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class=\"js_darkmode__45\">\u56fe2\uff1a\u5c06BEV\u7279\u5f81\u878d\u5165\u884c\u4e3a\u9884\u6d4b\u7684\u4e09\u79cd\u4e0d\u540c\u7b56\u7565\u3002\u5de6\uff1a\u5c40\u90e8\u533a\u57df\u6ce8\u610f\u529b\u7f16\u7801\u4ee3\u7406\u4e0e\u5730\u56fe\u7684\u4ea4\u4e92\uff1b\u4e2d\uff1a\u7528BEV\u7279\u5f81\u589e\u5f3a\u8f66\u9053\u9876\u70b9\uff1b\u53f3\uff1a\u7528\u65f6\u95f4\u5e8f\u5217BEV\u7279\u5f81\u66ff\u6362\u4ee3\u7406\u8f68\u8ff9\u3002<\/p>\n<h2>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/h2>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s7.51cto.com\/oss\/202407\/31\/79241c0455d2addbc4937819181938aa3073a8.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p 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src=\"https:\/\/s4.51cto.com\/oss\/202407\/31\/b5fc78188e53bcc4620932280deb855217ddcd.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p class=\"js_darkmode__55\">\u56fe5\uff1a\u4f7f\u7528\u7b2c3.2\u8282\u4e2d\u7684\u7b56\u7565\u7ed3\u5408MapTR [22]\u548cDenseTNT [12]\u3002\u672c\u6587\u901a\u8fc7\u7528BEV\u7279\u5f81\u589e\u5f3a\u5730\u56fe\u9876\u70b9\uff0c\u4f7fDenseTNT\u80fd\u591f\u751f\u6210\u975e\u5e38\u51c6\u786e\u7684\u8f68\u8ff9\uff0c\u907f\u514d\u4e86\u5728\u57fa\u7ebf\u548c\u589e\u5f3a\u4e0d\u786e\u5b9a\u6027[13]\u8bbe\u7f6e\u4e2d\u51fa\u73b0\u7684\u9053\u8def\u8fb9\u754c\u5165\u4fb5\u95ee\u9898\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s3.51cto.com\/oss\/202407\/31\/74f5b2203c7932ea7e7182c13d4fa7424b5b55.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p class=\"js_darkmode__58\">\u56fe6\uff1a\u4f7f\u7528\u7b2c3.3\u8282\u4e2d\u7684\u7b56\u7565\u7ed3\u5408StreamMapNet [37]\u548cDenseTNT [12]\u3002\u901a\u8fc7\u7528BEV\u7279\u5f81\u66ff\u6362\u4ee3\u7406\u8f68\u8ff9\u4fe1\u606f\uff0cDenseTNT\u80fd\u591f\u9884\u6d4b\u51fa\u5728\u6591\u9a6c\u7ebf\u524d\u505c\u4e0b\u7684\u8f68\u8ff9\uff0c\u76f8\u6bd4\u4e8e\u57fa\u7ebf\u548c\u589e\u5f3a\u4e0d\u786e\u5b9a\u6027[13]\u65b9\u6cd5\u4e2d\u7684\u9884\u6d4b\u4e0d\u8db3\u548c\u8fc7\u5ea6\u95ee\u9898\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s7.51cto.com\/oss\/202407\/31\/317469d94579aafd16c159e23048c2b2468dd6.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p class=\"js_darkmode__61\">\u88681\uff1a\u5728nuScenes [1]\u6570\u636e\u96c6\u4e0a\uff0c\u51e0\u4e4e\u6bcf\u79cd\u5730\u56fe\u6784\u5efa\u548c\u9884\u6d4b\u7684\u7ec4\u5408\u90fd\u80fd\u4ece\u76f4\u63a5\u5229\u7528\u4e0a\u6e38BEV\u7279\u5f81\u4e2d\u53d7\u76ca\uff0c\u67d0\u4e9b\u7ec4\u5408\u7684\u6027\u80fd\u63d0\u5347\u751a\u81f3\u8fbe\u523025%\u6216\u66f4\u591a\u3002\u767e\u5206\u6bd4\u503c\u8868\u793a\u672c\u6587\u7684\u65b9\u6cd5\u5728\u9884\u6d4b\u6027\u80fd\u4e0a\u6240\u5b9e\u73b0\u7684\u76f8\u5bf9\u63d0\u5347\u3002<\/p>\n<p><img decoding=\"async\" title=\"\u56fe\u7247\" src=\"https:\/\/s5.51cto.com\/oss\/202407\/31\/574dab121143957b025396447afec29bc621fa.webp\" alt=\"\u56fe\u7247\" data-type=\"inline\" \/><\/p>\n<p class=\"js_darkmode__64\">\u88682\uff1a\u5bf9BEV patch \u5927\u5c0f\u7684\u63a2\u7d22\u8868\u660e\uff0c patch 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