{"id":22200,"date":"2024-09-13T13:07:32","date_gmt":"2024-09-13T05:07:32","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=22200"},"modified":"2024-09-13T13:07:32","modified_gmt":"2024-09-13T05:07:32","slug":"%e6%97%a0%e5%9b%benoa%ef%bc%9a%e4%b8%80%e5%9c%ba%e5%af%b9%e9%ab%98%e7%b2%be%e5%9c%b0%e5%9b%be%e7%9a%84%e7%a5%9b%e9%ad%85%ef%bc%812024%e5%9c%a8%e7%ba%bf%e9%ab%98%e7%b2%be%e5%9c%b0%e5%9b%be%e6%96%b9","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/09\/13\/22200\/","title":{"rendered":"\u65e0\u56feNOA\uff1a\u4e00\u573a\u5bf9\u9ad8\u7cbe\u5730\u56fe\u7684\u795b\u9b45\uff012024\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u65b9\u6848\u7684\u56de\u987e\u4e0e\u5c55\u671b"},"content":{"rendered":"
\"\"<\/div>\n
\u4eca\u5929\u548c\u5927\u5bb6\u4e00\u8d77\u76d8\u70b92024\u5e74\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u7684\u5168\u90e8\u5de5\u4f5c\uff01\u4e00\u63a2\u65e0\u56feNOA\u6838\u5fc3\u6280\u672f\u7684\u53d1\u5c55\u8d8b\u52bf\uff01<\/div>\n
\n
\n

\u5199\u5728\u524d\u9762 & \u7b14\u8005\u7684\u4e2a\u4eba\u7406\u89e3<\/h2>\n

\u81eaVectorMapNet\u4ee5\u6765\uff0c\u65e0\u56fe\/\u8f7b\u56fe\u7684\u667a\u80fd\u9a7e\u9a76\u65b9\u6848\u5f00\u59cb\u51fa\u73b0\u5728\u81ea\u52a8\u9a7e\u9a76\u91cf\u4ea7\u7684\u724c\u684c\u4e0a\uff0c\u5230\u5982\u4eca\u4e5f\u6709\u4e24\u5e74\u591a\u7684\u65f6\u95f4\u3002\u800c\u300e\u65e0\u56feNOA\u300f\u771f\u6b63\u5f00\u59cb\u7206\u706b\u7684\u8282\u70b9\u5f53\u5c5eMapTR\u7b97\u6cd5\u7684\u63d0\u51fa\uff0c\u539f\u6765\u77e2\u91cf\u5316\u5730\u56fe\u8fd8\u80fd\u8fd9\u4e48\u5b66\u4e60\uff0c\u4ee5\u524d\u5206\u5272\u7684\u65b9\u6848\u5f00\u59cb\u9000\u51fa\u81ea\u52a8\u9a7e\u9a76\u821e\u53f0\uff0c\u5404\u5bb6\u5f00\u59cb\u771f\u6b63\u6295\u5165\u4e3b\u529b\u91cf\u4ea7\u65e0\u56fe\/\u8f7b\u56fe\u65b9\u6848\u3002<\/p>\n

\u9996\u5148\u9700\u8981\u660e\u786e\u4e00\u70b9\uff0c\u65e0\u56fe\u65b9\u6848\u4e0d\u662f\u5b8c\u5168\u6452\u5f03\u9ad8\u7cbe\u5730\u56fe\uff0c\u4e0b\u6e38\u8f68\u8ff9\u9884\u6d4b\/\u89c4\u63a7\u4ecd\u7136\u4f9d\u8d56\u9ad8\u7cbe\u5730\u56fe\u7684\u8f93\u5165\u3002\u300e\u65e0\u56fe\u300f\u5b9e\u9645\u6307\u7684\u662f\u4e0d\u518d\u4f9d\u8d56\u5382\u5546\u63d0\u4f9b\u7684\u9ad8\u7cbe\u5730\u56fe\uff0c\u8f6c\u800c\u4f7f\u7528\u8f66\u8f7d\u7b97\u6cd5\u5b9e\u65f6\u611f\u77e5\u7684\u300e\u5c40\u90e8\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u300f\u3002<\/p>\n

\u56e0\u6b64\u65e0\u56fe\u65b9\u6848\u7684\u6838\u5fc3\u5728\u4e8e\u5b9e\u65f6\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u7684\u51c6\u786e\u6027\uff0c\u4ece\u6280\u672f\u5c42\u9762\u6765\u8bb2\uff0c\u6b63\u5e38\u60c5\u51b5\u4e0b\u65e0\u56fe\u7684\u4e0a\u9650\u5c31\u662f\u6709\u56fe\uff1b\u800c\u5728\u4f20\u7edf\u9ad8\u7cbe\u5730\u56fe\u66f4\u65b0\u4e0d\u53ca\u65f6\u7684\u533a\u57df\uff08\u6bd4\u5982\u65bd\u5de5\u8def\u6bb5\u3001\u9053\u8def\u91cd\u6784\u8def\u6bb5\u7b49\uff09\uff0c\u65e0\u56fe\u65b9\u6848\u662f\u66f4\u6709\u4f18\u52bf\u7684\u3002\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u7684\u53d1\u5c55\u4e5f\u6709\u4e24\u5e74\u591a\u4e86\uff0c\u65e0\u56fe\u4e00\u76f4\u81f4\u529b\u4e8e\u4ece\u300e\u80fd\u7528\u300f\u8d70\u5411\u300e\u597d\u7528\u300f\u3002\u4eca\u5929\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u5c31\u5e26\u5927\u5bb6\u76d8\u70b9\u4e00\u4e0b2024\u5e74\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u7684\u4e3b\u6d41\u524d\u6cbf\u7b97\u6cd5\uff0c\u4e00\u63a2\u7814\u7a76\u8d8b\u52bf\uff0c\u5e76\u5728\u6587\u672b\u8fdb\u884c\u603b\u7ed3\u3002<\/p>\n

\u76f8\u5173\u5de5\u4f5c<\/h2>\n

Driving with Prior Maps: Unified Vector Prior Encoding for Autonomous Vehicle Mapping<\/strong><\/p>\n

    \n
  • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2409.05352v1<\/li>\n<\/ul>\n

    \u963f\u91cc\u5df4\u5df4\u548c\u897f\u4ea4\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u9ad8\u7cbe\u5730\u56fe\uff08HD\u5730\u56fe\uff09\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u7cbe\u786e\u5bfc\u822a\u548c\u51b3\u7b56\u81f3\u5173\u91cd\u8981\uff0c\u4f46\u5176\u521b\u5efa\u548c\u7ef4\u62a4\u5e26\u6765\u4e86\u5de8\u5927\u7684\u6210\u672c\u548c\u53ca\u65f6\u6027\u6311\u6218\u3002\u4f7f\u7528\u8f66\u8f7d\u4f20\u611f\u5668\u5728\u7ebf\u6784\u5efa\u9ad8\u7cbe\u5730\u56fe\u5df2\u6210\u4e3a\u4e00\u79cd\u6709\u524d\u666f\u7684\u89e3\u51b3\u65b9\u6848\uff1b\u7136\u800c\uff0c\u7531\u4e8e\u906e\u6321\u548c\u6076\u52a3\u5929\u6c14\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u80fd\u4f1a\u53d7\u5230\u4e0d\u5b8c\u6574\u6570\u636e\u7684\u963b\u788d\u3002\u672c\u6587\u63d0\u51fa\u4e86PriorDrive\u6846\u67b6\uff0c\u901a\u8fc7\u5229\u7528\u5148\u9a8c\u5730\u56fe\u7684\u529b\u91cf\u6765\u89e3\u51b3\u8fd9\u4e9b\u5c40\u9650\u6027\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u9c81\u68d2\u6027\u548c\u51c6\u786e\u6027\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u6574\u5408\u4e86\u5404\u79cd\u5148\u524d\u7684\u5730\u56fe\uff0c\u5982OpenStreetMap\u7684\u6807\u51c6\u5b9a\u4e49\u5730\u56fe\uff08SD\u5730\u56fe\uff09\u3001\u4f9b\u5e94\u5546\u8fc7\u65f6\u7684\u9ad8\u7cbe\u5730\u56fe\u4ee5\u53ca\u6765\u81ea\u5386\u53f2\u8f66\u8f86\u6570\u636e\u7684\u672c\u5730\u6784\u5efa\u5730\u56fe\u3002\u4e3a\u4e86\u5c06\u8fd9\u4e9b\u5148\u9a8c\u4fe1\u606f\u6709\u6548\u5730\u7f16\u7801\u5230\u5728\u7ebf\u89c1\u56fe\u6a21\u578b\u4e2d\uff0cPriorDrive\u63d0\u51fa\u4e86\u4e00\u79cd\u6df7\u5408\u5148\u9a8c\u8868\u793a\uff08HPQuery\uff09\uff0c\u8be5\u8868\u793a\u5bf9\u4e0d\u540c\u5730\u56fe\u5143\u7d20\u7684\u8868\u793a\u8fdb\u884c\u4e86\u6807\u51c6\u5316\u3002PriorDrive\u7684\u6838\u5fc3\u662f\u7edf\u4e00\u77e2\u91cf\u7f16\u7801\u5668\uff08UVE\uff09\uff0c\u5b83\u91c7\u7528\u53cc\u7f16\u7801\u673a\u5236\u6765\u5904\u7406\u77e2\u91cf\u6570\u636e\u3002\u77e2\u91cf\u5185\u7f16\u7801\u5668\u6355\u83b7\u7ec6\u7c92\u5ea6\u7684\u5c40\u90e8\u7279\u5f81\uff0c\u800c\u77e2\u91cf\u95f4\u7f16\u7801\u5668\u96c6\u6210\u5168\u5c40\u4e0a\u4e0b\u6587\u3002\u6b64\u5916\u63d0\u51fa\u4e86\u4e00\u79cdsegment-level\u548cpoint-level\u7684\u9884\u8bad\u7ec3\u7b56\u7565\uff0c\u4f7fUVE\u80fd\u591f\u5b66\u4e60\u77e2\u91cf\u6570\u636e\u7684\u5148\u9a8c\u5206\u5e03\uff0c\u4ece\u800c\u63d0\u9ad8\u7f16\u7801\u5668\u7684\u6cdb\u5316\u80fd\u529b\u548c\u6027\u80fd\u3002\u901a\u8fc7\u5bf9nuScenes\u6570\u636e\u96c6\u7684\u5e7f\u6cdb\u6d4b\u8bd5\uff0cPriorDrive\u4e0e\u5404\u79cd\u5728\u7ebf\u5730\u56fe\u6a21\u578b\u9ad8\u5ea6\u517c\u5bb9\uff0c\u5e76\u5927\u5927\u63d0\u9ad8\u4e86\u5730\u56fe\u9884\u6d4b\u80fd\u529b\u3002\u901a\u8fc7PriorDrive\u6846\u67b6\u6574\u5408\u5148\u524d\u7684\u5730\u56fe\uff0c\u4e3a\u5355\u4e00\u611f\u77e5\u6570\u636e\u7684\u6311\u6218\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5f3a\u5927\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4e3a\u66f4\u53ef\u9760\u7684\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5bfc\u822a\u94fa\u5e73\u4e86\u9053\u8def\u3002<\/p>\n

     <\/p>\n

    Neural HD Map Generation from Multiple Vectorized Tiles Locally Produced by Autonomous Vehicles<\/strong><\/p>\n

