009\u62e9 V2VNet\u4f5c\u4e3a\u57fa\u51c6\uff0c\u5728Default\u4e0a\u8fbe\u5230 85.0% AP@0.5 \u548c 72.0% AP@0.7%\uff0c\u5728Culver City\u4e0a\u8fbe\u5230 80.9% AP@0.5 \u548c 64.0% AP@0.7\uff0c \u5206\u522b\u5982\u8868III\u6240\u793a\u3002 \u5f53\u9644\u52a0\u5177\u6709\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u7684\u76f8\u673a\u5206\u652f\u65f6\uff0c\u5b83\u5728 0.5 \u548c 0.7 IoU \u9608\u503c\u4e0b\u63d0\u4f9b 7.6% \u223c 19.0% \u7684\u7cbe\u5ea6\u589e\u76ca\u3002 \u6b64\u5916\uff0c\u6211\u4eec\u7528\u5168\u5c40\u5c40\u90e8transformer\u53d6\u4ee3\u4e86 V2VNet \u63d0\u51fa\u7684\u7a7a\u95f4\u611f\u77e5\u56fe\u795e\u7ecf\u7f51\u7edc\uff08GNN\uff09\uff0c\u4ee5\u8861\u91cf\u5176\u5bf9\u534f\u540c\u611f\u77e5\u7684\u8d21\u732e\u3002 \u540c\u6837\uff0c\u5b83\u5728\u9ed8\u8ba4\u60c5\u51b5\u4e0b\u63d0\u4f9b 10.0% AP@0.7 \u6536\u76ca\u3002 \u6700\u540e\uff0cV2VFormer++\u5c06\u5177\u6709\u5168\u5c40\u5c40\u90e8transformer\u7684DCF\u7eb3\u5165\u57fa\u7ebf\uff0c\u5e76\u89c2\u5bdf\u5230\u6700\u4f73\u6027\u80fd\uff0c\u8bc1\u660e\u4e86\u6bcf\u4e2a\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002<\/p>\n

    \u4e3a\u4e86\u8fdb\u4e00\u6b65\u7814\u7a76\u5355\u8f66\u89c6\u56fe\u4e0b\u7684\u5f02\u6784\u6570\u636e\u878d\u5408\uff0c\u6211\u4eec\u7528\u76f8\u673a\u6d41\u6269\u5c55\u4e86\u4ec5 LiDAR \u7684\u68c0\u6d4b\u5668\uff08\u4f8b\u5982\uff0cV2VNet\u3001CoBEVT \u548cWhere2comm\uff09\uff0c\u5e76\u91c7\u7528\u4e24\u79cd\u76f8\u673a-LiDAR \u805a\u5408\u65b9\u6cd5 \u8fdb\u884c\u6bd4\u8f83\u3002 \u5982\u8868IV\u6240\u793a\uff0c\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u5728\u4e0d\u540c\u534f\u4f5c\u6846\u67b6\u4e4b\u95f4\u63d0\u4f9b\u4e86\u6bd4\u4e32\u8054\uff08Concate\uff09\u66f4\u597d\u7684\u591a\u6a21\u6001\u7279\u5f81\u7ec4\u5408\uff1a\u5c3d\u7ba1\u6027\u80fd\u7565\u6709\u4e0b\u964d\uff0c\u4f46\u5b83\u7a33\u5b9a\u5730\u5728Default \u548c Culver City\u4e0a\u63d0\u4f9b0.4\uff05\u223c1.0\uff05AP@0.5\u548c0.4\uff05 \u223c 4.0% AP@0.7\u3002 \u53d7\u76ca\u4e8e\u901a\u9053\u6c60\u5316\u548c\u91cd\u65b0\u52a0\u6743\u64cd\u4f5c\uff0cDCF\u80fd\u591f\u5145\u5206\u5229\u7528\u6765\u81ea\u5404\u79cd\u6a21\u6001\u7684\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\uff0c\u5e76\u4e14\u5bcc\u6709\u8868\u73b0\u529b\u7684\u591a\u6a21\u6001\u8868\u793a\u6709\u5229\u4e8e\u534f\u540c\u6027\u80fd\u7684\u589e\u5f3a\u3002<\/p>\n

