{"id":17156,"date":"2023-12-26T10:15:32","date_gmt":"2023-12-26T02:15:32","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=17156"},"modified":"2023-12-26T10:15:32","modified_gmt":"2023-12-26T02:15:32","slug":"%e8%b6%85%e8%b6%8astream-petr%ef%bc%81bevnext%ef%bc%9a%e9%87%8d%e5%a1%91%e5%af%86%e9%9b%86bev%e6%84%9f%e7%9f%a5%e6%96%b0%e6%a1%86%e6%9e%b6","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2023\/12\/26\/17156\/","title":{"rendered":"\u8d85\u8d8aStream PETR\uff01BEVNeXt\uff1a\u91cd\u5851\u5bc6\u96c6BEV\u611f\u77e5\u65b0\u6846\u67b6"},"content":{"rendered":"
\u672c\u6587\u4ecb\u7ecd\u7684BEVNeXt\u5206\u522b\u4ece2D\u5efa\u6a21\u80fd\u529b\u3001\u65f6\u5e8f\u4fe1\u606f\u878d\u5408\u3001\u900f\u89c6\u7cbe\u4fee\u7b49\u89d2\u5ea6\u5bf9BEV-Based\u7684\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u589e\u5f3a\uff0c\u5e0c\u671b\u672c\u6587\u53ef\u4ee5\u7ed9\u5927\u5bb6\u5e26\u6765\u5e2e\u52a9\uff5e<\/div>\n
\n
\n

\u672c\u6587\u7ecf\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n

\u5199\u5728\u524d\u9762&&\u7b14\u8005\u7684\u4e2a\u4eba\u7406\u89e3<\/h4>\n

\u76ee\u524d\u57fa\u4e8e\u7eaf\u76f8\u673a\u7684\u81ea\u52a8\u9a7e\u9a763D\u611f\u77e5\u7b97\u6cd5\u4e5f\u53ef\u4ee5\u6309\u71672D\u76ee\u6807\u68c0\u6d4b\u7684\u6280\u672f\u8def\u7ebf\u5206\u4e3a\u5305\u542b\u540e\u5904\u7406\u7684\u611f\u77e5\u7b97\u6cd5<\/strong>\u548c\u4e0d\u9700\u8981\u540e\u5904\u7406\uff08\u7aef\u5230\u7aef\uff09\u7684\u611f\u77e5\u7b97\u6cd5<\/strong>\u3002<\/p>\n

\u8bf8\u5982BEVDet\u8fd9\u7c7b\u5bc6\u96c6\u68c0\u6d4b\u7684\u611f\u77e5\u7b97\u6cd5\u4f1a\u5728BEV\u7279\u5f81\u7684\u6bcf\u4e2a\u5355\u5143\u7f51\u683c\u4e0a\u5229\u75283D Head\u6765\u8f93\u51fa\u76f8\u5e94\u7684\u611f\u77e5\u7ed3\u679c\uff0c\u8fd9\u5c31\u5bfc\u81f4\u8fd9\u7c7b\u5bc6\u96c6\u68c0\u6d4b\u7684\u611f\u77e5\u7ed3\u679c\u6700\u540e\u9700\u8981\u5229\u75283D NMS\u7b49\u540e\u5904\u7406\u64cd\u4f5c\u6765\u6291\u5236\u6389\u91cd\u590d\u7684\u68c0\u6d4b\u6846\u3002<\/p>\n

\u4f46\u662f\u4eff\u71672D\u76ee\u6807\u68c0\u6d4b\u4e2dEnd-to-End\u7684\u65b9\u6cd5\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7b97\u6cd5\u4e2d\u4e5f\u6709Query-Based\u7684\u68c0\u6d4b\u7b97\u6cd5\uff0c\u5229\u7528Transformer\u7684Decoder\u6a21\u5757\u76f4\u63a5\u8f93\u51fa\u6700\u7ec8\u7684\u68c0\u6d4b\u7ed3\u679c\uff0c\u7701\u53bb\u4e86NMS\u540e\u5904\u7406\u7684\u64cd\u4f5c\u3002<\/p>\n