      \n
    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2409.03445v1<\/li>\n<\/ul>\n

      \u9ad8\u7cbe\u5730\u56fe\u5382\u5546\u56db\u7ef4\u56fe\u65b0\u7684\u5de5\u4f5c\uff1a\u9ad8\u7cbe\u5730\u56fe\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u57fa\u672c\u7ec4\u6210\u90e8\u5206\uff0c\u56e0\u4e3a\u5b83\u53ef\u4ee5\u63d0\u4f9b\u6709\u5173\u9a7e\u9a76\u573a\u666f\u7684\u7cbe\u786e\u73af\u5883\u4fe1\u606f\u3002\u6700\u8fd1\u5173\u4e8e\u77e2\u91cf\u5316\u5730\u56fe\u751f\u6210\u7684\u5de5\u4f5c\uff0c\u8f66\u8f86\u8fd0\u884c\u4e00\u6b21\u53ea\u80fd\u5728\u81ea\u8f66\u5468\u56f4\u751f\u621065%\u7684\u5c40\u90e8\u5730\u56fe\u5143\u7d20\uff0c\u8fd9\u5c31\u7559\u4e0b\u4e86\u4e00\u4e2a\u96be\u9898\uff0c\u5373\u5982\u4f55\u5728\u9ad8\u8d28\u91cf\u6807\u51c6\u4e0b\u6784\u5efa\u6295\u5f71\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u5168\u5c40\u9ad8\u7cbe\u5730\u56fe\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5c06GNMap\u4f5c\u4e3a\u4e00\u4e2a\u7aef\u5230\u7aef\u7684\u751f\u6210\u795e\u7ecf\u7f51\u7edc\u6765\u81ea\u52a8\u6784\u5efa\u5177\u6709\u591a\u4e2a\u77e2\u91cf\u5316\u56fe\u5757\u7684\u9ad8\u7cbe\u5730\u56fe\uff0c\u8fd9\u4e9b\u56fe\u5757\u662f\u7531\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u901a\u8fc7\u591a\u6b21\u65c5\u884c\u5728\u672c\u5730\u751f\u6210\u7684\u3002\u5b83\u5229\u7528\u591a\u5c42\u548c\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u81ea\u52a8\u7f16\u7801\u5668\u4f5c\u4e3a\u5171\u4eab\u7f51\u7edc\uff0c\u5176\u4e2d\u7684\u53c2\u6570\u662f\u4ece\u4e24\u4e2a\u4e0d\u540c\u7684\u4efb\u52a1\uff08\u5373\u5206\u522b\u8fdb\u884c\u9884\u8bad\u7ec3\u548c\u5fae\u8c03\uff09\u4e2d\u5b66\u4e60\u7684\uff0c\u4ee5\u786e\u4fdd\u751f\u6210\u7684\u6620\u5c04\u7684\u5b8c\u6574\u6027\u548c\u5143\u7d20\u7c7b\u522b\u7684\u6b63\u786e\u6027\u3002\u5bf9\u771f\u5b9e\u4e16\u754c\u7684\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u5927\u91cf\u7684\u5b9a\u6027\u8bc4\u4f30\uff0c\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cGNMap\u53ef\u4ee5\u8d85\u8fc7SOTA\u65b9\u6cd55%\u4ee5\u4e0a\u7684F1\u5206\u6570\uff0c\u53ea\u9700\u5c11\u91cf\u624b\u52a8\u4fee\u6539\u5373\u53ef\u8fbe\u5230\u5de5\u4e1a\u4f7f\u7528\u6c34\u5e73\u3002\u6211\u4eec\u5df2\u7ecf\u5728\u6709\u9650\u516c\u53f8Navinfo\u516c\u53f8\u90e8\u7f72\u4e86\u5b83\uff0c\u4f5c\u4e3a\u81ea\u52a8\u6784\u5efa\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u9ad8\u7cbe\u5730\u56fe\u7684\u4e0d\u53ef\u6216\u7f3a\u7684\u8f6f\u4ef6\u3002<\/p>\n

       <\/p>\n

      Enhancing Vectorized Map Perception with Historical Rasterized Maps\uff08ECCV2024\uff09<\/strong><\/p>\n

        \n
      • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2409.00620v1<\/li>\n
      • \u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/HXMap\/HRMapNet<\/li>\n<\/ul>\n

        \u65e0\u56feNOA\u4ee5\u6765\uff0c\u7814\u7a76\u4eba\u5458focus\u5728\u7aef\u5230\u7aef\u7684\u5728\u7ebf\u77e2\u91cf\u5730\u56fe\u6784\u5efa\u4e0a\uff0c\u8be5\u6280\u672f\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7a7a\u95f4\u4e2d\u5b9e\u73b0\uff0c\u5e0c\u671b\u80fd\u591f\u66ff\u4ee3\u4f20\u7edf\u6210\u672c\u8f83\u9ad8\u7684\u79bb\u7ebf\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u3002\u4f46\u662f\u5f53\u524d\u65b9\u6cd5\u5728\u6076\u52a3\u73af\u5883\u4e0b\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u5f88\u5bb9\u6613\u53d7\u9650\u3002\u4e3a\u6b64\u672c\u6587\u63d0\u51fa\u4e86HRMapNet\uff0c\u5176\u5229\u7528\u4f4e\u6210\u672c\u7684\u5386\u53f2\u5149\u6805\u5316\u5730\u56fe\u6765\u589e\u5f3a\u5728\u7ebf\u77e2\u91cf\u5316\u5730\u56fe\u7684\u611f\u77e5\u80fd\u529b\u3002\u5386\u53f2\u5149\u6805\u5316\u5730\u56fe\u6765\u6e90\u4e8e\u5148\u524d\u9884\u6d4b\u7684\u7ed3\u679c\uff0c\u56e0\u6b64\u53ef\u4ee5\u63d0\u4f9b\u5f53\u524d\u5e27\u4e00\u5b9a\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528\u5386\u53f2\u5730\u56fe\uff0c\u4f5c\u8005\u8bbe\u8ba1\u4e86\u4e24\u4e2a\u6a21\u5757\u6765\u589e\u5f3aBEV\u7279\u5f81\u548c\u5730\u56fe\u5143\u7d20\u7684\u67e5\u8be2\u3002\u5bf9\u4e8eBEV\u7279\u5f81\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u7279\u5f81\u805a\u5408\u6a21\u5757\uff0c\u4ee5\u7f16\u7801\u56fe\u50cf\u548c\u5386\u53f2\u5730\u56fe\u7684\u7279\u5f81\u3002\u5bf9\u4e8e\u5730\u56fe\u5143\u7d20\u7684\u67e5\u8be2\uff0c\u5219\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u67e5\u8be2\u521d\u59cb\u5316\u6a21\u5757\uff0c\u4ee5\u8d4b\u4e88\u67e5\u8be2\u4ece\u5386\u53f2\u5730\u56fe\u4e2d\u5f97\u5230\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u8fd9\u4e24\u4e2a\u6a21\u5757\u5bf9\u4e8e\u5728\u5728\u7ebf\u611f\u77e5\u4e2d\u5229\u7528\u5730\u56fe\u4fe1\u606f\u81f3\u5173\u91cd\u8981\u3002HRMapNet\u80fd\u591f\u4e0e\u5927\u591a\u6570\u73b0\u6709\u7684\u5728\u7ebf\u77e2\u91cf\u5316\u5730\u56fe\u611f\u77e5\u65b9\u6cd5\u96c6\u6210\u3002\u95ee\u9f0enuScenes\u548cArgoverse 2 SOTA\u3002<\/p>\n

         <\/p>\n

        Online Temporal Fusion for Vectorized Map Construction in Mapless Autonomous Driving<\/strong><\/p>\n

          \n
        • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2409.00593v1<\/li>\n<\/ul>\n

          \u4e3a\u4e86\u51cf\u5c11\u5bf9\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u7684\u4f9d\u8d56\uff0c\u81ea\u52a8\u9a7e\u9a76\u7684\u4e00\u4e2a\u65e5\u76ca\u589e\u957f\u7684\u8d8b\u52bf\u662f\u5229\u7528\u8f66\u8f7d\u4f20\u611f\u5668\u5728\u7ebf\u751f\u6210\u77e2\u91cf\u5316\u5730\u56fe\u3002\u7136\u800c\u76ee\u524d\u7684\u65b9\u6cd5\u5927\u591a\u53d7\u5230\u4ec5\u5904\u7406\u5355\u5e27\u8f93\u5165\u7684\u9650\u5236\uff0c\u8fd9\u963b\u788d\u4e86\u5b83\u4eec\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u9c81\u68d2\u6027\u548c\u6709\u6548\u6027\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u7cfb\u7edf\uff0c\u8be5\u7cfb\u7edf\u5229\u7528\u957f\u671f\u7684\u65f6\u95f4\u4fe1\u606f\u6765\u6784\u5efa\u4e00\u81f4\u7684\u77e2\u91cf\u5316\u5730\u56fe\u3002\u9996\u5148\uff0c\u8be5\u7cfb\u7edf\u6709\u6548\u5730\u5c06\u6765\u81ea\u73b0\u6210\u7f51\u7edc\u7684\u6240\u6709\u5386\u53f2\u9053\u8def\u6807\u8bb0\u68c0\u6d4b\u878d\u5408\u5230\u8bed\u4e49\u4f53\u7d20\u56fe\u4e2d\uff0c\u8be5\u56fe\u4f7f\u7528\u57fa\u4e8e\u54c8\u5e0c\u7684\u7b56\u7565\u6765\u5b9e\u73b0\uff0c\u4ee5\u5229\u7528\u9053\u8def\u5143\u7d20\u7684\u7a00\u758f\u6027\u3002\u7136\u540e\u901a\u8fc7\u68c0\u67e5\u878d\u5408\u4fe1\u606f\u627e\u5230\u53ef\u9760\u7684\u4f53\u7d20\uff0c\u5e76\u9010\u6b65\u805a\u7c7b\u5230\u9053\u8def\u6807\u8bb0\u7684\u5b9e\u4f8b\u7ea7\u8868\u793a\u4e2d\u3002\u6700\u540e\uff0c\u8be5\u7cfb\u7edf\u7ed3\u5408\u9886\u57df\u77e5\u8bc6\u6765\u4f30\u8ba1\u9053\u8def\u7684\u51e0\u4f55\u548c\u62d3\u6251\u7ed3\u6784\uff0c\u8fd9\u4e9b\u7ed3\u6784\u53ef\u4ee5\u76f4\u63a5\u7531\u89c4\u5212\u548c\u63a7\u5236\uff08PnC\uff09\u6a21\u5757\u4f7f\u7528\u3002\u901a\u8fc7\u5728\u590d\u6742\u7684\u57ce\u5e02\u73af\u5883\u4e2d\u8fdb\u884c\u7684\u5b9e\u9a8c\uff0c\u6211\u4eec\u8bc1\u660e\u4e86\u6211\u4eec\u7cfb\u7edf\u7684\u8f93\u51fa\u6bd4\u7f51\u7edc\u8f93\u51fa\u66f4\u4e00\u81f4\u3001\u66f4\u51c6\u786e\uff0c\u5e76\u4e14\u53ef\u4ee5\u6709\u6548\u5730\u7528\u4e8e\u95ed\u73af\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3002<\/p>\n

           <\/p>\n

          PriorMapNet: Enhancing Online Vectorized HD Map Construction with Priors<\/strong><\/p>\n

            \n
          • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2408.08802v2<\/li>\n<\/ul>\n