    \u88683 \u5404\u4e2a\u7ec4\u4ef6\u5bf9 OPV2V \u6d4b\u8bd5\u5206\u5272\u7684\u6709\u6548\u6027\u7684\u6d88\u878d\u7814\u7a76\u3002 \u51c6\u786e\u5ea6\u7684\u63d0\u5347\/\u4e0b\u964d\u5206\u522b\u5728\u62ec\u53f7\u4e2d\u7528\u4e0d\u540c\u7684\u989c\u8272\u7a81\u51fa\u663e\u793a<\/p>\n

    <\/p>\n

    \u88684 \u591a\u6a21\u6001\u878d\u5408\u65b9\u6cd5\u5bf9 OPV2V \u6d4b\u8bd5\u5206\u5272\u7684\u6027\u80fd\u8d21\u732e\u7684\u6d88\u878d\u7814\u7a76\u3002 \u51c6\u786e\u5ea6\u7684\u63d0\u5347\/\u4e0b\u964d\u5206\u522b\u5728\u62ec\u53f7\u4e2d\u7528\u4e0d\u540c\u7684\u989c\u8272\u7a81\u51fa\u663e\u793a<\/p>\n

    <\/p>\n

    2\uff09\u9c81\u68d2\u6027\u6d4b\u8bd5\uff1a\u4e3a\u4e86\u5206\u6790\u534f\u540c\u611f\u77e5\u7684\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u9996\u5148\u5bf9\u51e0\u79cd\u591a\u6a21\u6001\u611f\u77e5\u6846\u67b6\u8fdb\u884c\u8bfe\u7a0b\u5b66\u4e60\uff0c\u5e76\u5217\u51fa\u4e86OPV2V Default\u96c6\u5728\u4e0d\u540c\u6a21\u5f0f\u914d\u7f6e\u4e0b\u7684\u534f\u540c\u7ed3\u679c\uff0c\u5982\u8868\u4e94\u6240\u793a\u3002\u00a0Sim<\/strong>\/Real<\/strong>\u00a0\u5b9a\u4e49\u4e86\u4e0d\u5e26\/\u5e26\u6570\u636e\u538b\u7f29\u7684\u7406\u60f3\/\u73b0\u5b9e\u4e16\u754c\u4f20\u8f93\uff0c\u800cPerfect<\/strong>\/Noisy<\/strong>\u00a0\u6761\u4ef6\u4ee3\u8868\u4e0d\u5e26\/\u5e26\u5b9a\u4f4d\u8bef\u5dee\uff08\u4f8b\u5982\u9ad8\u65af\u566a\u58f0\uff09\u548c\u901a\u4fe1\u5ef6\u8fdf\uff08\u8d85\u8fc7 200ms \u7684\u5747\u5300\u5206\u5e03\uff09\u7684\u7406\u60f3\/\u635f\u574f\u73af\u5883\u3002<\/p>\n

    \u663e\u7136\uff0c\u6240\u63d0\u51fa\u7684 V2VFormer++ \u663e\u793a\u4e86\u9488\u5bf9\u4e0d\u540c\u635f\u574f\u7684\u5f3a\u5927\u9c81\u68d2\u6027\uff1a\u5b83\u5728 Sim+Noisy \u7ea7\u522b\u4e0a\u5b9e\u73b0\u4e86 84.9% AP@0.5 \u548c 58.5% AP@0.7 \u7684\u826f\u597d\u68c0\u6d4b\u7cbe\u5ea6\uff0c\u5e76\u5728 Sim+Noisy \u7ea7\u522b\u4e0a\u63d0\u4f9b\u4e86 6.0% \u548c 16.9% AP \u589e\u76ca\u3002 \u5f53\u5728\u771f\u5b9e\u73af\u5883\u4e2d\u4ece Perfect \u8f6c\u6362\u5230 Noisy \u65f6\uff0c\u6240\u6709\u534f\u540c\u7684\u51c6\u786e\u5ea6\u90fd\u4f1a\u5927\u5e45\u4e0b\u964d\uff0c\u4f8b\u5982\uff0cV2VNet \u4e2d\u7684 AP@0.5 \u4e3a 6.3%\uff0cAP0.7 \u4e3a 10.9%\u3002 \u6211\u4eec\u7684 V2VFormer++ \u62a5\u544a\u53ef\u63a5\u53d7\u7684\u6027\u80fd\u4e0b\u964d\u4e3a 2.1% AP@0.5 \u548c 9.6% AP@0.7\uff0c\u8868\u660e\u5177\u6709\u826f\u597d\u7684\u7a33\u5b9a\u6027\u548c\u901a\u7528\u6027\u3002<\/p>\n