\u867d\u7136\uff0c\u76ee\u524d\u8fd9\u7c7bQuery-Based\u7684\u7b97\u6cd5\u6a21\u578b\u7684\u611f\u77e5\u6027\u80fd\u6b63\u5728\u9010\u6e10\u903c\u8fd1\u6216\u8005\u8d85\u8fc7BEV-Based\u7684\u611f\u77e5\u6a21\u578b\u3002\u4f46\u662f\uff0c\u4f5c\u8005\u8ba4\u4e3aBEV-Based\u7684\u611f\u77e5\u7b97\u6cd5\u76f8\u6bd4\u4e8eQuery-Based\u7684\u611f\u77e5\u7b97\u6cd5\u800c\u8a00\uff0c\u66f4\u52a0\u7684\u6709\u5229\u4e8e\u5bf9\u4e8e\u6574\u4f53\u7684\u573a\u666f\u7406\u89e3\uff0c\u56e0\u4e3aBEV-Based\u7684\u611f\u77e5\u7b97\u6cd5\u4f1a\u5bf9\u8f66\u8eab\u5468\u56f4\u7684\u524d\u666f\u533a\u57df\u6216\u8005\u80cc\u666f\u533a\u57df\u5747\u8f93\u51fa\u76f8\u5e94\u7684\u8bed\u4e49\u7279\u5f81\u3002<\/p>\n

\u540c\u65f6\uff0c\u4f5c\u8005\u8ba4\u4e3aBEV-Based\u7684\u7b97\u6cd5\u76ee\u524d\u843d\u540e\u4e8eQuery-Based\u7684\u7b97\u6cd5\u4e3b\u8981\u662f\u7531\u4e8e\u7f3a\u5c11\u66f4\u52a0\u5148\u8fdb\u7684\u7f51\u7edc\u8bbe\u8ba1\u548c\u8bad\u7ec3\u6280\u5de7\u3002\u57fa\u4e8e\u6b64\uff0c\u4f5c\u8005\u5c06\u76ee\u524d\u7ecf\u5178\u7684BEV-Based\u7b97\u6cd5\u8fdb\u884c\u5206\u6790\uff0c\u5e76\u603b\u7ed3\u51fa\u4e86\u4e09\u6761\u7f3a\u70b9\uff0c\u5217\u4e3e\u5982\u4e0b\uff1a<\/p>\n

    \n
  • 2D\u5efa\u6a21\u8fd8\u4e0d\u591f\u4e0d\u5145\u5206<\/strong>
    \n\u5728BEV-Based\u7684\u611f\u77e5\u7b97\u6cd5\u5f53\u4e2d\uff0c\u901a\u5e38\u4f1a\u5229\u7528\u4e00\u4e2a\u7531\u6fc0\u5149\u96f7\u8fbe\u91c7\u96c6\u7684\u70b9\u4e91\u4fe1\u53f7\u8fdb\u884c\u76d1\u7763\u7684\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u6765\u63d0\u9ad8\u6a21\u578b\u76842D\u5efa\u6a21\u80fd\u529b\u3002\u4f46\u662f\u91c7\u96c6\u7684\u70b9\u4e91\u4fe1\u53f7\u5f88\u5927\u7a0b\u5ea6\u4e0a\u4f1a\u53d7\u5230\u6fc0\u5149\u96f7\u8fbe\u5206\u8fa8\u7387\u7684\u9650\u5236\uff0c\u4ece\u800c\u9020\u6210\u6a21\u578b\u5bf9\u4e8e\u6df1\u5ea6\u7684\u611f\u77e5\u4e0d\u591f\u51c6\u786e\uff0c\u5f71\u54cd\u6a21\u578b\u7684\u611f\u77e5\u6027\u80fd\u3002<\/li>\n
  • \u65f6\u5e8f\u5efa\u6a21\u80fd\u529b\u8fd8\u6bd4\u8f83\u5dee<\/strong>
    \n\u76ee\u524d\uff0c\u57fa\u4e8eBEV\u6846\u67b6\u7684\u611f\u77e5\u7b97\u6cd5\u5bf9\u4e8e\u65f6\u5e8f\u7684\u5efa\u6a21\u80fd\u529b\u4f9d\u65e7\u6bd4\u8f83\u6709\u9650\uff0c\u4f46\u662f\u5bf9\u4e8e\u65f6\u5e8f\u4fe1\u606f\u7684\u7406\u89e3\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u7b97\u6cd5\u800c\u8a00\u5374\u662f\u975e\u5e38\u91cd\u8981\u7684\u4e00\u73af\u3002\u5728\u65f6\u5e8f\u5efa\u6a21\u7684\u8fc7\u7a0b\u4e2d\uff0c\u5f53\u81ea\u8f66\u4ee5\u53ca\u5468\u56f4\u7684\u7269\u4f53\u5728\u4e0d\u65ad\u8fd0\u52a8\u65f6\uff0c\u5efa\u7acb\u4e00\u4e2a\u5927\u611f\u53d7\u91ce\u5bf9\u4e8e\u65f6\u5e8f\u4fe1\u606f\u7684\u878d\u5408\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002<\/li>\n
  • \u6295\u5f71\u8f6c\u6362\u4e2d\u7684\u7279\u5f81\u5931\u771f<\/strong>
    \n\u5728\u57fa\u4e8eBEV-Based\u7684\u7b97\u6cd5\u5f53\u4e2d\uff0c\u5728\u8fdb\u884c\u4e0d\u540c\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5750\u6807\u8f6c\u6362\uff0c\u6216\u8005\u7279\u5f81\u56fe\u5206\u8fa8\u7387\u7684\u53d8\u6362\u8fc7\u7a0b\u4e2d\u7279\u5f81\u56fe\u7684\u5931\u771f\u662f\u975e\u5e38\u5bb9\u6613\u53d1\u751f\u7684\u4e00\u4ef6\u4e8b\u60c5\u3002\u800c\u7279\u5f81\u7684\u5931\u771f\u95ee\u9898\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u6027\u80fd\u5f71\u54cd\u5f88\u975e\u5e38\u5927\u3002<\/li>\n<\/ul>\n