            \u5317\u7406\u5de5\u548c\u5143\u620e\u542f\u884c\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u540e\u7eed\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u9075\u5faaMapTR\u8303\u5f0f\uff0c\u6700\u8fd1\u7684\u5de5\u4f5c\u53d6\u5f97\u4e86\u503c\u5f97\u6ce8\u610f\u7684\u6210\u5c31\u3002\u7136\u800c\u5728\u4e3b\u6d41\u65b9\u6cd5\u4e2d\uff0c\u53c2\u8003\u70b9\u662f\u968f\u673a\u521d\u59cb\u5316\u7684\uff0c\u5bfc\u81f4\u9884\u6d4b\u548cGT\u4e4b\u95f4\u7684\u5339\u914d\u4e0d\u7a33\u5b9a\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5f15\u5165\u4e86PriorMapNet\u6765\u589e\u5f3a\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u7684\u6784\u5efa\u3002\u6211\u4eec\u63d0\u51fa\u4e86PPS\u89e3\u7801\u5668\uff0c\u5b83\u4e3a\u53c2\u8003\u70b9\u63d0\u4f9b\u4e86\u4f4d\u7f6e\u548c\u7ed3\u6784\u5148\u9a8c\u3002\u6839\u636e\u6570\u636e\u96c6\u4e2d\u7684\u5730\u56fe\u5143\u7d20\u8fdb\u884c\u62df\u5408\uff0c\u5148\u9a8c\u53c2\u8003\u70b9\u964d\u4f4e\u4e86\u5b66\u4e60\u96be\u5ea6\uff0c\u5b9e\u73b0\u4e86\u7a33\u5b9a\u7684\u5339\u914d\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86PF\u7f16\u7801\u5668\uff0c\u5229\u7528BEV\u7279\u5f81\u5148\u9a8c\u6765\u589e\u5f3a\u56fe\u50cf\u5230BEV\u7684\u8f6c\u6362\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86DMD\u4ea4\u53c9\u6ce8\u610f\uff0c\u5b83\u5206\u522b\u6cbf\u591a\u5c3a\u5ea6\u548c\u591a\u6837\u672c\u89e3\u8026\u4ea4\u53c9\u6ce8\u610f\uff0c\u4ee5\u5b9e\u73b0\u6548\u7387\u3002\u6211\u4eec\u63d0\u51fa\u7684PriorMapNet\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u7684\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u4e2d\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n

             <\/p>\n

            Enhancing Online Road Network Perception and Reasoning with Standard Definition Maps<\/strong><\/p>\n

              \n
            • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2408.01471v1<\/li>\n
            • \u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/henryzhangzhy.github.io\/sdhdmap\/<\/li>\n<\/ul>\n

              \u7528\u4e8e\u57ce\u5e02\u548c\u9ad8\u901f\u516c\u8def\u9a7e\u9a76\u5e94\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u901a\u5e38\u9700\u8981\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u6765\u751f\u6210\u5bfc\u822a\u3002\u7136\u800c\u5728\u6309\u6bd4\u4f8b\u751f\u6210\u548c\u7ef4\u62a4\u9ad8\u7cbe\u5730\u56fe\u65f6\uff0c\u4f1a\u51fa\u73b0\u5404\u79cd\u6311\u6218\u3002\u867d\u7136\u6700\u8fd1\u7684\u5728\u7ebf\u5efa\u56fe\u65b9\u6cd5\u5df2\u7ecf\u5f00\u59cb\u51fa\u73b0\uff0c\u4f46\u5176\u5728\u4e8e\u5927\u8303\u56f4\u611f\u77e5\u65f6\u7684\u6027\u80fd\u53d7\u5230\u52a8\u6001\u73af\u5883\u4e2d\u4e25\u91cd\u906e\u6321\u7684\u9650\u5236\u3002\u8003\u8651\u5230\u8fd9\u4e9b\u56e0\u7d20\uff0c\u672c\u6587\u65e8\u5728\u5728\u5f00\u53d1\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u8868\u793a\u65f6\u5229\u7528\u8f7b\u91cf\u7ea7\u548c\u53ef\u6269\u5c55\u7684\u5148\u9a8c\u6807\u51c6\u6e05\u6670\u5ea6\uff08SD\uff09\u5730\u56fe\u3002\u6211\u4eec\u9996\u5148\u7814\u7a76\u4e86\u5c06\u539f\u578b\u5149\u6805\u5316SD\u5730\u56fe\u8868\u793a\u96c6\u6210\u5230\u5404\u79cd\u5728\u7ebf\u5730\u56fe\u67b6\u6784\u4e2d\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u786e\u5b9a\u8f7b\u91cf\u7ea7\u7b56\u7565\uff0c\u6211\u4eec\u4f7f\u7528OpenStreetMaps\u6269\u5c55\u4e86OpenLane-V2\u6570\u636e\u96c6\uff0c\u5e76\u8bc4\u4f30\u4e86\u56fe\u5f62SD\u5730\u56fe\u8868\u793a\u7684\u597d\u5904\u3002\u8bbe\u8ba1SD\u5730\u56fe\u96c6\u6210\u7ec4\u4ef6\u7684\u4e00\u4e2a\u5173\u952e\u53d1\u73b0\u662f\uff0cSD\u5730\u56fe\u7f16\u7801\u5668\u4e0e\u6a21\u578b\u65e0\u5173\uff0c\u53ef\u4ee5\u5feb\u901f\u9002\u5e94\u5229\u7528\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7f16\u7801\u5668\u7684\u65b0\u67b6\u6784\u3002\u6211\u4eec\u7684\u7ed3\u679c\u8868\u660e\uff0c\u4f7f\u7528SD\u56fe\u4f5c\u4e3a\u5728\u7ebf\u6620\u5c04\u4efb\u52a1\u7684\u5148\u9a8c\u53ef\u4ee5\u663e\u8457\u52a0\u5feb\u6536\u655b\u901f\u5ea6\uff0c\u5e76\u5c06\u5728\u7ebf\u4e2d\u5fc3\u7ebf\u611f\u77e5\u4efb\u52a1\u7684\u6027\u80fd\u63d0\u9ad830%\uff08mAP\uff09\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8868\u660e\uff0c\u5f15\u5165SD\u56fe\u53ef\u4ee5\u901a\u8fc7\u5229\u7528SD\u56fe\u6765\u51cf\u5c11\u611f\u77e5\u548c\u63a8\u7406\u4efb\u52a1\u4e2d\u7684\u53c2\u6570\u6570\u91cf\uff0c\u540c\u65f6\u63d0\u9ad8\u6574\u4f53\u6027\u80fd\u3002<\/p>\n

               <\/p>\n

              PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Construction<\/strong><\/p>\n

                \n
              • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2407.17378v1<\/li>\n<\/ul>\n

                \u65f6\u95f4\u4fe1\u606f\u5bf9\u4e8e\u68c0\u6d4b\u88ab\u906e\u6321\u7684\u5b9e\u4f8b\u81f3\u5173\u91cd\u8981\u3002\u73b0\u6709\u7684\u65f6\u95f4\u8868\u793a\u5df2\u7ecf\u4eceBEV\u6216PV\u7279\u5f81\u53d1\u5c55\u5230\u66f4\u7d27\u51d1\u7684\u67e5\u8be2\u7279\u5f81\u3002\u4e0e\u4e0a\u8ff0\u7279\u5f81\u76f8\u6bd4\uff0c\u9884\u6d4b\u63d0\u4f9b\u4e86\u6700\u9ad8\u7ea7\u522b\u7684\u62bd\u8c61\uff0c\u63d0\u4f9b\u4e86\u660e\u786e\u7684\u4fe1\u606f\u3002\u5728\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u80cc\u666f\u4e0b\uff0c\u8fd9\u79cd\u72ec\u7279\u7684\u9884\u6d4b\u7279\u6027\u53ef\u80fd\u6709\u5229\u4e8e\u957f\u65f6\u95f4\u5efa\u6a21\u548c\u5730\u56fe\u5148\u9a8c\u7684\u6574\u5408\u3002\u672c\u6587\u4ecb\u7ecd\u4e86PrevPredMap\uff0c\u8fd9\u662f\u4e00\u4e2a\u5f00\u521b\u6027\u7684\u65f6\u95f4\u5efa\u6a21\u6846\u67b6\uff0c\u5229\u7528\u4e4b\u524d\u7684\u9884\u6d4b\u6784\u5efa\u5728\u7ebf\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u3002\u6211\u4eec\u4e3aPrevPredMap\u7cbe\u5fc3\u8bbe\u8ba1\u4e86\u4e24\u4e2a\u57fa\u672c\u6a21\u5757\uff1a\u4e4b\u524d\u7684\u57fa\u4e8e\u9884\u6d4b\u7684\u67e5\u8be2\u751f\u6210\u5668\u548c\u52a8\u6001\u4f4d\u7f6e\u67e5\u8be2\u89e3\u7801\u5668\u3002\u5177\u4f53\u800c\u8a00\uff0c\u57fa\u4e8e\u5148\u524d\u9884\u6d4b\u7684\u67e5\u8be2\u751f\u6210\u5668\u88ab\u8bbe\u8ba1\u4e3a\u5bf9\u6765\u81ea\u5148\u524d\u9884\u6d4b\u7684\u4e0d\u540c\u7c7b\u578b\u7684\u4fe1\u606f\u8fdb\u884c\u5355\u72ec\u7f16\u7801\uff0c\u7136\u540e\u7531\u52a8\u6001\u4f4d\u7f6e\u67e5\u8be2\u89e3\u7801\u5668\u6709\u6548\u5730\u5229\u7528\u8fd9\u4e9b\u4fe1\u606f\u6765\u751f\u6210\u5f53\u524d\u9884\u6d4b\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5f00\u53d1\u4e86\u4e00\u79cd\u53cc\u6a21\u7b56\u7565\uff0c\u4ee5\u786e\u4fddPrevPredMap\u5728\u5355\u5e27\u548c\u65f6\u95f4\u6a21\u5f0f\u4e0b\u7684\u7a33\u5065\u6027\u80fd\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cPrevPredMap\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n

                 <\/p>\n

                Mask2Map: Vectorized HD Map Construction Using Bird’s Eye View Segmentation Masks<\/strong><\/p>\n

                  \n
                • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2407.13517v2<\/li>\n
                • \u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/SehwanChoi0307\/Mask2Map<\/li>\n<\/ul>\n

