{"id":21420,"date":"2024-07-25T10:52:17","date_gmt":"2024-07-25T02:52:17","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=21420"},"modified":"2024-07-25T10:52:17","modified_gmt":"2024-07-25T02:52:17","slug":"%e6%97%a0%e5%9b%be%e6%9c%80%e5%bc%batrick-mapdistill%ef%bc%9a%e9%80%9f%e5%ba%a6%e7%b2%be%e5%ba%a6%e5%8f%8c%e8%b5%b7%e9%a3%9e%ef%bc%8c%e8%ae%a9end2end%e6%9b%b4%e4%b8%9d%e6%bb%91","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/07\/25\/21420\/","title":{"rendered":"\u65e0\u56fe\u6700\u5f3aTrick | MapDistill\uff1a\u901f\u5ea6\u7cbe\u5ea6\u53cc\u8d77\u98de\uff0c\u8ba9End2End\u66f4\u4e1d\u6ed1 !"},"content":{"rendered":"
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\n
\n

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\u5199\u5728\u524d\u9762&\u4e2a\u4eba\u7406\u89e3<\/h2>\n

\u5728\u7ebf\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u6784\u5efa\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4e00\u9879\u91cd\u8981\u4e14\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u6700\u8fd1\uff0c\u4eba\u4eec\u5bf9\u4e0d\u4f9d\u8d56\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7b49\u5176\u4ed6\u4f20\u611f\u5668\u7684\u57fa\u4e8e\u73af\u89c6\u76f8\u673a\u7684\u4f4e\u6210\u672c\u65b9\u6cd5\u8d8a\u6765\u8d8a\u611f\u5174\u8da3\u3002\u7136\u800c\u53ea\u4f7f\u7528\u89c6\u89c9\u4f20\u611f\u5668\u7684\u65b9\u6cd5\u7f3a\u4e4f\u660e\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u9700\u8981\u66f4\u5927\u7684\u4e3b\u5e72\u7f51\u7edc\u6765\u5b9e\u73b0\u4ee4\u4eba\u6ee1\u610f\u7684\u6027\u80fd\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u9996\u6b21\u91c7\u7528\u77e5\u8bc6\u84b8\u998f(Knowledge Distillation, KD)\u601d\u60f3\u8fdb\u884c\u9ad8\u6548\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\uff0c\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8eKD\u7684\u5728\u7ebf\u77e2\u91cf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5MapDistill\u3002MapDistill\u5c06\u77e5\u8bc6\u4ece\u9ad8\u51c6\u786e\u6027\u7684Camera-LiDAR\u878d\u5408\u6a21\u578b\u8f6c\u79fb\u5230\u8f7b\u91cf\u7ea7\u7684\u4ec5\u4f9d\u8d56\u76f8\u673a\u7684\u6a21\u578b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528\u5e08\u751f\u67b6\u6784\uff0c\u5373Camera-LiDAR\u878d\u5408\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\uff0c\u8f7b\u91cf\u7684\u53ea\u57fa\u4e8e\u76f8\u673a\u7684\u6a21\u578b\u4f5c\u4e3a\u5b66\u751f\uff0c\u5e76\u8bbe\u8ba1\u4e86\u53ccBEV\u8f6c\u6362\u6a21\u5757\uff0c\u4ee5\u4fc3\u8fdb\u8de8\u6a21\u6001\u77e5\u8bc6\u5bf9\u9f50\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u63d0\u51fa\u4e86\u4e00\u4e2a\u9002\u7528\u4e8e\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u7684\u5168\u9762\u84b8\u998f\u65b9\u6848\uff0c\u5305\u62ec\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u53cc\u5c42\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u4efb\u52a1\u5934\u84b8\u998f\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u89e3\u51b3\u4e86\u6a21\u6001\u95f4\u77e5\u8bc6\u8f6c\u79fb\u7684\u56f0\u96be\uff0c\u4f7f\u5b66\u751f\u6a21\u578b\u80fd\u591f\u5b66\u4e60\u66f4\u597d\u7684\u7528\u4e8e\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u7279\u5f81\u8868\u793a\u3002\u6211\u4eec\u5728\u76ee\u524d\u6700\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86MapDistill\u7684\u6709\u6548\u6027\uff0c\u8d85\u8d8a\u4e86\u57fa\u7ebf\u65b9\u6cd57.7 mAP\u6216\u5b9e\u73b04.5\u500d\u7684\u52a0\u901f\u3002<\/p>\n

\u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/github.com\/Ricky-Developer\/MapDistill<\/p>\n

