{"id":415349,"date":"2024-07-04T16:30:43","date_gmt":"2024-07-04T08:30:43","guid":{"rendered":"https:\/\/www.idc.net\/help\/?p=415349"},"modified":"2024-07-04T16:30:43","modified_gmt":"2024-07-04T08:30:43","slug":"%e8%b6%85%e8%b6%8abevfusion%ef%bc%81%e5%8f%88%e5%bf%ab%e5%8f%88%e5%a5%bd%e7%9a%84%e6%9e%81%e7%ae%80bev%e8%9e%8d%e5%90%88%e9%83%a8%e7%bd%b2%e6%96%b9%e6%a1%88-3","status":"publish","type":"post","link":"https:\/\/idc.net\/help\/415349\/","title":{"rendered":"\u8d85\u8d8aBEVFusion\uff01\u53c8\u5feb\u53c8\u597d\u7684\u6781\u7b80BEV\u878d\u5408\u90e8\u7f72\u65b9\u6848"},"content":{"rendered":"

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    \n
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     <\/p>\n

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    \u4f8b\u5982\uff0cDAL\u4e0eTransFusion\u548cBEVFusion\u5171\u4eab\u76ee\u6807\u548c\u635f\u5931\u7684\u8bbe\u8ba1\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u672c\u6587\u5728\u56fe\u50cf\u7279\u5f81\u4e0a\u6dfb\u52a0\u4e86\u4e00\u4e2a\u8f85\u52a9\u5206\u7c7b\u5934\uff0c\u4ee5\u52a0\u5f3a\u56fe\u50cf\u5206\u652f\u5728\u641c\u7d22\u5019\u9009\u5bf9\u8c61\u548c\u533a\u5206\u4e0d\u540c\u7c7b\u522b\u65b9\u9762\u7684\u80fd\u529b\u3002\u8fd9\u5bf9\u4e8eDAL\u6765\u8bf4\u975e\u5e38\u91cd\u8981\uff0c\u56e0\u4e3a3D\u76ee\u6807\u68c0\u6d4b\u5934\u4e2d\u5bc6\u96c6\u611f\u77e5\u9636\u6bb5\u548c\u7a00\u758f\u611f\u77e5\u9636\u6bb5\u7684\u76d1\u7763\u90fd\u6709\u7f3a\u9677\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u5bc6\u96c6\u611f\u77e5\u9636\u6bb5\uff0c\u56fe\u50cf\u7279\u5f81\u4f1a\u6839\u636e\u89c6\u56fe\u8f6c\u6362\u4e2d\u7684\u9884\u6d4b\u6df1\u5ea6\u5f97\u5206\u8fdb\u884c\u8c03\u6574\u3002\u53cd\u5411\u4f20\u64ad\u4e2d\u7684\u68af\u5ea6\u4e5f\u662f\u5982\u6b64\u3002\u9884\u6d4b\u6df1\u5ea6\u5f97\u5206\u6709\u7f3a\u9677\u662f\u4e0d\u53ef\u907f\u514d\u7684\uff0c\u76d1\u7763\u4e5f\u662f\u5982\u6b64\u3002\u5728\u7a00\u758f\u611f\u77e5\u9636\u6bb5\uff0c\u635f\u5931\u8ba1\u7b97\u4e2d\u53ea\u6d89\u53ca\u9884\u6d4b\u5b9e\u4f8b\u7684\u56fe\u50cf\u7279\u5f81\uff0c\u800c\u4e0d\u662f\u6240\u6709\u6ce8\u91ca\u76ee\u6807\u7684\u56fe\u50cf\u7279\u5f81\u3002\u5177\u6709\u6240\u6709\u6ce8\u91ca\u76ee\u6807\u76d1\u7763\u7684\u8f85\u52a9\u5206\u7c7b\u5934\u53ef\u4ee5\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u5e76\u5728\u4e00\u5b9a\u7a0b\u5ea6\u4e0a\u52a0\u5f3a\u56fe\u50cf\u5206\u652f\u3002\u5728\u5b9e\u8df5\u4e2d\uff0c\u4f7f\u7528\u6ce8\u91ca\u76ee\u6807\u7684\u91cd\u5fc3\u6765\u63d0\u53d6\u6bcf\u4e2a\u6ce8\u91ca\u76ee\u6807\u7684\u7a00\u758f\u7279\u5f81\u3002\u7136\u540e\uff0c\u4f7f\u7528\u53e6\u4e00\u4e2aFFN\u5bf9\u7a00\u758f\u7279\u5f81\u8fdb\u884c\u5206\u7c7b\uff0c\u635f\u5931\u8ba1\u7b97\u4e0e3D\u76ee\u6807\u68c0\u6d4b\u5934\u4e2d\u7684\u5206\u7c7b\u4efb\u52a1\u76f8\u540c\u3002\u4e0d\u8fdb\u884c\u91cd\u65b0\u52a0\u6743\uff0c\u672c\u6587\u76f4\u63a5\u5c06\u8f85\u52a9\u635f\u5931\u6dfb\u52a0\u5230\u73b0\u6709\u7684\u635f\u5931\u4e2d\uff1a<\/p>\n