                  \u6c49\u9633\u5927\u5b66\u7684\u5de5\u4f5c\uff1a\u672c\u6587\u4ecb\u7ecd\u4e86Mask2Map\uff0c\u8fd9\u662f\u4e00\u79cd\u4e13\u4e3a\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u8bbe\u8ba1\u7684\u7aef\u5230\u7aef\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4fa7\u91cd\u4e8e\u9884\u6d4b\u573a\u666f\u4e2d\u4ee5\u9e1f\u77b0\u56fe\uff08BEV\uff09\u8868\u793a\u7684\u5730\u56fe\u5b9e\u4f8b\u7684\u7c7b\u548c\u6709\u5e8f\u70b9\u96c6\u3002Mask2Map\u7531\u4e24\u4e2a\u4e3b\u8981\u7ec4\u4ef6\u7ec4\u6210\uff1a\u5b9e\u4f8b\u7ea7\u63a9\u7801\u9884\u6d4b\u7f51\u7edc\uff08IMPNet\uff09\u548c\u63a9\u7801\u9a71\u52a8\u6620\u5c04\u9884\u6d4b\u7f51\u7edc\uff08MMPNet\uff09\u3002IMPNet\u751f\u6210\u63a9\u7801\u611f\u77e5\u67e5\u8be2\u548cBEV\u5206\u5272\u63a9\u7801\uff0c\u4ee5\u5728\u5168\u5c40\u8303\u56f4\u5185\u6355\u83b7\u5168\u9762\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u968f\u540e\uff0cMMPNet\u901a\u8fc7\u4e24\u4e2a\u5b50\u6a21\u5757\u4f7f\u7528\u672c\u5730\u4e0a\u4e0b\u6587\u4fe1\u606f\u589e\u5f3a\u4e86\u8fd9\u4e9b\u67e5\u8be2\u529f\u80fd\uff1a\u4f4d\u7f6e\u67e5\u8be2\u751f\u6210\u5668\uff08PQG\uff09\u548c\u51e0\u4f55\u7279\u5f81\u63d0\u53d6\u5668\uff08GFE\uff09\u3002PQG\u901a\u8fc7\u5c06\u8fb9\u754c\u5143\u4f4d\u7f6e\u4fe1\u606f\u5d4c\u5165\u5230\u63a9\u7801\u611f\u77e5\u67e5\u8be2\u4e2d\u6765\u63d0\u53d6\u5b9e\u4f8b\u7ea7\u4f4d\u7f6e\u67e5\u8be2\uff0c\u800cGFE\u5219\u5229\u7528\u8fb9\u754c\u5143\u5206\u5272\u63a9\u7801\u6765\u751f\u6210\u70b9\u7ea7\u51e0\u4f55\u7279\u5f81\u3002\u7136\u800c\uff0c\u6211\u4eec\u89c2\u5bdf\u5230Mask2Map\u7684\u6027\u80fd\u6709\u9650\uff0c\u8fd9\u662f\u7531\u4e8eIMPNet\u548cMMPNet\u4e4b\u95f4\u5bf9GT\u5339\u914d\u7684\u4e0d\u540c\u9884\u6d4b\u5bfc\u81f4\u7684\u7f51\u7edc\u95f4\u4e0d\u4e00\u81f4\u3002\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e00\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u7f51\u7edc\u95f4\u53bb\u566a\u8bad\u7ec3\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u6307\u5bfc\u6a21\u578b\u5bf9\u53d7\u566a\u58f0GT\u67e5\u8be2\u548c\u6270\u52a8GT\u5206\u5272\u63a9\u7801\u5f71\u54cd\u7684\u8f93\u51fa\u8fdb\u884c\u53bb\u566a\u3002\u6211\u4eec\u5bf9nuScenes\u548cArgoverse2\u57fa\u51c6\u8fdb\u884c\u7684\u8bc4\u4f30\u8868\u660e\uff0cMask2Map\u6bd4\u4ee5\u524d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u663e\u8457\u7684\u6027\u80fd\u6539\u8fdb\uff0c\u5206\u522b\u63d0\u9ad8\u4e8610.1%mAP\u548c4.1 mAP\u3002<\/p>\n

                   <\/p>\n

                  MapDistill: Boosting Efficient Camera-based HD Map Construction via Camera-LiDAR Fusion Model Distillation\uff08ECCV 2024\uff09<\/strong><\/p>\n

                    \n
                  • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2407.11682v1<\/li>\n<\/ul>\n

                    \u4e09\u661f\u7814\u7a76\u9662\u7684\u5de5\u4f5c\uff1a\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u662f\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u4e00\u9879\u91cd\u8981\u800c\u5177\u6709\u6311\u6218\u6027\u7684\u4efb\u52a1\u3002\u6700\u8fd1\u7814\u7a76\u4eba\u5458\u5bf9\u57fa\u4e8e\u6210\u672c\u6548\u76ca\u9ad8\u7684\u73af\u89c6\u76f8\u673a\u7684\u65b9\u6cd5\u8d8a\u6765\u8d8a\u611f\u5174\u8da3\uff0c\u800c\u4e0d\u4f9d\u8d56\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7b49\u5176\u4ed6\u4f20\u611f\u5668\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u7f3a\u4e4f\u660e\u786e\u7684\u6df1\u5ea6\u4fe1\u606f\uff0c\u9700\u8981\u4f7f\u7528\u5927\u578b\u6a21\u578b\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\uff08KD\uff09\u601d\u60f3\u8fdb\u884c\u9ad8\u6548\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\uff0c\u5e76\u5f15\u5165\u4e86\u4e00\u79cd\u540d\u4e3aMapDistill\u7684\u57fa\u4e8e\u77e5\u8bc6\u84b8\u998f\u7684\u65b0\u65b9\u6cd5\uff0c\u5c06\u77e5\u8bc6\u4ece\u9ad8\u6027\u80fd\u76f8\u673aLiDAR\u878d\u5408\u6a21\u578b\u8f6c\u79fb\u5230\u4ec5\u4f7f\u7528\u76f8\u673a\u7684\u8f7b\u91cf\u6a21\u578b\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u91c7\u7528\u5e08\u751f\u67b6\u6784\uff0c\u5373\u4ee5\u6444\u50cf\u5934LiDAR\u878d\u5408\u6a21\u578b\u4e3a\u6559\u5e08\uff0c\u4ee5\u8f7b\u91cf\u7ea7\u6444\u50cf\u5934\u6a21\u578b\u4e3a\u5b66\u751f\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u53ccBEV\u8f6c\u6362\u6a21\u5757\uff0c\u4ee5\u4fc3\u8fdb\u8de8\u6a21\u5f0f\u77e5\u8bc6\u63d0\u53d6\uff0c\u540c\u65f6\u4fdd\u6301\u4ec5\u4f7f\u7528\u6444\u50cf\u5934\u7684\u6210\u672c\u6548\u76ca\u90e8\u7f72\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u9762\u7684\u84b8\u998f\u65b9\u6848\uff0c\u5305\u62ec\u8de8\u6a21\u6001\u5173\u7cfb\u84b8\u998f\u3001\u53cc\u5c42\u7279\u5f81\u84b8\u998f\u548c\u6620\u5c04\u5934\u84b8\u998f\u3002\u8fd9\u79cd\u65b9\u6cd5\u7f13\u89e3\u4e86\u6a21\u5f0f\u4e4b\u95f4\u7684\u77e5\u8bc6\u8f6c\u79fb\u6311\u6218\uff0c\u4f7f\u5b66\u751f\u6a21\u578b\u80fd\u591f\u5b66\u4e60\u6539\u8fdb\u7684\u7279\u5f81\u8868\u793a\uff0c\u7528\u4e8eHD\u5730\u56fe\u6784\u5efa\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86MapDistill\u7684\u6709\u6548\u6027\uff0c\u6027\u80fd\u63d0\u53477.7 mAP\u6216\u901f\u5ea6\u63d0\u53474.5\u500d\u3002<\/p>\n

                     <\/p>\n

                    Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention\uff08ECCV 2024\uff09<\/strong><\/p>\n

                      \n
                    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2407.06683v1<\/li>\n<\/ul>\n

                      \u591a\u4f26\u591a\u5927\u5b66&\u82f1\u4f1f\u8fbe\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u4e86\u89e3\u9053\u8def\u51e0\u4f55\u5f62\u72b6\u662f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff08AV\uff09\u5806\u6808\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\u3002\u867d\u7136\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u53ef\u4ee5\u5f88\u5bb9\u6613\u5730\u63d0\u4f9b\u6b64\u7c7b\u4fe1\u606f\uff0c\u4f46\u5b83\u4eec\u7684\u6807\u7b7e\u548c\u7ef4\u62a4\u6210\u672c\u5f88\u9ad8\u3002\u56e0\u6b64\uff0c\u8bb8\u591a\u6700\u8fd1\u7684\u5de5\u4f5c\u63d0\u51fa\u4e86\u4ece\u4f20\u611f\u5668\u6570\u636e\u5728\u7ebf\u4f30\u8ba1HD\u5730\u56fe\u7684\u65b9\u6cd5\u3002\u6700\u8fd1\u7684\u7edd\u5927\u591a\u6570\u65b9\u6cd5\u5c06\u591a\u76f8\u673a\u89c2\u6d4b\u503c\u7f16\u7801\u4e3a\u4e2d\u95f4\u8868\u793a\uff0c\u4f8b\u5982\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7f51\u683c\uff0c\u5e76\u901a\u8fc7\u89e3\u7801\u5668\u751f\u6210\u77e2\u91cf\u5730\u56fe\u5143\u7d20\u3002\u867d\u7136\u8fd9\u79cd\u67b6\u6784\u662f\u9ad8\u6027\u80fd\u7684\uff0c\u4f46\u5b83\u4f1a\u5927\u91cf\u62bd\u53d6\u4e2d\u95f4\u8868\u793a\u4e2d\u7f16\u7801\u7684\u4fe1\u606f\uff0c\u4ece\u800c\u963b\u6b62\u4e0b\u6e38\u4efb\u52a1\uff08\u4f8b\u5982\u884c\u4e3a\u9884\u6d4b\uff09\u5229\u7528\u5b83\u4eec\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u5efa\u8bae\u63ed\u793a\u5728\u7ebf\u5730\u56fe\u4f30\u8ba1\u65b9\u6cd5\u7684\u4e30\u5bcc\u5185\u90e8\u7279\u5f81\uff0c\u5e76\u5c55\u793a\u5b83\u4eec\u5982\u4f55\u5c06\u5728\u7ebf\u5730\u56fe\u4e0e\u8f68\u8ff9\u9884\u6d4b\u66f4\u7d27\u5bc6\u5730\u7ed3\u5408\u8d77\u6765\u3002\u901a\u8fc7\u8fd9\u6837\u505a\uff0c\u6211\u4eec\u53d1\u73b0\u76f4\u63a5\u8bbf\u95ee\u5185\u90e8BEV\u7279\u5f81\u53ef\u4ee5\u4f7f\u63a8\u7406\u901f\u5ea6\u63d0\u9ad873%\uff0c\u5bf9\u771f\u5b9e\u4e16\u754cnuScenes\u6570\u636e\u96c6\u7684\u9884\u6d4b\u51c6\u786e\u7387\u63d0\u9ad829%\u3002<\/p>\n

                       <\/p>\n

                      Is Your HD Map Constructor Reliable under Sensor Corruptions?<\/strong><\/p>\n

                        \n
                      • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2406.12214v2<\/li>\n
                      • \u9879\u76ee\u94fe\u63a5\uff1ahttps:\/\/mapbench.github.io\/<\/li>\n<\/ul>\n