    \u57fa\u4e8e\u4e0a\u8ff0\u63d0\u5230\u7684\u51e0\u70b9\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u4e2a\u66f4\u52a0\u5148\u8fdb\u7684BEV-Based\u7684\u7b97\u6cd5\u6a21\u578b\uff0c\u5373BEV-NeXt\u3002<\/p>\n

    \u8bba\u6587\u7684arxiv\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2312.01696.pdf<\/p>\n

    BEVNeXt\u7b97\u6cd5\u6d41\u7a0b<\/h4>\n

    BEVNeXt\u662f\u57fa\u4e8e\u73b0\u6709\u7684LSS\u7b97\u6cd5\u57fa\u7840\u4e0a\u6784\u5efa\u8d77\u6765\u7684\u3002BEVNeXt\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u6846\u56fe\u5982\u4e0b\u6240\u793a\u3002<\/p>\n

    \"\u56fe\u7247\"BEVNeXt\u7b97\u6cd5\u6a21\u578b\u7684\u6574\u4f53\u7f51\u7edc\u7ed3\u6784<\/p>\n

    \u901a\u8fc7\u4e0a\u56fe\u53ef\u77e5\uff0cBEVNeXt\u7b97\u6cd5\u6a21\u578b\u4e3b\u8981\u7531\u4e09\u4e2a\u5b50\u6a21\u5757\u7ec4\u6210\uff0c\u5206\u522b\u662fBEV Generation<\/strong>\u6a21\u5757\uff0cBEV Encoder<\/strong>\u6a21\u5757\u4ee5\u53caDetection Head<\/strong>\u6a21\u5757\u3002\u4e0b\u9762\u4f9d\u6b21\u4e3a\u5927\u5bb6\u4ecb\u7ecd\u5404\u4e2a\u6a21\u5757\u7684\u529f\u80fd\u53ca\u7528\u9014\u3002<\/p>\n

    BEV Generation\u6a21\u5757<\/h4>\n

    \u9996\u5148\u9488\u5bf9\u7f51\u7edc\u6a21\u578b\u8f93\u5165\u7684\u516d\u5f20\u73af\u89c6\u56fe\u50cf\uff0c\u5229\u75282D\u4e3b\u5e72\u7f51\u7edc\u63d0\u53d6\u8f93\u5165\u73af\u89c6\u56fe\u50cf\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u3002\u8bba\u6587\u4e2d\u63d0\u53d6\u5230\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u5206\u522b\u662f\u539f\u59cb\u8f93\u5165\u56fe\u50cf\u7684\u964d\u91c7\u68374\u500d\u30018\u500d\u300116\u500d\u300132\u500d\u7684\u7279\u5f81\u7ed3\u679c\u3002<\/p>\n