    \u6211\u4eec\u8fdb\u4e00\u6b65\u6dfb\u52a0\u9ad8\u65af\u566a\u58f0\u548c\u5747\u5300\u5206\u5e03\u6765\u6a21\u62df\u4e0d\u540c\u7684\u771f\u5b9e\u5e72\u6270\uff0c\u5e76\u9a8c\u8bc1\u4e86\u6297\u4f4d\u7f6e\u8bef\u5dee\u3001\u822a\u5411\u8bef\u5dee\u548c\u901a\u4fe1\u5ef6\u8fdf\u7684\u80fd\u529b\uff0c\u5982\u56fe6\u6240\u793a\u3002\u663e\u7136\uff0c\u5728\u5177\u6709\u6807\u51c6\u504f\u5dee (std)\u00a0\u03c3\u00a0\u7684\u9ad8\u65af\u5206\u5e03\u4e0a\u7684\u5b9a\u4f4d\u504f\u79fb\u91cf\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u5bf9\u6297\u5e72\u6270\u65b9\u9762\u8868\u73b0\u51fa\u4e86\u663e\u7740\u4e14\u6709\u5229\u7684\u6027\u80fd\uff0c \u800c\u5bf9\u5e94\u7b97\u6cd5\uff08\u4f8b\u5982 CoBEVT [48]\uff09\u968f\u7740\u504f\u79fb\u503c\u7684\u589e\u52a0\u800c\u51fa\u73b0\u660e\u663e\u7684\u6027\u80fd\u4e0b\u964d\u3002 \u6b64\u5916\uff0c\u5b83\u4e0d\u6613\u53d7\u5230 std\u00a0\u03c3\u00a0\u53d8\u5316\u822a\u5411\u566a\u58f0\u7684\u5f71\u54cd\uff0c\u5e76\u4e14\u5728 [0, 400]ms \u65f6\u5ef6\u4e0b\u4e5f\u80fd\u4fdd\u6301\u826f\u597d\u7684 AP \u7ed3\u679c\u3002 \u603b\u4f53\u800c\u8a00\uff0c\u8868\u660eV2VFormer++\u5728\u9762\u5bf9\u4e25\u9177\u7684\u5b9e\u9645\u573a\u666f\u65f6\u5177\u6709\u7a81\u51fa\u7684\u9c81\u68d2\u6027\u548c\u6297\u5e72\u6270\u80fd\u529b\u3002 \u7531\u4e8e\u8bfe\u7a0b\u5b66\u4e60\u7b56\u7565\uff0c\u8be5\u6a21\u578b\u53ef\u4ee5\u9010\u6b65\u63a2\u7d22\u56fa\u6709\u7684\u91cd\u8981\u4fe1\u606f\uff0c\u6211\u4eec\u8ba4\u4e3a\u8fd9\u4e9b\u77e5\u8bc6\u5c06\u6709\u52a9\u4e8e\u4fdd\u6301\u76f8\u5f53\u5927\u7684\u611f\u77e5\u6027\u80fd\u3002 \u66f4\u91cd\u8981\u7684\u662f\uff0c\u5168\u5c40-\u5c40\u90e8transformer\u534f\u540c\u7b56\u7565\u5c06\u4ee5\u81ea\u8f66\u4e3a\u4e2d\u5fc3\u7684\u89c6\u89d2\u4e0e\u591a\u89c6\u56fe\u8868\u793a\u6709\u673a\u5730\u7ed3\u5408\u5728\u4e00\u8d77\uff0c\u8fd9\u6709\u52a9\u4e8e\u5728\u906e\u6321\u548c\u8d85\u7ebf\u533a\u57df\u4e2d\u8fdb\u884c\u786c\u91c7\u6837\u611f\u77e5\u3002<\/p>\n