                        \u4e09\u661f\u7814\u7a76\u9662&\u6089\u5c3c\u5927\u5b66\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u4f9d\u8d56\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u83b7\u53d6\u7cbe\u786e\u7684\u73af\u5883\u4fe1\u606f\uff0c\u8fd9\u5bf9\u89c4\u5212\u548c\u5bfc\u822a\u81f3\u5173\u91cd\u8981\u3002\u867d\u7136\u76ee\u524d\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u5668\u5728\u7406\u60f3\u6761\u4ef6\u4e0b\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5b83\u4eec\u5bf9\u73b0\u5b9e\u4e16\u754c\u6311\u6218\u7684\u5f39\u6027\uff0c\u4f8b\u5982\u6076\u52a3\u5929\u6c14\u548c\u4f20\u611f\u5668\u6545\u969c\uff0c\u8fd8\u6ca1\u6709\u5f97\u5230\u5f88\u597d\u7684\u7406\u89e3\uff0c\u8fd9\u5f15\u53d1\u4e86\u5b89\u5168\u95ee\u9898\u3002\u8fd9\u9879\u5de5\u4f5c\u4ecb\u7ecd\u4e86MapBench\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u65e8\u5728\u8bc4\u4f30HD\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u5bf9\u5404\u79cd\u4f20\u611f\u5668\u635f\u574f\u7684\u9c81\u68d2\u6027\u7684\u7efc\u5408\u57fa\u51c6\u3002\u6211\u4eec\u7684\u57fa\u51c6\u6d4b\u8bd5\u5171\u5305\u62ec29\u79cd\u7531\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u5f15\u8d77\u7684\u635f\u574f\u3002\u5bf931\u4e2aHD\u5730\u56fe\u6784\u5efa\u5668\u7684\u5e7f\u6cdb\u8bc4\u4f30\u663e\u793a\uff0c\u5728\u6076\u52a3\u5929\u6c14\u6761\u4ef6\u548c\u4f20\u611f\u5668\u6545\u969c\u4e0b\uff0c\u73b0\u6709\u65b9\u6cd5\u7684\u6027\u80fd\u663e\u8457\u4e0b\u964d\uff0c\u7a81\u663e\u4e86\u5173\u952e\u7684\u5b89\u5168\u95ee\u9898\u3002\u6211\u4eec\u786e\u5b9a\u4e86\u589e\u5f3a\u9c81\u68d2\u6027\u7684\u6709\u6548\u7b56\u7565\uff0c\u5305\u62ec\u5229\u7528\u591a\u6a21\u6001\u878d\u5408\u3001\u5148\u8fdb\u6570\u636e\u589e\u5f3a\u548c\u67b6\u6784\u6280\u672f\u7684\u521b\u65b0\u65b9\u6cd5\u3002\u8fd9\u4e9b\u89c1\u89e3\u4e3a\u5f00\u53d1\u66f4\u53ef\u9760\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u65b9\u6cd5\u63d0\u4f9b\u4e86\u9014\u5f84\uff0c\u8fd9\u5bf9\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u8fdb\u6b65\u81f3\u5173\u91cd\u8981\u3002<\/p>\n

                         <\/p>\n

                        MapVision: CVPR 2024 Autonomous Grand Challenge Mapless Driving Tech Report<\/strong><\/p>\n

                          \n
                        • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2406.10125v1<\/li>\n<\/ul>\n

                          \u6ef4\u6ef4&\u5317\u90ae\u56e2\u961f\u5728CVPR 2024\u6311\u6218\u8d5b\u4e0a\u7684\u5de5\u4f5c\uff1a\u6ca1\u6709\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u7684\u81ea\u52a8\u9a7e\u9a76\u9700\u8981\u66f4\u9ad8\u6c34\u5e73\u7684\u4e3b\u52a8\u573a\u666f\u7406\u89e3\u3002\u5728\u672c\u6b21\u6bd4\u8d5b\u4e2d\uff0c\u7ec4\u7ec7\u8005\u63d0\u4f9b\u4e86\u591a\u89c6\u89d2\u76f8\u673a\u56fe\u50cf\u548c\u6807\u6e05\uff08SD\uff09\u5730\u56fe\uff0c\u4ee5\u63a2\u7d22\u573a\u666f\u63a8\u7406\u80fd\u529b\u7684\u8fb9\u754c\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u5927\u591a\u6570\u73b0\u6709\u7684\u7b97\u6cd5\u90fd\u662f\u4ece\u8fd9\u4e9b\u591a\u89c6\u89d2\u56fe\u50cf\u4e2d\u6784\u5efa\u9e1f\u77b0\u56fe\uff08BEV\uff09\u7279\u5f81\uff0c\u5e76\u4f7f\u7528\u591a\u4efb\u52a1\u5934\u6765\u63cf\u7ed8\u9053\u8def\u4e2d\u5fc3\u7ebf\u3001\u8fb9\u754c\u7ebf\u3001\u4eba\u884c\u6a2a\u9053\u548c\u5176\u4ed6\u533a\u57df\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u7b97\u6cd5\u5728\u9053\u8def\u7684\u8fdc\u7aef\u8868\u73b0\u4e0d\u4f73\uff0c\u5f53\u56fe\u50cf\u4e2d\u7684\u4e3b\u8981\u5bf9\u8c61\u88ab\u906e\u6321\u65f6\uff0c\u5b83\u4eec\u4f1a\u9047\u5230\u56f0\u96be\u3002\u56e0\u6b64\uff0c\u5728\u8fd9\u573a\u6bd4\u8d5b\u4e2d\uff0c\u6211\u4eec\u4e0d\u4ec5\u4f7f\u7528\u591a\u89c6\u89d2\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u8fd8\u7ed3\u5408\u4e86SD\u5730\u56fe\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u6211\u4eec\u91c7\u7528\u5730\u56fe\u7f16\u7801\u5668\u9884\u8bad\u7ec3\u6765\u589e\u5f3a\u7f51\u7edc\u7684\u51e0\u4f55\u7f16\u7801\u80fd\u529b\uff0c\u5e76\u5229\u7528YOLOX\u6765\u63d0\u9ad8\u4ea4\u901a\u8981\u7d20\u68c0\u6d4b\u7cbe\u5ea6\u3002\u6b64\u5916\uff0c\u5bf9\u4e8e\u533a\u57df\u68c0\u6d4b\uff0c\u6211\u4eec\u521b\u65b0\u6027\u5730\u5f15\u5165\u4e86LDTR\u548c\u8f85\u52a9\u4efb\u52a1\uff0c\u4ee5\u5b9e\u73b0\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u7684OLUS\u6700\u7ec8\u5f97\u5206\u4e3a0.58\u3002<\/p>\n

                           <\/p>\n

                          DTCLMapper: Dual Temporal Consistent Learning for Vectorized HD Map Construction<\/strong><\/p>\n

                            \n
                          • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2405.05518v2<\/li>\n
                          • \u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/lynn-yu\/DTCLMapper<\/li>\n<\/ul>\n

                            \u65f6\u95f4\u4fe1\u606f\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u611f\u77e5\u573a\u666f\u7406\u89e3\u4e2d\u8d77\u7740\u5173\u952e\u4f5c\u7528\uff0c\u53ef\u4ee5\u7f13\u89e3\u89c6\u89c9\u4fe1\u606f\u7684\u7a00\u758f\u6027\u3002\u7136\u800c\uff0c\u5728\u6784\u5efa\u77e2\u91cf\u5316\u9ad8\u7cbe\u6670\u5ea6\uff08HD\uff09\u5730\u56fe\u65f6\uff0c\u4e0d\u52a0\u9009\u62e9\u7684\u65f6\u95f4\u878d\u5408\u65b9\u6cd5\u4f1a\u5bfc\u81f4\u7279\u5f81\u5197\u4f59\u7684\u969c\u788d\u3002\u672c\u6587\u91cd\u65b0\u5ba1\u89c6\u4e86\u77e2\u91cf\u5316HD\u5730\u56fe\u7684\u65f6\u95f4\u878d\u5408\uff0c\u91cd\u70b9\u7814\u7a76\u4e86\u65f6\u95f4\u5b9e\u4f8b\u4e00\u81f4\u6027\u548c\u65f6\u95f4\u5730\u56fe\u4e00\u81f4\u6027\u5b66\u4e60\u3002\u4e3a\u4e86\u6539\u8fdb\u5355\u5e27\u6620\u5c04\u4e2d\u5b9e\u4f8b\u7684\u8868\u793a\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u65b9\u6cd5DTCLMapper\u3002\u8be5\u65b9\u6cd5\u4f7f\u7528\u53cc\u6d41\u65f6\u95f4\u4e00\u81f4\u6027\u5b66\u4e60\u6a21\u5757\uff0c\u8be5\u6a21\u5757\u5c06\u5b9e\u4f8b\u5d4c\u5165\u4e0e\u51e0\u4f55\u56fe\u76f8\u7ed3\u5408\u3002\u5728\u5b9e\u4f8b\u5d4c\u5165\u7ec4\u4ef6\u4e2d\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u96c6\u6210\u4e86\u65f6\u6001\u5b9e\u4f8b\u4e00\u81f4\u6027\u5b66\u4e60\uff08ICL\uff09\uff0c\u786e\u4fdd\u5411\u91cf\u70b9\u548c\u4ece\u70b9\u805a\u5408\u7684\u5b9e\u4f8b\u7279\u5f81\u7684\u4e00\u81f4\u6027\u3002\u91c7\u7528\u77e2\u91cf\u5316\u70b9\u9884\u9009\u6a21\u5757\u6765\u63d0\u9ad8\u6bcf\u4e2a\u5b9e\u4f8b\u4e2d\u77e2\u91cf\u70b9\u7684\u56de\u5f52\u6548\u7387\u3002\u7136\u540e\uff0c\u4ece\u77e2\u91cf\u5316\u70b9\u9884\u9009\u6a21\u5757\u83b7\u5f97\u7684\u805a\u5408\u5b9e\u4f8b\u7279\u5f81\u57fa\u4e8e\u5bf9\u6bd4\u5b66\u4e60\u6765\u5b9e\u73b0\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u5176\u4e2d\u57fa\u4e8e\u4f4d\u7f6e\u548c\u8bed\u4e49\u4fe1\u606f\u9009\u62e9\u6b63\u6837\u672c\u548c\u8d1f\u6837\u672c\u3002\u51e0\u4f55\u6620\u5c04\u7ec4\u4ef6\u5f15\u5165\u4e86\u4f7f\u7528\u81ea\u76d1\u7763\u5b66\u4e60\u8bbe\u8ba1\u7684\u6620\u5c04\u4e00\u81f4\u6027\u5b66\u4e60\uff08MCL\uff09\u3002MCL\u901a\u8fc7\u5173\u6ce8\u5b9e\u4f8b\u7684\u5168\u5c40\u4f4d\u7f6e\u548c\u5206\u5e03\u7ea6\u675f\u6765\u589e\u5f3a\u6211\u4eec\u4e00\u81f4\u5b66\u4e60\u65b9\u6cd5\u7684\u6cdb\u5316\u80fd\u529b\u3002\u5728\u516c\u8ba4\u7684\u57fa\u51c6\u4e0a\u8fdb\u884c\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0c\u6240\u63d0\u51fa\u7684DTCLMapper\u5728\u77e2\u91cf\u5316\u6620\u5c04\u4efb\u52a1\u4e2d\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5728nuScenes\u548cArgoverse\u6570\u636e\u96c6\u4e0a\u5206\u522b\u8fbe\u5230\u4e8661.9%\u548c65.1%\u7684mAP\u5f97\u5206\u3002<\/p>\n

                             <\/p>\n

                            HybriMap: Hybrid Clues Utilization for Effective Vectorized HD Map Construction<\/strong><\/p>\n

                              \n
                            • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2404.11155v1<\/li>\n<\/ul>\n