\u9886\u57df\u80cc\u666f\u4ecb\u7ecd<\/h2>\n

\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u63d0\u4f9b\u4e86\u4e30\u5bcc\u3001\u7cbe\u786e\u7684\u9a7e\u9a76\u573a\u666f\u9759\u6001\u73af\u5883\u4fe1\u606f\uff0c\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u89c4\u5212\u4e0e\u5bfc\u822a\u6a21\u5757\u7684\u57fa\u7840\u3002\u6700\u8fd1\uff0c\u57fa\u4e8e\u591a\u89c6\u89d2\u76f8\u673a\u7684\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7531\u4e8eBEV\u611f\u77e5\u6280\u672f\u7684\u91cd\u5927\u8fdb\u5c55\u800c\u53d7\u5230\u8d8a\u6765\u8d8a\u591a\u7684\u5173\u6ce8\u3002\u76f8\u8f83\u4e8e\u53ea\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u548c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u4e0e\u76f8\u673a\u878d\u5408\u7684\u65b9\u6cd5\uff0c\u53ea\u57fa\u4e8e\u591a\u89c6\u89d2\u76f8\u673a\u7684\u65b9\u6cd5\u5177\u6709\u66f4\u4f4e\u7684\u90e8\u7f72\u6210\u672c\u3002\u4f46\u7531\u4e8e\u7f3a\u4e4f\u6df1\u5ea6\u4fe1\u606f\uff0c\u76ee\u524d\u7684\u57fa\u4e8e\u7eaf\u89c6\u89c9\u7684\u65b9\u6848\u5e38\u5e38\u91c7\u7528\u53c2\u6570\u66f4\u591a\u7684\u9aa8\u5e72\u7f51\u7edc\u8fdb\u884c\u6709\u6548\u7684\u7279\u5f81\u63d0\u53d6\u4ee5\u53d6\u5f97\u8f83\u597d\u7684\u6027\u80fd\u3002\u56e0\u6b64\uff0c\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\u6743\u8861\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u6a21\u578b\u7684\u6027\u80fd\u548c\u6548\u7387\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002<\/p>\n

\u77e5\u8bc6\u84b8\u998f(Knowledge Distillation, KD)\u4f5c\u4e3a\u8bad\u7ec3\u9ad8\u6548\u800c\u51c6\u786e\u7684\u6a21\u578b\u6700\u5b9e\u7528\u7684\u6280\u672f\u4e4b\u4e00\uff0c\u5728\u76f8\u5173\u9886\u57df\u53d7\u5230\u4e86\u6781\u5927\u7684\u5173\u6ce8\u3002\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u65b9\u6cd5\u901a\u5e38\u5c06\u77e5\u8bc6\u4ece\u8bad\u7ec3\u6709\u7d20\u7684\u5927\u6a21\u578b(\u6559\u5e08)\u8f6c\u79fb\u5230\u5c0f\u6a21\u578b(\u5b66\u751f)\u3002\u8fd9\u7c7b\u65b9\u6cd5\u5728\u56fe\u50cf\u5206\u7c7b\u3001\u4e8c\u7ef4\u76ee\u6807\u68c0\u6d4b\u3001\u8bed\u4e49\u5206\u5272\u548c\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u7b49\u8bb8\u591a\u9886\u57df\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u4ee5\u524d\u7684\u65b9\u6cd5\u5927\u591a\u9075\u5faa\u9700\u5b66\u751f\u7f51\u7edc\u903b\u8f91\u4e0e\u6559\u5e08\u7f51\u7edc\u903b\u8f91\u76f8\u5339\u914d\u7684teacher-student\u8303\u5f0f\u3002\u6700\u8fd1\uff0c\u57fa\u4e8eBEV\u7684\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u63a8\u52a8\u4e863D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u7684\u53d1\u5c55\u3002\u8fd9\u7c7b\u65b9\u6cd5\u7edf\u4e00\u4e86BEV\u7a7a\u95f4\u4e2d\u7684\u56fe\u50cf\u548c\u70b9\u4e91\u7279\u5f81\uff0c\u5e76\u5728\u5e08\u751f\u8303\u5f0f\u4e2d\u81ea\u9002\u5e94\u5730\u8de8\u975e\u540c\u8d28\u8868\u793a\u4f20\u9012\u77e5\u8bc6\u3002\u6b64\u524d\u7684\u5de5\u4f5c\u4f7f\u7528\u5f3a\u6fc0\u5149\u96f7\u8fbe\u6559\u5e08\u6a21\u578b\u5e2e\u52a9\u76f8\u673a\u5b66\u751f\u6a21\u578b\u8fdb\u884c\u8bad\u7ec3\uff0c\u5982BEVDistill\u3001UVTR\u3001BEVLGKD\u3001TiG-BEV\u548cDistillBEV\u3002\u6700\u8fd1\uff0cUniDistill\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u7684\u901a\u7528\u8de8\u6a21\u6001\u77e5\u8bc6\u84b8\u998f\u6846\u67b6\u3002<\/p>\n