    \u63a5\u4e0b\u6765\u4f1a\u5c06\u4e3b\u5e72\u7f51\u7edc\u63d0\u53d6\u5230\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\u9001\u5165\u5230\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edcDepth Net\u4e2d\u9884\u6d4b\u79bb\u6563\u7684\u6df1\u5ea6\u6982\u7387\u5206\u5e03\u3002\u7136\u540e\u5229\u7528\u8bba\u6587\u4e2d\u63d0\u51fa\u7684Conditional Random Fields\uff08CRF\uff09<\/strong>\u5229\u7528\u8f93\u5165\u56fe\u50cf\u7684\u8272\u5f69\u4fe1\u606f\u5bf9\u4f30\u8ba1\u51fa\u6765\u7684\u6df1\u5ea6\u4fe1\u606f\u8fdb\u884c\u8c03\u5236\uff0c\u4ece\u800c\u5f97\u5230\u8c03\u5236\u540e\u7684\u6df1\u5ea6\u6982\u7387\u4f30\u8ba1\u3002\u63a5\u4e0b\u6765\u8ba9\u6211\u4eec\u6765\u770b\u770bCRF-Modulated\u5b50\u6a21\u5757\u5177\u4f53\u662f\u600e\u4e48\u6765\u5b9e\u73b0\u7684\u3002<\/p>\n

      \n
    • CRF-Modulated\u6df1\u5ea6\u4f30\u8ba1<\/strong>\u5b50\u6a21\u5757
      \n\u5728\u57fa\u4e8eBEV-Based\u7684\u611f\u77e5\u7b97\u6cd5\u5f53\u4e2d\uff0c\u5bf9\u7269\u4f53\u7684\u6df1\u5ea6\u4fe1\u606f\u8fdb\u884c\u4f30\u8ba1\u53ef\u4ee5\u5e2e\u52a9\u6a21\u578b\u63d0\u9ad8\u5bf9\u4e8e2D\u7684\u5efa\u6a21\u80fd\u529b\u3002\u8bba\u6587\u4e2d\u6307\u51fa\u63d0\u9ad82D\u7684\u5efa\u6a21\u80fd\u529b\u53ef\u4ee5\u7f13\u89e3\u6a21\u578b\u5728\u6784\u5efaBEV\u7279\u5f81\u8fc7\u7a0b\u4e2d\u7684\u5931\u771f\u95ee\u9898\u3002
      \n\u56e0\u6b64\u5bf9\u4e8e\u7eaf\u89c6\u89c9\u7684\u611f\u77e5\u4efb\u52a1\u800c\u8a00\uff0c\u83b7\u53d6\u51c6\u786e\u548c\u9ad8\u7cbe\u5ea6\u7684\u6df1\u5ea6\u4f30\u8ba1\u5bf9\u4e8e\u6a21\u578b\u7684\u5b9a\u4f4d\u80fd\u529b\u662f\u975e\u5e38\u6709\u5e2e\u52a9\u7684\u3002\u56e0\u6b64\u8bba\u6587\u4e2d\u5c06\u6df1\u5ea6\u4f30\u8ba1\u770b\u4f5c\u662f\u4e00\u4e2a\u8bed\u4e49\u5206\u5272\u4efb\u52a1\uff0c\u5e76\u5229\u7528Conditional Random Fields\uff08CRF\uff09\u6765\u589e\u5f3a\u6a21\u578b\u7684\u6df1\u5ea6\u4f30\u8ba1\u80fd\u529b\u3002
      \n\u5177\u4f53\u800c\u8a00\uff0c\u8bba\u6587\u4e2d\u5e0c\u671b\u65bd\u52a0\u989c\u8272\u5e73\u6ed1\u7684\u65b9\u6cd5\u6765\u8c03\u5236\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4ece\u800c\u7f13\u89e32D\u6df1\u5ea6\u4f30\u8ba1\u7684\u4e0d\u8db3\u5b9e\u73b0\u5728\u50cf\u7d20\u7ea7\u522b\u6267\u884c\u6df1\u5ea6\u7684\u4e00\u81f4\u6027\u529f\u80fd\u3002
      \n\u5047\u8bbe\u4ee3\u8868\u964d\u91c7\u6837\u7279\u5f81\u56fe\u6240\u5305\u542b\u7684\u4e2a\u50cf\u7d20\uff0c\u4ee3\u8868\u9700\u8981\u4f30\u8ba1\u7684\u4e2a\u79bb\u6563\u7684\u6df1\u5ea6\u4fe1\u606f\u3002\u800c\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u7684\u76ee\u6807\u5c31\u662f\u4e3a\u6bcf\u4e00\u4e2a\u50cf\u7d20\u503c\u5206\u914d\u5bf9\u5e94\u7684\u79bb\u6563\u6df1\u5ea6\uff0c\u7528\u6570\u5b66\u516c\u5f0f\u8868\u793a\u4e3a\u3002\u6240\u4ee5\u6700\u7ec8\u6240\u9700\u8981\u4f18\u5316\u7684\u76ee\u6807\u5c31\u662f\u4f7f\u5f97\u76f8\u5e94\u7684Energy Cost\u6700\u5c0f\uff0c\u4ee3\u4ef7\u516c\u5f0f\u8ba1\u7b97\u65b9\u5f0f\u5982\u4e0b\uff1a\u5176\u4e2d\uff0c\u516c\u5f0f\u91cc\u7684
      \n\u7528\u6765\u8861\u91cf\u4e0e\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u521d\u59cb\u8f93\u51fa\u7684\u4ee3\u4ef7\u635f\u5931\u3002\u800c\u5176\u5177\u4f53\u7684\u8861\u91cf\u516c\u5f0f\u5982\u4e0b\u6240\u793a\uff1a
      \n\u5176\u4e2d\uff0c\u548c\u4ee3\u8868\u56fe\u50cf\u5757\u7684\u5e73\u5747RGB\u8272\u5f69\u50cf\u7d20\u503c\uff0c\u8868\u793a\u4e24\u4e2a\u79bb\u6563\u7684\u6df1\u5ea6\u7f51\u683c\u4e4b\u95f4\u7684label\u517c\u5bb9\u6027\uff0c\u7528\u6765\u8861\u91cf\u5176\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u5b9e\u9645\u8ddd\u79bb\u3002<\/li>\n<\/ul>\n