                              \u6e2f\u4e2d\u6587\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u8fd1\u5e74\u6765\uff0c\u5229\u7528\u5168\u666f\u76f8\u673a\u6784\u5efa\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\u5f15\u8d77\u4e86\u4eba\u4eec\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002\u7136\u800c\uff0c\u4e3b\u6d41\u65b9\u6cd5\u4e2d\u5e38\u7528\u7684\u591a\u9636\u6bb5\u987a\u5e8f\u5de5\u4f5c\u6d41\u5f80\u5f80\u4f1a\u5bfc\u81f4\u65e9\u671f\u4fe1\u606f\u7684\u4e22\u5931\uff0c\u7279\u522b\u662f\u5728\u900f\u89c6\u56fe\u7279\u5f81\u4e2d\u3002\u901a\u5e38\uff0c\u5728\u6700\u7ec8\u7684\u9e1f\u77b0\u9884\u6d4b\u4e2d\uff0c\u8fd9\u79cd\u635f\u5931\u88ab\u89c6\u4e3a\u5b9e\u4f8b\u7f3a\u5931\u6216\u5f62\u72b6\u4e0d\u5339\u914d\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u65b9\u6cd5\uff0c\u5373HybriMap\uff0c\u5b83\u6709\u6548\u5730\u5229\u7528\u6df7\u5408\u7279\u5f81\u7684\u7ebf\u7d22\u6765\u786e\u4fdd\u6709\u4ef7\u503c\u7684\u4fe1\u606f\u7684\u4f20\u9012\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u53cc\u589e\u5f3a\u6a21\u5757\uff0c\u4ee5\u4fbf\u5728\u6df7\u5408\u7279\u5f81\u7684\u6307\u5bfc\u4e0b\u5b9e\u73b0\u663e\u5f0f\u96c6\u6210\u548c\u9690\u5f0f\u4fee\u6539\u3002\u6b64\u5916\uff0c\u900f\u89c6\u5173\u952e\u70b9\u88ab\u7528\u4f5c\u76d1\u7763\uff0c\u8fdb\u4e00\u6b65\u6307\u5bfc\u7279\u5f81\u589e\u5f3a\u8fc7\u7a0b\u3002\u5728\u73b0\u6709\u57fa\u51c6\u4e0a\u8fdb\u884c\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8bc1\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u7684\u6700\u5148\u8fdb\u6027\u80fd\u3002<\/p>\n

                               <\/p>\n

                              MGMap: Mask-Guided Learning for Online Vectorized HD Map Construction\uff08CVPR 2024\uff09<\/strong><\/p>\n

                                \n
                              • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2404.00876v1<\/li>\n
                              • \u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/xiaolul2\/MGMap<\/li>\n<\/ul>\n

                                \u6d59\u5927\u548c\u6709\u9e7f\u7684\u5de5\u4f5c\uff1a\u76ee\u524d\u9ad8\u7cbe\u6670\u5ea6\uff08HD\uff09\u5730\u56fe\u6784\u5efa\u503e\u5411\u4e8e\u8f7b\u91cf\u7ea7\u7684\u5728\u7ebf\u751f\u6210\u8d8b\u52bf\uff0c\u65e8\u5728\u4fdd\u5b58\u53ca\u65f6\u53ef\u9760\u7684\u9053\u8def\u573a\u666f\u4fe1\u606f\u3002\u7136\u800c\u5730\u56fe\u5143\u7d20\u5305\u542b\u5f3a\u5927\u7684\u5f62\u72b6\u5148\u9a8c\u3002\u4e00\u4e9b\u5947\u5f62\u602a\u72b6\u7684\u6807\u6ce8\u4f7f\u5f53\u524d\u57fa\u4e8e\u68c0\u6d4b\u7684\u6846\u67b6\u5728\u5b9a\u4f4d\u76f8\u5173\u7279\u5f81\u8303\u56f4\u65b9\u9762\u6a21\u7cca\u4e0d\u6e05\uff0c\u5e76\u5bfc\u81f4\u9884\u6d4b\u4e2d\u8be6\u7ec6\u7ed3\u6784\u7684\u4e22\u5931\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86MGMap\uff0c\u8fd9\u662f\u4e00\u79cd\u63a9\u6a21\u5f15\u5bfc\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u6709\u6548\u5730\u7a81\u51fa\u4fe1\u606f\u533a\u57df\uff0c\u5e76\u901a\u8fc7\u5f15\u5165\u5b66\u4e60\u5230\u7684\u63a9\u6a21\u6765\u5b9e\u73b0\u7cbe\u786e\u7684\u5730\u56fe\u5143\u7d20\u5b9a\u4f4d\u3002\u5177\u4f53\u6765\u8bf4\uff0cMGMap\u4ece\u4e24\u4e2a\u89d2\u5ea6\u91c7\u7528\u4e86\u57fa\u4e8e\u589e\u5f3a\u7684\u591a\u5c3a\u5ea6\u8fb9\u754c\u5143\u6cd5\u7279\u5f81\u7684\u5b66\u4e60\u63a9\u6a21\u3002\u5728\u5b9e\u4f8b\u7ea7\u522b\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u63a9\u7801\u6fc0\u6d3b\u5b9e\u4f8b\uff08MAI\uff09\u89e3\u7801\u5668\uff0c\u8be5\u89e3\u7801\u5668\u901a\u8fc7\u6fc0\u6d3b\u5b9e\u4f8b\u63a9\u7801\u5c06\u5168\u5c40\u5b9e\u4f8b\u548c\u7ed3\u6784\u4fe1\u606f\u5408\u5e76\u5230\u5b9e\u4f8b\u67e5\u8be2\u4e2d\u3002\u5728\u70b9\u7ea7\u522b\uff0c\u8bbe\u8ba1\u4e86\u4e00\u79cd\u65b0\u7684\u4f4d\u7f6e\u5f15\u5bfc\u63a9\u6a21\u8865\u4e01\u7ec6\u5316\uff08PG-MPR\uff09\u6a21\u5757\uff0c\u4ece\u66f4\u7ec6\u7c92\u5ea6\u7684\u89d2\u5ea6\u7ec6\u5316\u70b9\u4f4d\u7f6e\uff0c\u4ece\u800c\u80fd\u591f\u63d0\u53d6\u7279\u5b9a\u4e8e\u70b9\u7684\u8865\u4e01\u4fe1\u606f\u3002\u4e0e\u57fa\u7ebf\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684MGMap\u5728\u4e0d\u540c\u8f93\u5165\u6a21\u5f0f\u4e0b\u5b9e\u73b0\u4e86\u7ea610mAP\u7684\u663e\u8457\u6539\u5584\u3002\u5927\u91cf\u5b9e\u9a8c\u8fd8\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5177\u6709\u5f88\u5f3a\u7684\u9c81\u68d2\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n

                                 <\/p>\n

                                MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping<\/strong><\/p>\n

                                  \n
                                • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2403.15951v1<\/li>\n
                                • \u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/map-tracker.github.io\/<\/li>\n<\/ul>\n

                                  Wayve\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u77e2\u91cfHD\u5efa\u56fe\u7b97\u6cd5\uff0c\u8be5\u7b97\u6cd5\u5c06\u5730\u56fe\u8868\u793a\u4e3a\u8ddf\u8e2a\u4efb\u52a1\uff0c\u5e76\u4f7f\u7528\u5185\u5b58\u5ef6\u8fdf\u5386\u53f2\u6765\u786e\u4fdd\u968f\u65f6\u95f4\u63a8\u79fb\u7684\u4e00\u81f4\u91cd\u5efa\u3002\u6211\u4eec\u7684\u65b9\u6cd5MapTracker\u5c06\u4f20\u611f\u5668\u6d41\u7d2f\u79ef\u5230\u4e24\u4e2a\u6f5c\u5728\u8868\u793a\u7684\u5b58\u50a8\u7f13\u51b2\u533a\u4e2d\uff1a1\uff09\u9e1f\u77b0\uff08BEV\uff09\u7a7a\u95f4\u4e2d\u7684\u5149\u6805\u5ef6\u8fdf\uff0c2\uff09\u9053\u8def\u5143\u7d20\uff08\u5373\u4eba\u884c\u6a2a\u9053\u3001\u8f66\u9053\u5206\u9694\u7ebf\u548c\u9053\u8def\u8fb9\u754c\uff09\u4e0a\u7684\u77e2\u91cf\u5ef6\u8fdf\u3002\u8be5\u65b9\u6cd5\u501f\u9274\u4e86\u8ddf\u8e2a\u6587\u732e\u4e2d\u7684\u67e5\u8be2\u4f20\u64ad\u8303\u5f0f\uff0c\u8be5\u8303\u5f0f\u660e\u786e\u5730\u5c06\u524d\u4e00\u5e27\u4e2d\u7684\u8ddf\u8e2a\u9053\u8def\u5143\u7d20\u4e0e\u5f53\u524d\u5e27\u76f8\u5173\u8054\uff0c\u540c\u65f6\u878d\u5408\u4e86\u7528\u8ddd\u79bb\u6b65\u957f\u9009\u62e9\u7684\u8bb0\u5fc6\u5ef6\u8fdf\u5b50\u96c6\uff0c\u4ee5\u8fdb\u4e00\u6b65\u589e\u5f3a\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u5bf9\u5411\u91cf\u6f5c\u52bf\u8fdb\u884c\u89e3\u7801\u4ee5\u91cd\u5efa\u9053\u8def\u5143\u7d20\u7684\u51e0\u4f55\u5f62\u72b6\u3002\u8be5\u8bba\u6587\u8fd8\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u505a\u51fa\u4e86\u57fa\u51c6\u8d21\u732e\uff1a1\uff09\u6539\u8fdb\u73b0\u6709\u6570\u636e\u96c6\u7684\u5904\u7406\u4ee3\u7801\uff0c\u4ee5\u901a\u8fc7\u65f6\u95f4\u5bf9\u9f50\u4ea7\u751f\u4e00\u81f4\u7684\u5730\u9762\u5b9e\u51b5\uff0c2\uff09\u901a\u8fc7\u4e00\u81f4\u6027\u68c0\u67e5\u589e\u5f3a\u73b0\u6709\u7684mAP\u5ea6\u91cf\u3002MapTracker\u5728nuScenes\u548cAgroverse2\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u660e\u663e\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u5728\u4f20\u7edf\u548c\u65b0\u7684\u4e00\u81f4\u6027\u611f\u77e5\u6307\u6807\u4e0a\u5206\u522b\u8d85\u8fc78%\u548c19%\u3002<\/p>\n

                                   <\/p>\n

                                  HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Construction<\/strong><\/p>\n

                                    \n
                                  • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2403.08639v2<\/li>\n<\/ul>\n