\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u76f8\u6bd4\uff0c\u57fa\u4e8eBEV\u7684\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u5728\u4e24\u4e2a\u5173\u952e\u65b9\u9762\u6709\u6240\u4e0d\u540c:\u9996\u5148\uff0c\u68c0\u6d4b\u5934(DetHead)\u5bf9\u76ee\u6807\u8fdb\u884c\u5206\u7c7b\u548c\u5b9a\u4f4d\u8f93\u51fa\uff0c\u800c\u5728\u5728\u7ebf\u77e2\u91cf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u6a21\u578b(\u5982MapTR)\u4e2d\u5730\u56fe\u5934(MapHead)\u5f80\u5f80\u8f93\u51fa\u7684\u662f\u5206\u7c7b\u548c\u70b9\u56de\u5f52\u7ed3\u679c\u3002\u5176\u6b21\uff0c\u73b0\u6709\u7684\u57fa\u4e8eBEV\u76843D\u76ee\u6807\u68c0\u6d4b\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u901a\u5e38\u4fa7\u91cd\u4e8e\u5bf9\u51c6\u524d\u666f\u76ee\u6807\u7684\u7279\u5f81\uff0c\u4ee5\u51cf\u8f7b\u80cc\u666f\u73af\u5883\u7684\u4e0d\u5229\u5f71\u54cd\uff0c\u8fd9\u663e\u7136\u4e0d\u9002\u5408\u9ad8\u7cbe\u5730\u56fe\u7684\u6784\u5efa\u3002\u56e0\u6b64\uff0c\u5c06\u57fa\u4e8eBEV\u76843D\u76ee\u6807\u68c0\u6d4b\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u76f4\u63a5\u5e94\u7528\u4e8e\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4e2d\uff0c\u7531\u4e8e\u4e24\u8005\u4efb\u52a1\u7684\u5185\u5728\u5dee\u5f02\u6027\uff0c\u65e0\u6cd5\u83b7\u5f97\u6ee1\u610f\u7684\u7ed3\u679c(\u5b9e\u9a8c\u7ed3\u679c\u89c1\u88681)\u3002\u636e\u6211\u4eec\u6240\u77e5\uff0c\u57fa\u4e8eBEV\u7684\u7528\u4e8e\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u4ecd\u5904\u4e8e\u63a2\u7d22\u9636\u6bb5\u3002<\/p>\n

\u4e3a\u4e86\u586b\u8865\u8fd9\u4e00\u7a7a\u767d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u65b9\u6cd5MapDistill\uff0c\u5c06\u77e5\u8bc6\u4ece\u9ad8\u6027\u80fd\u7684\u6559\u5e08\u6a21\u578b\u8f6c\u79fb\u5230\u9ad8\u6548\u7684\u5b66\u751f\u6a21\u578b\u3002\u9996\u5148\uff0c\u6211\u4eec\u91c7\u7528\u5e08\u751f\u67b6\u6784\uff0c\u5373\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u6a21\u578b\u4f5c\u4e3a\u6559\u5e08\uff0c\u8f7b\u91cf\u5316\u7684\u53ea\u57fa\u4e8e\u76f8\u673a\u4f20\u611f\u5668\u7684\u6a21\u578b\u4f5c\u4e3a\u5b66\u751f\uff0c\u5e76\u8bbe\u8ba1\u4e86\u53ccBEV\u8f6c\u6362\u6a21\u5757\uff0c\u4ee5\u4fc3\u8fdb\u8de8\u6a21\u6001\u77e5\u8bc6\u5347\u534e\uff0c\u540c\u65f6\u4fdd\u6301\u6210\u672c\u6548\u76ca\u7684\u53ea\u57fa\u4e8e\u76f8\u673a\u4f20\u611f\u5668\u7684\u5efa\u56fe\u65b9\u6848\u90e8\u7f72\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5305\u542b\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u53cc\u5c42\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u90e8\u84b8\u998f\u7684\u7efc\u5408\u84b8\u998f\u65b9\u6848\uff0c\u4ee5\u51cf\u8f7b\u6a21\u6001\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\u6311\u6218\uff0c\u5e76\u5e2e\u52a9\u5b66\u751f\u6a21\u578b\u5b66\u4e60\u6539\u8fdb\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7279\u5f81\u8868\u793a\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u4e3a\u5b66\u751f\u6a21\u578b\u5f15\u5165\u4e86\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u635f\u5931\uff0c\u4ee5\u4fbf\u4ece\u878d\u5408\u6559\u5e08\u6a21\u578b\u4e2d\u66f4\u597d\u5730\u5b66\u4e60\u8de8\u6a21\u6001\u8868\u793a\u3002\u5176\u6b21\uff0c\u4e3a\u4e86\u66f4\u597d\u5730\u5b9e\u73b0\u8bed\u4e49\u77e5\u8bc6\u8f6c\u79fb\uff0c\u6211\u4eec\u5728\u7edf\u4e00\u7684BEV\u7a7a\u95f4\u4e2d\u5bf9\u4f4e\u7ea7\u548c\u9ad8\u7ea7\u7279\u5f81\u8868\u793a\u90fd\u91c7\u7528\u4e86\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u635f\u5931\u3002\u6700\u540e\uff0c\u6211\u4eec\u7279\u522b\u5f15\u5165\u4e86\u4e3a\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u91cf\u8eab\u5b9a\u5236\u7684\u5730\u56fe\u5934\u84b8\u998f\u635f\u5931\uff0c\u5305\u62ec\u5206\u7c7b\u635f\u5931\u548c\u70b9\u5bf9\u70b9\u635f\u5931\uff0c\u5b83\u53ef\u4ee5\u4f7f\u5b66\u751f\u7684\u6700\u7ec8\u9884\u6d4b\u4e0e\u6559\u5e08\u7684\u9884\u6d4b\u975e\u5e38\u76f8\u4f3c\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8bc1\u660e\u4e86MapDistill\u7684\u6709\u6548\u6027\uff0c\u8d85\u8d8a\u4e86\u73b0\u6709\u7ade\u4e89\u5bf9\u624b\u8d85\u8fc77.7 mAP\u62164.5\u500d\u7684\u52a0\u901f\uff0c\u5982\u56fe1\u6240\u793a\u3002<\/p>\n