      \u6700\u540e\u5229\u7528View Transformer\u7ed3\u5408\u63d0\u53d6\u51fa\u6765\u7684\u591a\u5c3a\u5ea6\u56fe\u50cf\u7279\u5f81\u4ee5\u53ca\u8c03\u5236\u540e\u7684\u79bb\u6563\u6df1\u5ea6\u6982\u7387\u503c\u6765\u6784\u5efa\u6700\u7ec8\u5f53\u524dT\u65f6\u523b\u7684BEV\u7279\u5f81\u3002<\/p>\n

      BEV Encoder\u6a21\u5757<\/h4>\n

      \u8bba\u6587\u4e2d\u8bbe\u8ba1\u7684BEV Encoder\u6a21\u5757\u7528\u4e8e\u878d\u5408\u8fc7\u53bbK\u5e27\u8ba1\u7b97\u5f97\u5230\u7684\u5386\u53f2BEV\u7279\u5f81\u4fe1\u606f\u3002\u7531\u4e8e\u524d\u6587\u5df2\u7ecf\u63d0\u5230\u4e86\uff0c\u5728\u65f6\u5e8f\u4fe1\u606f\u878d\u5408\u7684\u8fc7\u7a0b\u5f53\u4e2d\u9700\u8981\u8db3\u591f\u5927\u7684\u611f\u53d7\u91ce\u6765\u83b7\u53d6\u81ea\u8f66\u5468\u56f4\u8fd0\u52a8\u7684\u76ee\u6807\u7279\u5f81\u4fe1\u606f\u3002\u800c\u8fd9\u4e00\u8fc7\u7a0b\u662f\u901a\u8fc7\u8bba\u6587\u63d0\u51fa\u7684Res2Fusion<\/strong>\u5b50\u7f51\u7edc\u6765\u5b9e\u73b0\u7684\u3002<\/p>\n

        \n
      • Res2Fusion<\/strong>\u5b50\u7f51\u7edc
        \n\u4f5c\u8005\u8ba4\u4e3a\u5c06\u5f53\u524d\u65f6\u523b\u7684BEV\u7279\u5f81\u4e0e\u5386\u53f2\u5e27\u7684BEV\u7279\u5f81\u8fdb\u884c\u878d\u5408\u6709\u52a9\u4e8e\u63d0\u9ad8\u6a21\u578b\u5bf9\u4e8e\u52a8\u6001\u7269\u4f53\u7684\u611f\u77e5\u80fd\u529b\u3002\u7136\u800c\uff0c\u5728BEV\u7a7a\u95f4\u6269\u5c55\u6a21\u578b\u7684\u611f\u53d7\u91ce\u662f\u975e\u5e38\u6709\u6311\u6218\u6027\u7684\uff0c\u5982\u679c\u7b80\u5355\u7684\u6269\u5927\u5377\u79ef\u6838\u7684\u5927\u5c0f\u4e0d\u4ec5\u4f1a\u589e\u52a0\u6a21\u578b\u7684\u8ba1\u7b97\u91cf\u8fd8\u4f1a\u589e\u52a0\u6a21\u578b\u7684\u8fc7\u62df\u5408\u98ce\u9669\u3002
        \n\u4e3a\u6b64\uff0c\u8bba\u6587\u4e2d\u662f\u63d0\u51fa\u4e86Res2Fusion<\/strong>\u5b50\u7f51\u7edc\uff0c\u8be5\u90e8\u5206\u7684\u7f51\u7edc\u7ed3\u6784\u5982\u4e0b\u56fe\u6240\u793a<\/li>\n<\/ul>\n