     <\/p>\n

    \u5728\u56de\u5f52\u4efb\u52a1\u9884\u6d4b\u4e2d\u5f03\u7528\u56fe\u50cf\u7279\u5f81\u4e0d\u4ec5\u53ef\u4ee5\u9632\u6b62\u4e0d\u53ef\u907f\u514d\u7684\u6027\u80fd\u9000\u5316\uff0c\u800c\u4e14\u53ef\u4ee5\u5728\u56fe\u50cf\u7a7a\u95f4\u4e2d\u8fdb\u884c\u66f4\u5e7f\u6cdb\u7684\u6570\u636e\u589e\u5f3a\u3002\u672c\u6587\u4ee5\u8c03\u6574\u5927\u5c0f\u589e\u5f3a\u4e3a\u4f8b\u8fdb\u884c\u89e3\u91ca\u3002\u57fa\u4e8e\u76f8\u673a\u76843D\u7269\u4f53\u68c0\u6d4b\u6839\u636e\u5176\u5728\u56fe\u50cf\u89c6\u56fe\u4e2d\u7684\u5927\u5c0f\u9884\u6d4b\u76ee\u6807\u7684\u5927\u5c0f\u3002\u5f53\u56fe\u50cf\u968f\u673a\u8c03\u6574\u5927\u5c0f\u65f6\uff0c\u4e3a\u4e86\u4fdd\u6301\u56fe\u50cf\u7279\u5f81\u4e0e\u9884\u6d4b\u76ee\u6807\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\uff0c\u9700\u8981\u5bf9\u9884\u6d4b\u76ee\u6807\u8fdb\u884c\u76f8\u5e94\u7684\u8c03\u6574\u3002\u7136\u540e\u662fLiDAR-\u76f8\u673a\u878d\u5408\u76843D\u7269\u4f53\u68c0\u6d4b\u4e2d\u7684\u8fde\u9501\u53cd\u5e94\u4e2d\u7684\u70b9\u4e91\u3002\u56e0\u6b64\uff0c\u73b0\u6709\u7684\u65b9\u6cd5\u603b\u662f\u5728\u56fe\u50cf\u7a7a\u95f4\u4e2d\u4f7f\u7528\u5c0f\u8303\u56f4\u7684\u6570\u636e\u589e\u5f3a\u3002\u7ed3\u679c\uff0c\u5b83\u4eec\u8fdc\u79bb\u4e86\u5927\u591a\u6570\u56fe\u50cf2D\u4efb\u52a1\uff08\u4f8b\u5982\u5206\u7c7b\uff0c\u68c0\u6d4b\uff0c\u5206\u5272\uff09\u4e2d\u56fe\u50cf\u7a7a\u95f4\u5927\u89c4\u6a21\u6570\u636e\u589e\u5f3a\u7684\u597d\u5904\u3002<\/p>\n

    \u6700\u540e\uff0c\u672c\u6587\u89c2\u5bdf\u5230\u8bad\u7ec3\u6570\u636e\u4e2d\u901f\u5ea6\u5206\u5e03\u6781\u4e0d\u5e73\u8861\u3002\u5982\u56fe3\u6240\u793a\uff0cnuScenes\u8bad\u7ec3\u96c6\u4e2d\u6c7d\u8f66\u7c7b\u522b\u7684\u591a\u6570\u5b9e\u4f8b\u662f\u9759\u6001\u7684\u3002\u4e3a\u4e86\u8c03\u6574\u5206\u5e03\uff0c\u968f\u673a\u9009\u62e9\u4e86\u4e00\u4e9b\u9759\u6001\u7269\u4f53\uff0c\u5e76\u6839\u636e\u9884\u5b9a\u4e49\u7684\u901f\u5ea6\u8c03\u6574\u5176\u70b9\u4e91\uff0c\u5982\u56fe4\u6240\u793a\u3002\u672c\u6587\u4ec5\u5bf9\u9759\u6001\u7269\u4f53\u8fdb\u884c\u901f\u5ea6\u589e\u5f3a\uff0c\u56e0\u4e3a\u53ef\u4ee5\u4ece\u5176\u5e26\u6ce8\u91ca\u7684\u8fb9\u754c\u6846\u4e2d\u8f7b\u677e\u5730\u8bc6\u522b\u6765\u81ea\u591a\u4e2aLiDAR\u5e27\u7684\u5168\u5957\u70b9\u3002<\/p>\n

     <\/p>\n

    \u56fe3. nuScenes\u8bad\u7ec3\u96c6\u4e2d\u6c7d\u8f66\u7c7b\u522b\u7684\u901f\u5ea6\u5206\u5e03\u3002<\/p>\n

     <\/p>\n

    \u56fe4.\u4f7f\u7528\u4e0d\u540c\u7684\u9884\u5b9a\u4e49\u901f\u5ea6\uff08\u5373\uff08vx\uff0cvy\uff09\uff09\u589e\u5f3a\u76f8\u540c\u7684\u9759\u6001\u5bf9\u8c61<\/p>\n