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

\u56fe1\uff1anuScenes\u6570\u636e\u96c6\u4e0a\u4e0d\u540c\u65b9\u6cd5\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u5728\u5355\u4e2aNVIDIA RTX 3090 GPU\u4e0a\u5bf9\u63a8\u7406\u901f\u5ea6\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\u3002MapDistill\u53ef\u4ee5\u5728\u901f\u5ea6(FPS)\u548c\u7cbe\u5ea6(mAP)\u4e4b\u95f4\u5b9e\u73b0\u66f4\u597d\u7684\u5e73\u8861\u3002<\/p>\n

\u672c\u6587\u7684\u8d21\u732e\u4e3b\u8981\u4f53\u73b0\u5728\u4e09\u4e2a\u65b9\u9762:<\/p>\n

    \n
  1. \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u7684\u6709\u6548\u77e5\u8bc6\u84b8\u998f\u6a21\u578b\u67b6\u6784\uff0c\u5305\u62ec\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u6559\u5e08\u6a21\u578b\uff0c\u5e26\u6709\u53ccBEV\u8f6c\u6362\u6a21\u5757\u7684\u8f7b\u91cf\u7ea7\u76f8\u673a\u5b66\u751f\u6a21\u578b\uff0c\u8be5\u6a21\u5757\u4fc3\u8fdb\u4e86\u4e0d\u540c\u6a21\u5f0f\u5185\u90e8\u3001\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\uff0c\u540c\u65f6\u5177\u5907\u4f4e\u6210\u672c\u3001\u6613\u90e8\u7f72\u7684\u7279\u5f81\u3002<\/li>\n
  2. \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u540c\u65f6\u652f\u6301\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u7684\u7efc\u5408\u84b8\u998f\u65b9\u6848\u3002\u901a\u8fc7\u51cf\u8f7b\u6a21\u6001\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\u6311\u6218\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u5e2e\u52a9\u5b66\u751f\u6a21\u578b\u66f4\u597d\u5730\u5b66\u4e60\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u7279\u5f81\u8868\u793a\u3002<\/li>\n
  3. MapDistill\u7684\u6027\u80fd\u4f18\u4e8e\u6700\u5148\u8fdb\u7684(SOTA)\u65b9\u6cd5\uff0c\u53ef\u4ee5\u4f5c\u4e3a\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7814\u7a76\u7684\u5f3a\u5927\u57fa\u7ebf\u3002<\/li>\n<\/ol>\n

    MapDistill<\/h2>\n

    \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u8be6\u7ec6\u63cf\u8ff0\u6211\u4eec\u63d0\u51fa\u7684MapDistill\u3002\u6211\u4eec\u9996\u5148\u5728\u56fe2\u4e2d\u7ed9\u51fa\u4e86\u6574\u4e2a\u6846\u67b6\u7684\u6982\u8ff0\u56fe\u793a\uff0c\u5e76\u57282.1\u8282\u4e2d\u9610\u660e\u4e86\u6559\u5e08\u6a21\u578b\u548c\u5b66\u751f\u6a21\u578b\u7684\u6a21\u578b\u8bbe\u8ba1\u3002\u7136\u540e\uff0c\u6211\u4eec\u5728\u7b2c2.2\u8282\u8be6\u7ec6\u9610\u8ff0MapDistill\u7684\u7ec6\u8282\uff0c\u5982\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u3002<\/p>\n