        \"\u56fe\u7247\"Res2Fusion\u5b50\u7f51\u7edc\u6574\u4f53\u7f51\u7edc\u7ed3\u6784<\/p>\n

        \u9488\u5bf9\u5f53\u524d\u5e27\u4ee5\u53ca\u524dK\u4e2a\u65f6\u523b\u7684\u5386\u53f2BEV\u7279\u5f81\u4fe1\u606f\uff0c\u9996\u5148\u4ee5\u7a97\u53e3\u5927\u5c0f\u4e3a\u5c3a\u5bf8\u5c06\u6240\u6709BEV\u7279\u5f81\u5206\u6210\u7ec4\u3002\u7136\u540e\u5229 \u7528\u5377\u79ef\u964d\u4f4e\u6bcf\u7ec4\u7279\u5f81\u7684\u901a\u9053\u6570\uff0c\u8be5\u90e8\u5206\u53ef\u4ee5\u8868\u793a\u6210<\/p>\n

        \u518d\u964d\u4f4e\u901a\u9053\u6570\u4e4b\u540e\uff0c\u518d\u91c7\u7528\u591a\u5c3a\u5ea6\u5377\u79ef\u64cd\u4f5c\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\u4ece\u800c\u6269\u5927\u6a21\u578b\u7684\u611f\u53d7\u91ce\uff0c\u63d0\u9ad8\u6a21\u578b\u5bf9\u4e8e\u65f6\u5e8f\u4fe1\u606f\u7684\u5efa\u6a21\u80fd\u529b\u3002\u8be5\u90e8\u5206\u7684\u6570\u5b66 \u8868\u8fbe\u5f0f\u5982\u4e0b\uff1a<\/p>\n

        Detection Head\u6a21\u5757<\/h4>\n

        \u6700\u540e\u5c06\u5f97\u5230\u7684\u7edf\u4e00BEV\u7279\u5f81\uff0c\u5229\u7528Center-Based\u76843D\u68c0\u6d4b\u5934\u8fdb\u884c\u5904\u7406\uff0c\u4ece\u800c\u83b7\u53d6\u6700\u7ec8\u76843D\u611f\u77e5\u7ed3\u679c\u3002\u4f46\u662f\u751f\u6210\u6700\u7ec8\u68c0\u6d4b\u7ed3\u679c\u7684\u8fc7\u7a0b\u5f53\u4e2d\uff0c\u4f5c\u8005\u91c7\u7528CRF-Modulated\u6df1\u5ea6\u4f30\u8ba1\u5b50\u6a21\u5757\u5f97\u5230\u7684\u6df1\u5ea6\u4f30\u8ba1\u6982\u7387\u5e2e\u52a9\u6a21\u578b\u533a\u5206\u4e0d\u540c\u4f4d\u7f6e\u7684\u76ee\u6807\u7279\u5f81\u3002<\/p>\n