                                    \u4e09\u661f\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u77e2\u91cf\u5316\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u6784\u5efa\u9700\u8981\u9884\u6d4b\u5730\u56fe\u5143\u7d20\uff08\u5982\u9053\u8def\u8fb9\u754c\u3001\u8f66\u9053\u5206\u9694\u7ebf\u3001\u4eba\u884c\u6a2a\u9053\u7b49\uff09\u7684\u7c7b\u522b\u548c\u70b9\u5750\u6807\u3002\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u4e3b\u8981\u57fa\u4e8e\u70b9\u7ea7\u8868\u793a\u5b66\u4e60\uff0c\u7528\u4e8e\u56de\u5f52\u7cbe\u786e\u7684\u70b9\u5750\u6807\u3002\u7136\u800c\u8be5\u8303\u5f0f\u5728\u83b7\u53d6\u5143\u7d20\u7ea7\u4fe1\u606f\u548c\u5904\u7406\u5143\u7d20\u7ea7\u6545\u969c\u65b9\u9762\u5b58\u5728\u5c40\u9650\u6027\uff0c\u4f8b\u5982\u9519\u8bef\u7684\u5143\u7d20\u5f62\u72b6\u6216\u5143\u7d20\u4e4b\u95f4\u7684\u7ea0\u7f20\u3002\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7b80\u5355\u800c\u6709\u6548\u7684\u540d\u4e3aHIMap\u7684HybrId\u6846\u67b6\uff0c\u4ee5\u5145\u5206\u5b66\u4e60\u548c\u4ea4\u4e92\u70b9\u7ea7\u548c\u5143\u7d20\u7ea7\u4fe1\u606f\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u540d\u4e3aHIQuery\u7684\u6df7\u5408\u8868\u793a\u6765\u8868\u793a\u6240\u6709\u5730\u56fe\u5143\u7d20\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u70b9\u5143\u7d20\u4ea4\u4e92\u5668\u6765\u4ea4\u4e92\u5f0f\u5730\u63d0\u53d6\u5143\u7d20\u7684\u6df7\u5408\u4fe1\u606f\uff0c\u4f8b\u5982\u70b9\u4f4d\u7f6e\u548c\u5143\u7d20\u5f62\u72b6\uff0c\u5e76\u5c06\u5176\u7f16\u7801\u5230HIQuery\u4e2d\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u70b9\u5143\u7d20\u4e00\u81f4\u6027\u7ea6\u675f\uff0c\u4ee5\u589e\u5f3a\u70b9\u7ea7\u548c\u5143\u7d20\u7ea7\u4fe1\u606f\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u3002\u6700\u540e\uff0c\u96c6\u6210HIQuery\u7684\u8f93\u51fa\u70b9\u5143\u7d20\u53ef\u4ee5\u76f4\u63a5\u8f6c\u6362\u4e3a\u5730\u56fe\u5143\u7d20\u7684\u7c7b\u3001\u70b9\u5750\u6807\u548c\u63a9\u7801\u3002\u6211\u4eec\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u5e76\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u59cb\u7ec8\u4f18\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e8677.8 mAP\uff0c\u81f3\u5c11\u6bd4\u4e4b\u524d\u7684SOTA\u9ad8\u51fa8.3 mAP\u3002<\/p>\n

                                     <\/p>\n

                                    EAN-MapNet: Efficient Vectorized HD Map Construction with Anchor Neighborhoods<\/strong><\/p>\n

                                      \n
                                    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2402.18278v2<\/li>\n<\/ul>\n

                                      \u4e2d\u5c71\u5927\u5b66\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u3002\u73b0\u6709\u7684\u5927\u591a\u6570\u5de5\u4f5c\u8bbe\u8ba1\u4e86\u57fa\u4e8eDETR\u89e3\u7801\u5668\u7684\u5730\u56fe\u5143\u7d20\u68c0\u6d4b\u5934\u3002\u7136\u800c\uff0c\u521d\u59cb\u67e5\u8be2\u7f3a\u4e4f\u5bf9\u7269\u7406\u4f4d\u7f6e\u4fe1\u606f\u7684\u660e\u786e\u7ed3\u5408\uff0c\u800c\u666e\u901a\u7684\u81ea\u6ce8\u610f\u529b\u9700\u8981\u5f88\u9ad8\u7684\u8ba1\u7b97\u590d\u6742\u6027\u3002\u56e0\u6b64\u6211\u4eec\u63d0\u51fa\u4e86EAN MapNet\uff0c\u7528\u4e8e\u4f7f\u7528\u951a\u70b9\u90bb\u57df\u9ad8\u6548\u6784\u5efa\u9ad8\u7cbe\u5730\u56fe\u3002\u9996\u5148\uff0c\u6211\u4eec\u57fa\u4e8e\u951a\u70b9\u90bb\u57df\u8bbe\u8ba1\u67e5\u8be2\u5355\u5143\uff0c\u5141\u8bb8\u975e\u90bb\u57df\u4e2d\u5fc3\u951a\u70b9\u6709\u6548\u5730\u5e2e\u52a9\u5c06\u90bb\u57df\u4e2d\u5fc3\u951a\u70b9\u62df\u5408\u5230\u8868\u793a\u5730\u56fe\u5143\u7d20\u7684\u76ee\u6807\u70b9\u3002\u7136\u540e\u5229\u7528\u67e5\u8be2\u4e4b\u95f4\u7684\u76f8\u5bf9\u5b9e\u4f8b\u5173\u7cfb\uff0c\u63d0\u51fa\u4e86\u5206\u7ec4\u5c40\u90e8self-att\uff08GL-SA\uff09\u3002\u8fd9\u6709\u52a9\u4e8e\u540c\u4e00\u5b9e\u4f8b\u7684\u67e5\u8be2\u4e4b\u95f4\u7684\u76f4\u63a5\u7279\u5f81\u4ea4\u4e92\uff0c\u540c\u65f6\u521b\u65b0\u6027\u5730\u5c06\u672c\u5730\u67e5\u8be2\u7528\u4f5c\u4e0d\u540c\u5b9e\u4f8b\u67e5\u8be2\u4e4b\u95f4\u4ea4\u4e92\u7684\u4e2d\u4ecb\u3002\u56e0\u6b64\uff0cGL-SA\u663e\u8457\u964d\u4f4e\u4e86\u81ea\u6ce8\u610f\u529b\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\uff0c\u540c\u65f6\u786e\u4fdd\u4e86\u67e5\u8be2\u4e4b\u95f4\u6709\u8db3\u591f\u7684\u7279\u5f81\u4ea4\u4e92\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0cEAN MapNet\u7ecf\u8fc724\u4e2aepoch\u7684\u8bad\u7ec3\uff0c\u8fbe\u5230\u4e8663.0 mAP\u7684\u6700\u65b0\u6027\u80fd\uff0c\u6bd4MapTR\u9ad8\u51fa12.7 mAP\u3002\u6b64\u5916\uff0c\u4e0eMapTRv2\u76f8\u6bd4\uff0c\u5b83\u5927\u5927\u51cf\u5c11\u4e868198M\u7684\u5185\u5b58\u6d88\u8017\u3002<\/p>\n

                                       <\/p>\n

                                      ADMap: Anti-disturbance framework for reconstructing online vectorized HD map\uff08ECCV2024\uff09<\/strong><\/p>\n

                                        \n
                                      • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2401.13172v2<\/li>\n
                                      • \u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/hht1996ok\/ADMap<\/li>\n<\/ul>\n

                                        \u96f6\u8dd1&\u6d59\u5927\u7b49\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5728\u7ebf\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u91cd\u5efa\u5bf9\u4e8e\u89c4\u5212\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u6700\u8fd1\u7684\u7814\u7a76\u5f00\u53d1\u4e86\u51e0\u79cd\u9ad8\u6027\u80fd\u7684\u9ad8\u7cbe\u5730\u56fe\u91cd\u5efa\u6a21\u578b\u6765\u6ee1\u8db3\u8fd9\u4e00\u9700\u6c42\u3002\u7136\u800c\uff0c\u7531\u4e8e\u9884\u6d4b\u504f\u5dee\uff0c\u5b9e\u4f8b\u5411\u91cf\u5185\u7684\u70b9\u5e8f\u5217\u53ef\u80fd\u4f1a\u6296\u52a8\u6216\u952f\u9f7f\u72b6\uff0c\u8fd9\u53ef\u80fd\u4f1a\u5f71\u54cd\u540e\u7eed\u4efb\u52a1\u3002\u56e0\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u6297\u5e72\u6270\u56fe\u91cd\u5efa\u6846\u67b6\uff08ADMap\uff09\u3002\u4e3a\u4e86\u51cf\u8f7b\u70b9\u5e8f\u6296\u52a8\uff0c\u8be5\u6846\u67b6\u7531\u4e09\u4e2a\u6a21\u5757\u7ec4\u6210\uff1a\u591a\u5c3a\u5ea6\u611f\u77e5neck\u3001\u5b9e\u4f8b\u4ea4\u4e92\u6ce8\u610f\u529b\uff08IIA\uff09\u548c\u77e2\u91cf\u65b9\u5411\u5dee\u635f\u5931\uff08VDDL\uff09\u3002\u901a\u8fc7\u4ee5\u7ea7\u8054\u65b9\u5f0f\u63a2\u7d22\u5b9e\u4f8b\u4e4b\u95f4\u548c\u5b9e\u4f8b\u5185\u90e8\u7684\u70b9\u5e8f\u5173\u7cfb\uff0c\u8be5\u6a21\u578b\u53ef\u4ee5\u66f4\u6709\u6548\u5730\u76d1\u63a7\u70b9\u5e8f\u9884\u6d4b\u8fc7\u7a0b\u3002ADMap\u5728nuScenes\u548cArgoverse2\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5e7f\u6cdb\u7684\u7ed3\u679c\u8868\u660e\uff0c\u5b83\u80fd\u591f\u5728\u590d\u6742\u548c\u4e0d\u65ad\u53d8\u5316\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u751f\u6210\u7a33\u5b9a\u53ef\u9760\u7684\u5730\u56fe\u5143\u7d20\u3002<\/p>\n

                                         <\/p>\n

                                        Stream Query Denoising for Vectorized HD Map Construction<\/strong><\/p>\n

                                          \n
                                        • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2401.09112v2<\/li>\n<\/ul>\n

                                          \u4e2d\u79d1\u5927&\u65f7\u89c6\u56e2\u961f\u7684\u5de5\u4f5c\uff1a\u4e3a\u4e86\u63d0\u9ad8\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u590d\u6742\u548c\u5e7f\u6cdb\u573a\u666f\u4e2d\u7684\u611f\u77e5\u6027\u80fd\uff0c\u4eba\u4eec\u5bf9\u65f6\u95f4\u5efa\u6a21\u7ed9\u4e88\u4e86\u7279\u522b\u5173\u6ce8\uff0c\u7279\u522b\u5f3a\u8c03\u4e86\u6d41\u5f0f\u65b9\u6cd5\u3002\u6d41\u6a21\u578b\u7684\u4e3b\u6d41\u8d8b\u52bf\u6d89\u53ca\u5229\u7528\u6d41\u67e5\u8be2\u6765\u4f20\u64ad\u65f6\u95f4\u4fe1\u606f\u3002\u5c3d\u7ba1\u8fd9\u79cd\u65b9\u6cd5\u5f88\u6d41\u884c\uff0c\u4f46\u5c06\u6d41\u5f0f\u8303\u5f0f\u76f4\u63a5\u5e94\u7528\u4e8e\u6784\u5efa\u77e2\u91cf\u5316\u9ad8\u7cbe\u5730\u56fe\uff08HD\u5730\u56fe\uff09\u5e76\u4e0d\u80fd\u5145\u5206\u5229\u7528\u65f6\u95f4\u4fe1\u606f\u7684\u5185\u5728\u6f5c\u529b\u3002\u672c\u6587\u4ecb\u7ecd\u4e86\u6d41\u67e5\u8be2\u53bb\u566a\uff08SQD\uff09\u7b56\u7565\uff0c\u8fd9\u662f\u4e00\u79cd\u5728\u9ad8\u7cbe\u5730\u56fe\uff08HD map\uff09\u6784\u5efa\u4e2d\u8fdb\u884c\u65f6\u95f4\u5efa\u6a21\u7684\u65b0\u65b9\u6cd5\u3002SQD\u65e8\u5728\u4fc3\u8fdb\u6d41\u6a21\u578b\u4e2d\u6620\u5c04\u5143\u7d20\u4e4b\u95f4\u65f6\u95f4\u4e00\u81f4\u6027\u7684\u5b66\u4e60\u3002\u8be5\u65b9\u6cd5\u6d89\u53ca\u5bf9\u56e0\u5728\u524d\u4e00\u5e27\u7684GT\u4e2d\u6dfb\u52a0\u566a\u58f0\u800c\u53d7\u5230\u5e72\u6270\u7684\u67e5\u8be2\u8fdb\u884c\u53bb\u566a\u3002\u8be5\u53bb\u566a\u8fc7\u7a0b\u65e8\u5728\u91cd\u5efa\u5f53\u524d\u5e27\u7684\u5730\u9762\u771f\u5b9e\u4fe1\u606f\uff0c\u4ece\u800c\u6a21\u62df\u6d41\u67e5\u8be2\u4e2d\u56fa\u6709\u7684\u9884\u6d4b\u8fc7\u7a0b\u3002SQD\u7b56\u7565\u53ef\u4ee5\u5e94\u7528\u4e8e\u8fd9\u4e9b\u6d41\u5f0f\u65b9\u6cd5\uff08\u4f8b\u5982StreamMapNet\uff09\uff0c\u4ee5\u589e\u5f3a\u65f6\u95f4\u5efa\u6a21\u3002\u62df\u8bae\u7684SQD MapNet\u662f\u914d\u5907SQD\u7684StreamMapNet\u3002\u5728nuScenes\u548cArgoverse2\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u8fd1\u8ddd\u79bb\u548c\u8fdc\u8ddd\u79bb\u7684\u6240\u6709\u8bbe\u7f6e\u4e2d\u90fd\u660e\u663e\u4f18\u4e8e\u5176\u4ed6\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n