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

    \u56fe2\uff1aMapDistill\u7531\u4e00\u4e2a\u57fa\u4e8e\u591a\u6a21\u6001\u878d\u5408\u7684\u6559\u5e08\u6a21\u578b(\u4e0a)\u548c\u4e00\u4e2a\u57fa\u4e8e\u8f7b\u91cf\u7ea7\u76f8\u673a\u4f20\u611f\u5668\u7684\u5b66\u751f\u6a21\u578b(\u4e0b)\u7ec4\u6210\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u4f7f\u6559\u5e08\u6a21\u578b\u80fd\u591f\u5c06\u77e5\u8bc6\u4f20\u9012\u7ed9\u5b66\u751f\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e09\u79cd\u84b8\u998f\u635f\u5931\u4ee5\u6307\u5bfc\u5b66\u751f\u6a21\u578b\u4ea7\u751f\u76f8\u4f3c\u7684\u7279\u5f81\u548c\u9884\u6d4b\uff0c\u5373\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u548c\u5730\u56fe\u5934\u84b8\u998f\u3002\u7279\u522b\u8bf4\u660e\uff0c\u63a8\u7406\u53ea\u4f7f\u7528\u5b66\u751f\u6a21\u578b\u8fdb\u884c\u3002<\/p>\n

    2.1 \u6a21\u578b\u6574\u4f53\u67b6\u6784<\/h4>\n

    \u878d\u5408\u6a21\u578b\uff08\u6559\u5e08\uff09\uff1a\u4e3a\u4e86\u5c06Camera-LiDAR\u878d\u5408\u6559\u5e08\u6a21\u578b\u7684\u77e5\u8bc6\u8f6c\u79fb\u5230\u5b66\u751f\u6a21\u578b\uff0c\u6211\u4eec\u9996\u5148\u57fa\u4e8e\u6700\u5148\u8fdb\u7684MapTR\u6a21\u578b\u5efa\u7acb\u4e86\u57fa\u4e8e\u878d\u5408\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u57fa\u7ebf\u3002\u5982\u56fe\u4e8c\u4e0a\u534a\u90e8\u5206\u6240\u793a\uff0c\u878d\u5408\u7684MapTR\u6a21\u578b\u6709\u4e24\u4e2a\u5206\u652f\u3002\u5bf9\u4e8e\u76f8\u673a\u5206\u652f\uff0c\u9996\u5148\u4f7f\u7528Resnet50\u63d0\u53d6\u591a\u89c6\u56fe\u56fe\u50cf\u7279\u5f81\u3002\u63a5\u4e0b\u6765\uff0c\u4f7f\u7528GKT\u4f5c\u4e3a2D-to-BEV\u8f6c\u6362\u6a21\u5757\uff0c\u5c06\u591a\u89c6\u56fe\u7279\u5f81\u8f6c\u6362\u4e3aBEV\u7a7a\u95f4\u3002\u751f\u6210\u7684\u6444\u50cf\u673aBEV\u7279\u5f81\u53ef\u8868\u793a\uff0c\u5176\u4e2dH\u3001W\u3001C\u5206\u522b\u8868\u793aBEV\u7279\u5f81\u7684\u9ad8\u5ea6\u3001\u5bbd\u5ea6\u548c\u901a\u9053\u6570\uff0c\u4e0a\u6807T\u4e3a\u201cteacher\u201d\u7684\u7f29\u5199\u3002\u6fc0\u5149\u96f7\u8fbe\u5206\u652f\u91c7\u7528SECOND\u8fdb\u884c\u70b9\u4e91\u4f53\u7d20\u5316\u548c\u7279\u5f81\u7f16\u7801\uff0c\u91c7\u7528Bevfusion\u4e2d\u7684\u5c55\u5e73\u64cd\u4f5c\u5c06\u70b9\u4e91\u7279\u5f81\u6295\u5f71\u5230BEV\u7a7a\u95f4\uff0c\u8868\u793a\u4e3a\u3002\u6b64\u540e\uff0cMapTR\u5c06\u548c\u805a\u5408\uff0c\u5e76\u4f7f\u7528\u5168\u5377\u79ef\u7f51\u7edc\u8fdb\u884c\u5904\u7406\uff0c\u83b7\u53d6\u878d\u5408\u9e1f\u77b0\u7279\u5f81\u3002\u6b64\u540e\uff0cMapTR\u4f7f\u7528\u4ee5\u878d\u5408BEV\u7279\u5f81\u4f5c\u4e3a\u8f93\u5165\u7684\u5730\u56fe\u7f16\u7801\u5668\u4ea7\u751f\u9ad8\u7ef4BEV\u7279\u5f81\u3002<\/p>\n