    \u88685 \u9488\u5bf9 OPV2V \u9ed8\u8ba4\u5206\u5272\u4e0a\u5404\u79cd\u6a21\u5f0f\u914d\u7f6e\u7684\u6a21\u578b\u9c81\u68d2\u6027\u6d88\u878d\u7814\u7a76\u3002 \u51c6\u786e\u5ea6\u589e\u76ca\u5206\u522b\u5728\u62ec\u53f7\u4e2d\u7a81\u51fa\u663e\u793a<\/p>\n

    <\/p>\n

    <\/p>\n

    \u56fe 6. \u7a33\u5065\u6027\u6d4b\u8bd5\u7684\u6d88\u878d\u7814\u7a76\u3002 \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6240\u6709\u5b9e\u9a8c\u90fd\u662f\u5728 OPV2V \u9ed8\u8ba4\u5206\u5272\u4e0a\u8fdb\u884c\u7684\u3002 \u5de6\u8fb9\u3002 IoU\u9608\u503c0.7\u65f6\u4f4d\u7f6e\u8bef\u5dee\u4e0eAP\u7ed3\u679c\u7684\u5173\u7cfb\uff1b \u4e2d\u95f4\u3002 IoU\u9608\u503c0.7\u65f6\u822a\u5411\u8bef\u5dee\u4e0eAP\u7ed3\u679c\u7684\u5173\u7cfb\uff1b \u53f3\u8fb9\u3002 \u65f6\u95f4\u5ef6\u8fdf\u548cAP\u7ed3\u679c\u4e4b\u95f4\u7684\u5173\u7cfb\u57280.7 IoU\u9608\u503c\u4e0b\u3002<\/p>\n

    <\/p>\n

    \u56fe7.\u52a8\u6001\u901a\u9053\u878d\u5408\uff08DCF\uff09\u6a21\u5757\u6fc0\u6d3b\u7684\u6ce8\u610f\u529b\u56fe\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002 \u4ece\u5de6\u5230\u53f3\u968f\u673a\u9009\u62e9\u56db\u79cd\u5e38\u89c1\u573a\u666f\uff08\u5373\u76f4\u7ebf\u3001\u5408\u5e76\u3001\u66f2\u7ebf\u548c\u4ea4\u53c9\uff09\uff0c\u5e76\u5728\u6bcf\u5217\u4e2d\u76f8\u5e94\u5217\u51fa\u4e00\u5bf9\u6fc0\u5149\u96f7\u8fbe\u771f\u503c\uff08GT\uff09\u548c\u6ce8\u610f\u529b\u56fe\u3002 \u6ce8\u610f\u5230\u6fc0\u6d3b\u503c\u8f83\u5927\u7684\u70b9\u610f\u5473\u7740\u8be5\u533a\u57df\u53d1\u751f\u76ee\u6807\u7684\u53ef\u80fd\u6027\u8f83\u9ad8\u3002<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    \u56fe8.\u5168\u5c40-\u5c40\u90e8transformer\u534f\u540c\u7b56\u7565\u6fc0\u6d3b\u7684\u6ce8\u610f\u529b\u56fe\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002 \u4ece\u5de6\u5230\u53f3\u968f\u673a\u9009\u62e9\u56db\u79cd\u5e38\u89c1\u573a\u666f\uff08\u5373\u76f4\u7ebf\u3001\u5408\u5e76\u3001\u66f2\u7ebf\u548c\u4ea4\u53c9\uff09\uff0c\u5e76\u5728\u6bcf\u5217\u4e2d\u76f8\u5e94\u5217\u51fa\u4e00\u5bf9\u6fc0\u5149\u96f7\u8fbe\u5730\u9762\u5b9e\u51b5\uff08GT\uff09\u548c\u6ce8\u610f\u56fe\u3002 \u6ce8\u610f\u5230\u6fc0\u6d3b\u503c\u8f83\u5927\u7684\u70b9\u610f\u5473\u7740\u8be5\u533a\u57df\u53d1\u751f\u76ee\u6807\u7684\u53ef\u80fd\u6027\u8f83\u9ad8\u3002<\/p>\n