                                           <\/p>\n

                                          MapNeXt: Revisiting Training and Scaling Practices for Online Vectorized HD Map Construction<\/strong><\/p>\n

                                            \n
                                          • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2401.07323v1<\/li>\n<\/ul>\n

                                            \u72ec\u7acb\u7814\u7a76\u4f5c\u8005\uff1a\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u662f\u81ea\u52a8\u9a7e\u9a76\u5bfc\u822a\u7684\u5173\u952e\u3002\u5c06\u8fd0\u884c\u65f6\u8f7b\u91cf\u7ea7\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u80fd\u529b\u96c6\u6210\u5230\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u6700\u8fd1\u6210\u4e3a\u4e00\u4e2a\u6709\u524d\u666f\u7684\u65b9\u5411\u3002\u5728\u8fd9\u79cd\u6fc0\u589e\u4e2d\uff0c\u89c6\u89c9\u611f\u77e5\u8131\u9896\u800c\u51fa\uff0c\u56e0\u4e3a\u76f8\u673a\u8bbe\u5907\u4ecd\u7136\u53ef\u4ee5\u611f\u77e5\u7acb\u4f53\u4fe1\u606f\uff0c\u66f4\u4e0d\u7528\u8bf4\u5176\u4fbf\u643a\u6027\u548c\u7ecf\u6d4e\u6027\u7684\u5438\u5f15\u4eba\u7684\u7279\u5f81\u4e86\u3002\u6700\u65b0\u7684MapTR\u67b6\u6784\u4ee5\u7aef\u5230\u7aef\u7684\u65b9\u5f0f\u89e3\u51b3\u4e86\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\uff0c\u4f46\u5176\u6f5c\u529b\u4ecd\u6709\u5f85\u63a2\u7d22\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86MapTR\u7684\u5168\u9762\u5347\u7ea7\uff0c\u5e76\u63d0\u51fa\u4e86\u4e0b\u4e00\u4ee3\u9ad8\u7cbe\u5730\u56fe\u5b66\u4e60\u67b6\u6784MapNeXt\uff0c\u4ece\u6a21\u578b\u8bad\u7ec3\u548c\u7f29\u653e\u7684\u89d2\u5ea6\u505a\u51fa\u4e86\u91cd\u5927\u8d21\u732e\u3002\u5728\u6df1\u5165\u4e86\u89e3MapTR\u7684\u8bad\u7ec3\u52a8\u6001\u5e76\u5145\u5206\u5229\u7528\u5730\u56fe\u5143\u7d20\u7684\u76d1\u7763\u540e\uff0cMapNeXt Tiny\u5728\u4e0d\u8fdb\u884c\u4efb\u4f55\u67b6\u6784\u4fee\u6539\u7684\u60c5\u51b5\u4e0b\uff0c\u5c06MapTR Tiny\u7684map\u4ece49.0%\u63d0\u9ad8\u523054.8%\u3002MapNeXt Base\u4eab\u53d7\u7740\u5730\u56fe\u5206\u5272\u9884\u8bad\u7ec3\u7684\u6210\u679c\uff0c\u5c06map\u8fdb\u4e00\u6b65\u63d0\u9ad8\u523063.9%\uff0c\u5df2\u7ecf\u6bd4\u73b0\u6709\u6280\u672f\u591a\u6a21\u6001MapTR\u63d0\u9ad8\u4e861.4%\uff0c\u540c\u65f6\u901f\u5ea6\u63d0\u9ad8\u4e861.8\u500d\u3002\u4e3a\u4e86\u5c06\u6027\u80fd\u8fb9\u754c\u63a8\u5411\u4e0b\u4e00\u4e2a\u6c34\u5e73\uff0c\u6211\u4eec\u5728\u5b9e\u9645\u6a21\u578b\u7f29\u653e\u65b9\u9762\u5f97\u51fa\u4e86\u4e24\u4e2a\u7ed3\u8bba\uff1a\u589e\u52a0\u7684\u67e5\u8be2\u6709\u5229\u4e8e\u66f4\u5927\u7684\u89e3\u7801\u5668\u7f51\u7edc\u8fdb\u884c\u5145\u5206\u7684\u6d88\u5316\uff1b\u4e00\u4e2a\u5927\u7684\u4e3b\u5e72\u7a33\u5b9a\u5730\u63d0\u9ad8\u4e86\u6700\u7ec8\u7684\u51c6\u786e\u6027\uff0c\u6ca1\u6709\u82b1\u54e8\u7684\u4e1c\u897f\u3002\u57fa\u4e8e\u8fd9\u4e24\u6761\u7ecf\u9a8c\u6cd5\u5219\uff0cMapNeXt Huge\u5728\u5177\u6709\u6311\u6218\u6027\u7684nuScenes\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u53d6\u5f97\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u6b21\u5c06\u65e0\u5730\u56fe\u89c6\u89c9\u5355\u6a21\u578b\u6027\u80fd\u63d0\u9ad8\u523078%\u4ee5\u4e0a\uff0c\u6bd4\u73b0\u6709\u65b9\u6cd5\u4e2d\u7684\u6700\u4f73\u6a21\u578b\u9ad8\u51fa16%\u3002<\/p>\n

                                             <\/p>\n

                                            \u603b\u7ed3\u4e0e\u5c55\u671b<\/h2>\n

                                            \u4ece\u4eca\u5e74\u6587\u7ae0\u7684\u60c5\u51b5\u6765\u770b\uff0c\u53ef\u4ee5\u603b\u7ed3\u4ee5\u4e0b\u51e0\u70b9\u8d8b\u52bf\uff1a<\/p>\n

                                              \n
                                            • \u524d\u671f\u5de5\u4f5c\u4e3b\u8981\u662f\u6a21\u578b\u5c42\u9762\u7684\u6539\u52a8\uff1a\u6bd4\u5982\u6a21\u578b\u8bad\u7ec3\u7684\u4f18\u5316\u65b9\u6cd5\u3001\u635f\u5931\u3001\u65b0\u578b\u6ce8\u610f\u529b\u673a\u5236\u3001Query\u3001Encoder-Decoder\u7684\u6539\u8fdb\u7b49\u7b49\u65b9\u5f0f\uff1b<\/li>\n
                                            • \u4e0b\u534a\u5e74\u7684\u6587\u7ae0\u5219\u805a\u7126\u5728\u5982\u4f55\u4f7f\u7528\u989d\u5916\u7684\u4fe1\u606f\u63d0\u5347\u6a21\u578b\u6027\u80fd\uff1a\u6bd4\u5982SD Map\u3001\u5386\u53f2\u5730\u56fe\u7b49\u7b49\uff0c\u989d\u5916\u4fe1\u606f\u7684\u5f15\u5165\u80fd\u5927\u5e45\u63d0\u5347\u6a21\u578b\u6027\u80fd\uff0c\u8fd9\u5757\u4e5f\u662f\u4e1a\u5185\u5b9e\u9645\u91cf\u4ea7\u7684\u524d\u6cbf\u65b9\u5411\uff0c\u503c\u5f97\u66f4\u8fdb\u4e00\u6b65\u6316\u5c40\uff1b<\/li>\n
                                            • \u6b64\u5916\u4e5f\u6709\u4e00\u4e9b\u5de5\u4f5c\u5c1d\u8bd5\u8fdb\u884c\u84b8\u998f\u3001\u7814\u7a76\u6a21\u578b\u7684\u9c81\u68d2\u6027\u7b49\uff0c\u8fd9\u5757\u5bf9\u91cf\u4ea7\u7684\u6307\u5bfc\u610f\u4e49\u66f4\u5f3a\uff0c\u671f\u5f85\u540e\u7eed\u6709\u4e1a\u52a1\u6570\u636e\u7684\u53cd\u9988\u3002<\/li>\n<\/ul>\n

                                              \u603b\u7ed3\u6765\u8bf4\uff0c\u76ee\u524d\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u662f\u5de5\u4e1a\u754c\u548c\u5b66\u672f\u754c\u4e3b\u6d41\u7684\u7814\u7a76\u65b9\u5411\uff0c\u4eceCVPR\/ECCV\u7b49\u9876\u4f1a\u4e5f\u53ef\u4ee5\u53cd\u5e94\u51fa\u8fd9\u4e00\u8d8b\u52bf\u3002\u6a21\u5757\u5316\u65b9\u6cd5\u79bb\u4e0d\u5f00\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\uff0c\u7aef\u5230\u7aef\u66f4\u79bb\u4e0d\u5f00\u5728\u7ebf\u5730\u56fe\u3002\u4f46\u53cd\u8fc7\u6765\u8bf4\uff0c\u5728\u7ebf\u5730\u56fe\u4f9d\u8d56\u4f20\u7edf\u9ad8\u7cbe\u5730\u56fe\u7684\u6807\u6ce8\u8bad\u7ec3\u3002\u53ef\u8c13\u4ece\u7fa4\u4f17\u4e2d\u6765\uff0c\u5230\u7fa4\u4f17\u4e2d\u53bb\u3002\u4f20\u7edf\u9ad8\u7cbe\u5730\u56fe\u4e0d\u4f1a\u6e6e\u706d\uff0c\u4ecd\u7136\u4f1a\u5728\u6280\u672f\u53d1\u5c55\u7684\u6d2a\u6d41\u4e2d\u53d1\u5149\u53d1\u70ed\u3002<\/p>\n<\/div>\n<\/div>\n

                                              <\/div>\n

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

                                              \u4eca\u5929\u548c\u5927\u5bb6\u4e00\u8d77\u76d8\u70b92024\u5e74\u5728\u7ebf\u9ad8\u7cbe\u5730\u56fe\u7684\u5168\u90e8\u5de5\u4f5c\uff01\u4e00\u63a2\u65e0\u56feNOA\u6838\u5fc3\u6280\u672f\u7684\u53d1\u5c55\u8d8b\u52bf\uff01 \u5199\u5728\u524d\u9762 & […]<\/p>\n

                                              <\/div>\n

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

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