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

    \u7136\u540e\uff0c\u6559\u5e08\u5730\u56fe\u5934(MapHead)\u4f7f\u7528\u5206\u7c7b\u548c\u70b9\u5206\u652f\u6765\u751f\u6210\u5730\u56fe\u5143\u7d20\u7c7b\u522b\u548c\u70b9\u4f4d\u7f6e\u7684\u6700\u7ec8\u9884\u6d4b\uff1a<\/p>\n

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

    \u57fa\u4e8e\u76f8\u673a\u4f20\u611f\u5668\u7684\u6a21\u578b\uff08\u5b66\u751f\uff09\uff1a\u4e3a\u4e86\u63d0\u5347\u5b9e\u9645\u90e8\u7f72\u7684\u5b9e\u65f6\u63a8\u7406\u901f\u5ea6\uff0c\u6211\u4eec\u91c7\u7528MapTR\u7684\u76f8\u673a\u5206\u652f\u4f5c\u4e3a\u5b66\u751f\u6a21\u578b\u7684\u57fa\u7840\u3002\u7279\u522b\u7684\uff0c\u6211\u4eec\u4f7f\u7528Resnet18\u4f5c\u4e3a\u4e3b\u5e72\u6765\u63d0\u53d6\u591a\u89c6\u56fe\u7279\u5f81\uff0c\u8fd9\u53ef\u4ee5\u4f7f\u7f51\u7edc\u8f7b\u91cf\u7ea7\u4e14\u6613\u4e8e\u90e8\u7f72\u3002\u5728MapTR\u7684\u57fa\u7840\u4e0a\uff0c\u4e3a\u4e86\u6a21\u62df\u6559\u5e08\u6a21\u578b\u7684\u591a\u6a21\u6001\u878d\u5408\u7ba1\u9053\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u53cc\u6d41 BEV\u8f6c\u6362\u6a21\u5757\uff0c\u5c06\u591a\u89c6\u56fe\u7279\u5f81\u8f6c\u6362\u6210\u4e24\u4e2a\u4e0d\u540c\u7684BEV\u5b50\u7a7a\u95f4\u3002\u5177\u4f53\u7684\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u4f7f\u7528GKT\u751f\u6210\u7b2c\u4e00\u4e2a\u5b50\u7a7a\u95f4\u7279\u5f81\uff0c\u5176\u4e2d\u4e0a\u6807S\u8868\u793a\u201cstudent\u201d\u7684\u7f29\u5199\u3002\u7136\u540e\u6211\u4eec\u4f7f\u7528LSS\u751f\u6210\u53e6\u4e00\u4e2a\u5b50\u7a7a\u95f4\u7684\u9e1f\u77b0\u7279\u5f81\u3002\u6b64\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u5168\u5377\u79ef\u7f51\u7edc\u878d\u5408\u4e0a\u8ff0\u4e24\u4e2a\u5b50\u7a7a\u95f4\u9e1f\u77b0\u7279\u5f81\uff0c\u83b7\u5f97\u878d\u5408BEV\u7279\u5f81\u3002<\/p>\n

    2.2 MapDistill\u7684\u7ec6\u8282<\/h4>\n

    \u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\uff1a\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u7684\u6838\u5fc3\u601d\u60f3\u662f\u8ba9\u5b66\u751f\u6a21\u578b\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u6a21\u4eff\u6559\u5e08\u6a21\u578b\u7684\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u3002\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u5bf9\u4e8e\u6559\u5e08\u6a21\u578b\uff0c\u6211\u4eec\u8c03\u6574\u76f8\u673aBEV\u7279\u5f81\u548c\u6fc0\u5149\u96f7\u8fbeBEV\u7279\u5f81\u8f6c\u6362\u4e3a2D patches\u5e8f\u5217\uff0c\u8868\u793a\u4e3a\u3002\u4e4b\u540e\uff0c\u6211\u4eec\u8ba1\u7b97\u6765\u81ea\u6559\u5e08\u5206\u652f\u7684\u8de8\u6a21\u6001\u6ce8\u610f\u529b\uff0c\u5305\u542bC2L\u6ce8\u610f\u548cL2C\u6ce8\u610f\u529b\uff0c\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n

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

    \u5bf9\u4e8e\u5b66\u751f\u5206\u652f\uff0c\u6211\u4eec\u4f7f\u7528\u76f8\u540c\u7684\u7b56\u7565\uff1a<\/p>\n

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

    \u6b64\u540e\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\uff0c\u91c7\u7528KL\u6563\u5ea6\u635f\u5931\u5e2e\u52a9\u5bf9\u9f50\u5b66\u751f\u5206\u652f\u4e0e\u6559\u5e08\u5206\u652f\u7684\u8de8\u6a21\u6001\u6ce8\u610f\u529b\u3002<\/p>\n