          \n
        • Perspective Refinement<\/strong>
          \n\u524d\u6587\u4e5f\u6709\u63d0\u5230\uff0c\u5c062D\u7684\u56fe\u50cf\u7279\u5f81\u5229\u7528\u5750\u6807\u8f6c\u6362\u5173\u7cfb\u53d8\u6362\u52303D\u7a7a\u95f4\u4f1a\u9020\u6210\u7279\u5f81\u7684\u5931\u771f\u95ee\u9898\u3002\u6240\u4ee5\u5728\u672c\u6587\u4e2d\uff0c\u4f5c\u8005\u5229\u7528\u900f\u89c6\u7cbe\u4fee\u7684\u65b9\u6cd5\u6765\u5bf9\u9f50\u524d\u666f\u533a\u57df\u7684\u7279\u5f81\u3002
          \n\u5177\u4f53\u800c\u8a00\uff0c\u4f5c\u8005\u5229\u7528CenterPoint\u4e2d\u76843D\u68c0\u6d4b\u5934\u6765\u83b7\u53d6\u76ee\u6807\u7684\u4e2d\u5fc3\u4f4d\u7f6e\uff0c\u5728\u6b64\u4e2d\u5fc3\u4f4d\u7f6e\u7684\u57fa\u7840\u4e0a\u8003\u8651\u5927\u5c0f\u7684\u90bb\u57df\u8303\u56f4\uff0c\u5229\u7528\u4e00\u7ec4\u53ef\u5b66\u4e60\u7684\u67e5\u8be2\uff0c\u4f7f\u7528\u53ef\u53d8\u5f62\u6ce8\u610f\u529b\u6765\u5b9e\u73b0\u900f\u89c6\u7cbe\u4fee\u7684\u8fc7\u7a0b\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u7684\u5f15\u5165\u6df1\u5ea6\u4fe1\u606f\u7684\u6307\u5bfc\uff0c\u8bba\u6587\u4e2d\u5c06CRF-Modulated\u5b50\u7f51\u7edc\u4e2d\u4f30\u8ba1\u51fa\u6765\u7684\u6df1\u5ea6\u4fe1\u606f\u5d4c\u5165\u5230\u4e862D\u56fe\u50cf\u7279\u5f81\u5f53\u4e2d\uff0c\u5177\u4f53\u516c\u5f0f\u5982\u4e0b\u5176\u4e2d\uff0c\u4ee3\u8868\u53ef\u53d8\u5f62\u5377\u79ef\u8fd0\u7b97\uff0c\u662f\u5c06\u70b9Lift\u5230\u9ad8\u5ea6\u540e\u7684\u4e00\u7ec4\u53c2\u8003\u70b9\u3002<\/li>\n<\/ul>\n

          \u5b9e\u9a8c<\/h4>\n

          \u4f5c\u8005\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u6765\u9a8c\u8bc1\u63d0\u51fa\u7684\u7b97\u6cd5\u6a21\u578b\u7684\u6709\u6548\u6027\u3002\u901a\u8fc7\u8868\u683c\u4e2d\u7684\u7ed3\u679c\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u91c7\u7528\u4e0d\u540c2D Backbone\u7684\u60c5\u51b5\u4e0b\uff0cBEVNeXt\u5747\u5b9e\u73b0\u4e86\u975e\u5e38\u51fa\u8272\u7684\u68c0\u6d4b\u7ed3\u679c\u3002<\/p>\n

          \"\u56fe\u7247\"BEVNeXt\u7b97\u6cd5\u6a21\u578b\u5728nuScenes val\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u5bf9\u6bd4<\/p>\n

          \u6b64\u5916\uff0c\u8bba\u6587\u4e3a\u4e86\u66f4\u52a0\u76f4\u89c2\u7684\u5c55\u793a\u6240\u63d0\u51fa\u7684CRF-Modulated\u6df1\u5ea6\u4f30\u8ba1\u7f51\u7edc\u7684\u6548\u679c\uff0c\u5206\u522b\u5bf9\u51e0\u7ec4\u8f93\u5165\u56fe\u50cf\u8fdb\u884c\u4e86\u53ef\u89c6\u5316\uff0c\u5982\u4e0b\u56fe\u6240\u793a<\/p>\n

          <\/p>\n

          Conditional Random Field\u6a21\u5757\u7684\u53ef\u89c6\u5316\u6548\u679c\u5bf9\u6bd4<\/p>\n

          \u901a\u8fc7\u53ef\u89c6\u5316\u7ed3\u679c\u4e5f\u53ef\u4ee5\u6bd4\u8f83\u6e05\u6670\u7684\u770b\u51fa\uff0c\u91c7\u7528\u4e86CRF\u6a21\u5757\u7684\u6df1\u5ea6\u4f30\u8ba1\u66f4\u52a0\u7684\u51c6\u786e\uff0c\u76ee\u6807\u7684\u8fb9\u7f18\u66f4\u52a0\u7684\u9510\u5229\uff0c\u524d\u666f\u533a\u57df\u548c\u80cc\u666f\u533a\u57df\u533a\u5206\u7684\u4e5f\u66f4\u52a0\u7684\u660e\u663e\uff0c\u4ece\u800c\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u7684CRF\u6a21\u5757\u7684\u6709\u6548\u6027\u3002<\/p>\n