    <\/p>\n

    \u56fe 9. OPV2V \u6d4b\u8bd5\u5206\u5272\u4e2d\u7684\u68c0\u6d4b\u53ef\u89c6\u5316\u3002 \u4ece\u4e0a\u5230\u4e0b\uff0c\u6211\u4eec\u5217\u51fa\u4e86\u539f\u59cb\u76f8\u673a\u56fe\u50cf\u3001LiDAR \u771f\u503c\uff08GT\uff09\u4ee5\u53ca CoBEVT [48]\u3001Where2comm [16] \u548c V2VFormer++ \u5b9e\u73b0\u7684\u611f\u77e5\u7ed3\u679c\u3002 \u6ce8\u610f\u5230GT\u548c\u9884\u6d4b\u6846\u5206\u522b\u7528\u7ea2\u8272\u548c\u7eff\u8272\u7ed8\u5236\uff0c\u6211\u4eec\u8fd8\u7528\u84dd\u8272\u5706\u5708\u7a81\u51fa\u4e86V2VFormer++\u7684\u4f18\u8d8a\u6027\u548c\u5148\u8fdb\u6027\u3002 \u663e\u7136\uff0c\u4e0e\u5176\u4ed6\u65b9\u6cd5\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u663e\u793a\u51fa\u66f4\u51c6\u786e\u3001\u66f4\u9c81\u68d2\u7684\u534f\u540c\u68c0\u6d4b\u6027\u80fd\uff0c\u5373\u4f7f\u5728\u4e25\u91cd\u906e\u6321\u3001\u76f2\u70b9\u548c\u8d85\u7ebf\u533a\u57df\u4e5f\u662f\u5982\u6b64\u3002<\/p>\n

    E \u5b9a\u6027\u7ed3\u679c<\/h4>\n

    \u6700\u540e\u901a\u8fc7\u5b9a\u6027\u5b9e\u9a8c\u6df1\u5165\u5206\u6790fuison\u6a21\u5757\u7684\u6548\u679c\u3002 \u6211\u4eec\u8fd8\u5c55\u793a\u4e86\u534f\u540c\u68c0\u6d4b\u7ed3\u679c\uff0c\u4ee5\u53cd\u6620\u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ \u7684\u4f18\u52bf\u3002<\/p>\n