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

    \u4e24\u7ea7\u7279\u5f81\u84b8\u998f\uff1a\u4e3a\u4e86\u65b9\u4fbf\u5b66\u751f\u6a21\u578b\u4ece\u6559\u5e08\u6a21\u578b\u4e2d\u5438\u6536\u4e30\u5bcc\u7684\u8bed\u4e49\/\u51e0\u4f55\u77e5\u8bc6\uff0c\u6211\u4eec\u5229\u7528\u878d\u5408\u7684BEV\u7279\u5f81\u8fdb\u884c\u7279\u5f81\u7ea7\u84b8\u998f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u901a\u8fc7MSE\u635f\u5931\uff0c\u8ba9\u8001\u5e08\u5206\u652f\u7684low-level\u878d\u5408BEV\u7279\u5f81\u76d1\u7763\u5b66\u751f\u5206\u652f\u5bf9\u5e94\u7684low-level BEV\u7279\u5f81\uff1a<\/p>\n

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

    \u76f8\u4f3c\u5730\uff0c\u6211\u4eec\u4f7f\u7528MSE\u635f\u5931\u5e2e\u52a9\u5bf9\u9f50\u7531\u5730\u56fe\u7f16\u7801\u5668\u751f\u6210\u7684\u548c\uff1a<\/p>\n

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

    \u6211\u4eec\u4f7f\u7528\u4e24\u7ea7\u7279\u5f81\u84b8\u998f\u8fdb\u884c\u7edf\u4e00\u8868\u793a\uff1a<\/p>\n

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

    \u5730\u56fe\u4efb\u52a1\u5934\u84b8\u998f\uff1a\u4e3a\u4e86\u4f7f\u5b66\u751f\u7684\u6700\u7ec8\u9884\u6d4b\u63a5\u8fd1\u8001\u5e08\u7684\u9884\u6d4b\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86\u5730\u56fe\u4efb\u52a1\u5934\u84b8\u998f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u4f7f\u7528\u6559\u5e08\u6a21\u578b\u751f\u6210\u7684\u9884\u6d4b\u4f5c\u4e3a\u4f2a\u6807\u7b7e\uff0c\u901a\u8fc7\u5730\u56fe\u4efb\u52a1\u5934\u635f\u5931\u6765\u76d1\u7763\u5b66\u751f\u6a21\u578b\u3002\u5730\u56fe\u4efb\u52a1\u5934\u635f\u5931\u7531\u4e24\u90e8\u5206\u8868\u793a\uff0c\u5176\u4e2d\u5206\u7c7b\u635f\u5931\u51fd\u6570\u7528\u4e8e\u5730\u56fe\u5143\u7d20\u5206\u7c7b\uff0c\u57fa\u4e8e\u66fc\u54c8\u987f\u8ddd\u79bb\u7684\u70b9\u5bf9\u70b9\u635f\u5931\u7528\u4e8e\u70b9\u4f4d\u7f6e\u7684\u56de\u5f52\uff1a<\/p>\n

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

    \u5b9e\u9a8c<\/h2>\n

    \u4e0eSOTA\u65b9\u6cd5\u7684\u6bd4\u8f83<\/h4>\n

    \u6211\u4eec\u5728nuScenes\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u4e24\u7c7b\u6700\u5148\u8fdb\u7684\u57fa\u7ebf\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5373\u57fa\u4e8e\u6444\u50cf\u673a\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\uff0c\u4ee5\u53ca\u6700\u521d\u88ab\u8bbe\u8ba1\u7528\u4e8e\u5b9e\u73b0\u57fa\u4e8eBEV\u76843D\u76ee\u6807\u68c0\u6d4b\u7684\u77e5\u8bc6\u84b8\u998f\u65b9\u6cd5\u3002\u5bf9\u4e8e\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u65b9\u6cd5\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86\u4e09\u79cd\u57fa\u4e8ebev\u7684\u4e09\u7ef4\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\uff0c\u5e76\u9488\u5bf9\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u8fdb\u884c\u4e86\u4fee\u6539\uff0c\u5206\u522b\u662fBEV-LGKD\u3001BEVDistill\u548cUnDistill\u3002\u4e3a\u4e86\u516c\u5e73\u8d77\u89c1\uff0c\u6211\u4eec\u4f7f\u7528\u4e0e\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u540c\u7684\u6559\u5e08\u548c\u5b66\u751f\u6a21\u578b\u3002\u5b9e\u9a8c\u7ed3\u679c\u5982\u88681\u6240\u793a\u3002<\/p>\n