          \u9664\u6b64\u4e4b\u5916\uff0c\u8bba\u6587\u4e5f\u901a\u8fc7\u53ef\u89c6\u5316\u7684\u65b9\u5f0f\u6765\u9a8c\u8bc1\u4e86\u63d0\u51fa\u7684Perspective Refinement\u521b\u65b0\u70b9\u7684\u6709\u6548\u6027\u3002<\/p>\n

          <\/p>\n

          Perspective Refinement\u6a21\u5757\u53ef\u89c6\u5316\u6548\u679c\u5bf9\u6bd4<\/p>\n

          \u901a\u8fc7\u4e0a\u9762\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u53ef\u4ee5\u6bd4\u8f83\u6e05\u695a\u7684\u770b\u51fa\uff0c\u65e0\u8bba\u662f\u5927\u76ee\u6807\u8fd8\u662f\u5c0f\u76ee\u6807\u90fd\u53ef\u4ee5\u4ece\u63d0\u51fa\u7684Perspective Refinement\u6a21\u5757\u4e0a\u53d7\u76ca\u3002\u540c\u65f6\u901a\u8fc7\u8fdb\u4e00\u6b65\u7684\u7ec6\u5316\uff0c\u6a21\u578b\u5728\u65b9\u5411\u4e0a\u7684\u9884\u6d4b\u66f4\u52a0\u51c6\u786e\u3002<\/p>\n

          \u603b\u7ed3<\/h4>\n

          \u76ee\u524d\u867d\u7136Query-Based\u7684\u7b97\u6cd5\u6a21\u578b\u6574\u4f53\u611f\u77e5\u6027\u80fd\u8981\u597d\u4e8eBEV-Based\u7684\u7b97\u6cd5\uff0c\u4f46\u662f\u4f5c\u8005\u5c06\u539f\u56e0\u5f52\u7ed3\u4e8e\u76ee\u524d\u5bc6\u96c6BEV-Based\u68c0\u6d4b\u6a21\u578b\u7684\u7f51\u7edc\u7ed3\u6784\u548c\u8bad\u7ec3\u7b56\u7565\uff0c\u57fa\u4e8e\u63d0\u5230\u7684\u76f8\u5173\u7f3a\u70b9\uff0c\u672c\u6587\u4ecb\u7ecd\u7684BEVNeXt\u5206\u522b\u4ece2D\u5efa\u6a21\u80fd\u529b\u3001\u65f6\u5e8f\u4fe1\u606f\u878d\u5408\u3001\u900f\u89c6\u7cbe\u4fee\u7b49\u89d2\u5ea6\u5bf9BEV-Based\u7684\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u589e\u5f3a\uff0c\u5e0c\u671b\u672c\u6587\u53ef\u4ee5\u7ed9\u5927\u5bb6\u5e26\u6765\u5e2e\u52a9\uff5e<\/p>\n

          <\/p>\n

          \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/vPDCMSSW1bp0zZ2d73xYzg<\/p>\n<\/div>\n<\/div>\n

          <\/div>\n

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

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

          \u672c\u6587\u4ecb\u7ecd\u7684BEVNeXt\u5206\u522b\u4ece2D\u5efa\u6a21\u80fd\u529b\u3001\u65f6\u5e8f\u4fe1\u606f\u878d\u5408\u3001\u900f\u89c6\u7cbe\u4fee\u7b49\u89d2\u5ea6\u5bf9BEV-Based\u7684\u7b97\u6cd5\u6a21\u578b\u8fdb\u884c\u589e\u5f3a […]<\/p>\n

          <\/div>\n

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

          <\/div>\n","protected":false},"author":56,"featured_media":17157,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,23,80],"tags":[124,170],"class_list":["post-17156","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ai","category-23","category-80","tag-ai","tag-170"],"_links":{"self":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/17156","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/users\/56"}],"replies":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/comments?post=17156"}],"version-history":[{"count":1,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/17156\/revisions"}],"predecessor-version":[{"id":17163,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/posts\/17156\/revisions\/17163"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/media\/17157"}],"wp:attachment":[{"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/media?parent=17156"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/categories?post=17156"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aif.amtbbs.org\/index.php\/wp-json\/wp\/v2\/tags?post=17156"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}