    1\uff09\u6ce8\u610f\u529b\u56fe\uff1a<\/strong>\u5982\u56fe7\u548c\u56fe8\u6240\u793a\uff0c\u6211\u4eec\u5728\u76f4\u7ebf\u3001\u5408\u5e76\u3001\u66f2\u7ebf\u3001\u4ea4\u53c9\u70b9\u5904\u5206\u522b\u5c55\u793a\u4e86\u4e00\u5bf9LiDAR\u771f\u503c\uff08GT\uff09\u548cDCF\u5728\u5168\u5c40\u5c40\u90e8transformer\u534f\u540c\u540e\u7684\u6fc0\u6d3b\u56fe\u8bc4\u4ef7\u3002 \u5f97\u76ca\u4e8e\u6709\u6548\u7684 DCF \u8bbe\u8ba1\uff0c\u6fc0\u6d3b\u70b9\u53ef\u4ee5\u5927\u81f4\u5bf9\u5e94 LiDAR GT \u4e2d\u7684\u76ee\u6807\u533a\u57df\uff0c\u4ece\u800c\u4f7f\u6a21\u578b\u80fd\u591f\u805a\u7126\u4e8e\u7269\u4f53\u7684\u9ad8\u7535\u4f4d\u6216\u611f\u5174\u8da3\u533a\u57df (RoI)\u3002 DCF \u4ee5\u52a8\u6001\u9010\u70b9\u65b9\u5f0f\u63a2\u7d22\u7279\u5f81\u901a\u9053\u8bed\u4e49\uff0c\u56e0\u6b64\u53ef\u4ee5\u4ece\u76f8\u673a\u548c LiDAR \u6a21\u5f0f\u4e2d\u5145\u5206\u5229\u7528\u6709\u4ef7\u503c\u7684\u4fe1\u606f\u3002 \u7c7b\u4f3c\u5730\uff0c\u5168\u5c40-\u5c40\u90e8transformer\u901a\u8fc7\u901a\u9053\u65b9\u5f0f\u548c\u4f4d\u7f6e\u611f\u77e5\u91cd\u8981\u6027\u4f7f\u7528\u6765\u81ea\u76f8\u90bb CAV \u7684\u591a\u89c6\u56fe\u8868\u793a\u3002 \u5b83\u5c06\u63d0\u4f9b\u66f4\u5e7f\u6cdb\u548c\u66f4\u957f\u7684\u63a2\u6d4b\u8303\u56f4\uff0c\u5e76\u4e14\u7a81\u51fa\u663e\u793a\u7684\u70b9\u53ef\u4ee5\u5f15\u5bfc\u6a21\u578b\u68c0\u6d4b\u88ab\u906e\u6321\u6216\u5f88\u5c11\u770b\u5230\u7684\u7269\u4f53\u3002<\/p>\n

    2\uff09\u68c0\u6d4b\u53ef\u89c6\u5316\uff1a<\/strong>\u5982\u56fe 9 \u6240\u793a\uff0c\u6211\u4eec\u663e\u793a\u4e86 V2VFormer++ \u4e0e CoBEVT [48] \u548cWhere2comm [16] \u65b9\u6cd5\u7684\u6bd4\u8f83\u53ef\u89c6\u5316\u7ed3\u679c\u3002 \u901a\u5e38\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u7b97\u6cd5\u59cb\u7ec8\u4fdd\u6301\u975e\u5e38\u7cbe\u786e\u548c\u7a33\u5065\u7684\u68c0\u6d4b\u7ed3\u679c\uff0c\u7279\u522b\u662f\u5728\u5177\u6709\u6311\u6218\u6027\u548c\u6a21\u7cca\u6027\u7684\u573a\u666f\u4e2d\u3002 \u5b83\u5728\u5176\u4ed6\u540c\u7c7b\u6280\u672f\u65e0\u6cd5\u505a\u5230\u7684\u96be\u6837\u672c\uff08\u5373\u906e\u6321\u3001\u76f2\u70b9\u548c\u8d85\u7ebf\u533a\u57df\uff09\u4e2d\u4ecd\u7136\u8868\u73b0\u51fa\u51fa\u8272\u7684\u611f\u77e5\u80fd\u529b\uff0c\u8868\u660e\u4e86\u5176\u4f18\u8d8a\u6027\u548c\u5148\u8fdb\u6027\u3002<\/p>\n

    V2VFormer++\u7684\u6f5c\u529b\u4e0e\u4f18\u52bf<\/h3>\n

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    \u6587\u7ae0\u6765\u81ea\uff1a51CTO<\/p>\n<\/div>\n<\/div>\n

    <\/div>\n

    <\/g><\/svg><\/i> \"Loading\"<\/p>\n

    <\/div>\n","protected":false},"excerpt":{"rendered":"

    \u5728\u516c\u5f00\u7684 OPV2V \u548c V2X-Sim2.0 \u57fa\u51c6\u4e0a\u8fdb\u884c\u4e86\u5b9a\u91cf\u548c\u5b9a\u6027\u5b9e\u9a8c\uff0c\u6211\u4eec\u63d0\u51fa\u7684 V2VFormer++ […]<\/p>\n

    <\/div>\n

    <\/g><\/svg><\/i> \"Loading\"<\/p>\n

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