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

    \u6d88\u878d\u5b9e\u9a8c\uff1a<\/h3>\n

    \u4e09\u9879\u77e5\u8bc6\u84b8\u998f\u635f\u5931\u51fd\u6570\u7684\u5f71\u54cd\uff1a\u5982\u88682\u6240\u793a\uff0c\u5728\u6a21\u578b\u53d8\u91cf(a)\u3001(b)\u3001(c)\u4e2d\uff0c\u6211\u4eec\u5355\u72ec\u4f7f\u7528\u4e0d\u540c\u7684\u84b8\u998f\u635f\u5931\u5bf9\u5b66\u751f\u5206\u652f\u8fdb\u884c\u8bad\u7ec3\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u4e0e\u57fa\u7ebf\u65b9\u6cd5\u76f8\u6bd4\uff0c\u4e09\u9879\u635f\u5931\u51fd\u6570\u5747\u5bf9\u6a21\u578b\u8868\u73b0\u51fa\u63d0\u5347\u3002\u6b64\u5916\uff0c\u6a21\u578b\u53d8\u91cf(d)\u3001(e)\u3001(f)\u8bc1\u660e\u4e86\u4e0d\u540c\u84b8\u998f\u635f\u5931\u9879\u7684\u7ed3\u679c\u662f\u76f8\u4e92\u8865\u5145\u7684\u3002\u6700\u7ec8\uff0c\u5c06\u6240\u6709\u7684\u84b8\u998f\u635f\u5931\u878d\u5408\u5728\u4e00\u8d77\uff0c\u6211\u4eec\u5f97\u5230\u4e86\u5b8c\u6574\u7684MapDistill\u7ed3\u679c\uff0c\u5b9e\u73b0\u4e8653.6mAP\u7684\u5148\u8fdb\u6027\u80fd\u3002<\/p>\n

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

    \u4e0d\u540c\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u7684\u6d88\u878d\u7814\u7a76\uff1a\u5982\u88685(a)\u6240\u793a\uff0c\u4e3a\u4e86\u63a2\u7a76MapDistill\u4e0e\u4e0d\u540c\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u7684\u517c\u5bb9\u6027\uff0c\u6211\u4eec\u7efc\u5408\u5bf9\u6bd4\u4e86\u4e24\u79cd\u6d41\u884c\u7684\u65b9\u6cd5\uff0c\u7ed3\u679c\u5982\u88685a\u6240\u793a\u3002\u5176\u4e2d\uff0cTeacher model-1\u548cTeacher model-2\u5206\u522b\u662f\u4f7f\u7528SwinTransformer-T\u7684MapTR\u53d8\u4f53\u6a21\u578b\u548c\u6700\u5148\u8fdb\u7684MapTRv2\u6a21\u578b\u3002\u6ce8\u610f\uff0c\u4e24\u4e2a\u5b66\u751f\u6a21\u578b\u90fd\u4f7f\u7528Resnet 18\u4f5c\u4e3a\u4e3b\u5e72\u6765\u63d0\u53d6\u591a\u89c6\u56fe\u7279\u5f81\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6548\u679c\u66f4\u597d\u7684\u6559\u5e08\u6a21\u578b\u5c06\u6559\u51fa\u66f4\u597d\u7684\u5b66\u751f\u6a21\u578b\u3002\u7531\u4e8e\u5df2\u5b8c\u6210\u9884\u8bad\u7ec3\u7684\u6559\u5e08\u6a21\u578b\u5df2\u7ecf\u83b7\u5f97\u4e86\u6784\u5efa\u9ad8\u7cbe\u5730\u56fe\u7684\u5b9d\u8d35\u77e5\u8bc6\uff0c\u5b66\u751f\u6a21\u578b\u53ef\u4ee5\u901a\u8fc7\u77e5\u8bc6\u84b8\u998f\u6280\u672f(\u4f8b\u5982\u6240\u63d0\u51fa\u7684MapDistill)\u6709\u6548\u5730\u5229\u7528\u8fd9\u4e9b\u77e5\u8bc6\uff0c\u4ece\u800c\u589e\u5f3a\u5176\u6267\u884c\u76f8\u540c\u4efb\u52a1\u7684\u80fd\u529b\u3002\u6b64\u5916\uff0c\u7ed3\u679c\u8868\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u5bf9\u4e0d\u540c\u7684\u6559\u5e08\u6a21\u578b\u90fd\u662f\u6709\u6548\u7684\u3002<\/p>\n

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

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

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    \u4eca\u5929\u4e3a\u5927\u5bb6\u5206\u4eab\u4e09\u661f&\u5317\u822a&\u4e2d\u79d1\u9662&\u6089\u5c3c\u5927\u5b66\u56e2\u961fECCV2024\u6700\u65b0\u7684\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u5de5\u4f5c\u2014 […]<\/p>\n

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