    \u76f8\u5173\u5b9e\u9a8c\u7ed3\u679c<\/h2>\n

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

    \u672c\u6587\u5728\u5927\u89c4\u6a21\u57fa\u51c6nuScenes\u4e0a\u8fdb\u884c\u5168\u9762\u7684\u5b9e\u9a8c\u3002NuScenes\u662f\u9a8c\u8bc1\u8bb8\u591a\u5ba4\u5916\u4efb\u52a1\u7684\u6700\u65b0\u6d41\u884c\u57fa\u51c6\uff0c\u59823D\u7269\u4f53\u68c0\u6d4b\u3001\u5360\u7528\u7387\u9884\u6d4b\u3001BEV\u8bed\u4e49\u5206\u5272\u3001\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u3002\u5b83\u5305\u62ec1000\u4e2a\u573a\u666f\uff0c\u5176\u4e2d\u5305\u542b\u6765\u81ea6\u4e2a\u76f8\u673a\u7684\u56fe\u50cf\u548c\u6765\u81ea\u5177\u670932\u675f\u5149\u675f\u7684LiDAR\u7684\u70b9\u4e91\u3002\u76f8\u673a\u7ec4\u5177\u6709\u4e0eLiDAR\u4e00\u81f4\u7684360\u5ea6\u89c6\u91ce\u3002\u8fd9\u4f7f\u5176\u6210\u4e3a\u8bc4\u4f30LiDAR-\u76f8\u673a\u878d\u5408\u7b97\u6cd5\u7684\u9996\u9009\u6570\u636e\u96c6\u3002\u8fd9\u4e9b\u573a\u666f\u88ab\u6b63\u5f0f\u5206\u4e3a700\/150\/150\u4e2a\u573a\u666f\uff0c\u7528\u4e8e\u8bad\u7ec3\/\u9a8c\u8bc1\/\u6d4b\u8bd5\u3002\u670910\u4e2a\u7c7b\u522b\u7684140\u4e07\u4e2a\u6ce8\u91ca\u76843D\u8fb9\u754c\u6846\uff1a\u6c7d\u8f66\u3001\u5361\u8f66\u3001\u516c\u5171\u6c7d\u8f66\u3001\u62d6\u8f66\u3001\u5de5\u7a0b\u8f66\u8f86\u3001\u884c\u4eba\u3001\u6469\u6258\u8f66\u3001\u81ea\u884c\u8f66\u3001\u969c\u788d\u7269\u548c\u4ea4\u901a\u9525\u3002<\/p>\n

    \u8bc4\u4f30\u6307\u6807<\/h4>\n

    \u5bf9\u4e8e3D\u5bf9\u8c61\u68c0\u6d4b\uff0c\u672c\u6587\u62a5\u544a\u4e86\u5b98\u65b9\u9884\u5b9a\u4e49\u7684\u5ea6\u91cf\u6807\u51c6\uff1a\u5e73\u5747\u7cbe\u786e\u5ea6\uff08mAP\uff09\u3001\u5e73\u5747\u5e73\u79fb\u8bef\u5dee\uff08ATE\uff09\u3001\u5e73\u5747\u7f29\u653e\u8bef\u5dee\uff08ASE\uff09\u3001\u5e73\u5747\u65b9\u5411\u8bef\u5dee\uff08AOE\uff09\u3001\u5e73\u5747\u901f\u5ea6\u8bef\u5dee\uff08AVE\uff09\u3001\u5e73\u5747\u5c5e\u6027\u8bef\u5dee\uff08AAE\uff09\u548cNuScenes\u68c0\u6d4b\u8bc4\u5206\uff08NDS\uff09\u3002mAP\u7c7b\u4f3c\u4e8e2D\u5bf9\u8c61\u68c0\u6d4b\u4e2d\u7684mAP\uff0c\u7528\u4e8e\u8861\u91cf\u7cbe\u5ea6\u548c\u53ec\u56de\u7387\uff0c\u4f46\u57fa\u4e8e\u5730\u9762\u4e0a2D\u4e2d\u5fc3\u8ddd\u79bb\u7684\u5339\u914d\uff0c\u800c\u4e0d\u662f\u4ea4\u96c6\u6bd4\uff08IOU\uff09\u3002NDS\u662f\u5176\u4ed6\u6307\u6807\u7684\u7ec4\u5408\uff0c\u7528\u4e8e\u7efc\u5408\u5224\u65ad\u68c0\u6d4b\u80fd\u529b\u3002\u5176\u4f59\u6307\u6807\u7528\u4e8e\u8ba1\u7b97\u76f8\u5e94\u65b9\u9762\u7684\u9633\u6027\u7ed3\u679c\u7cbe\u5ea6\uff08\u4f8b\u5982\uff0c\u5e73\u79fb\u3001\u7f29\u653e\u3001\u65b9\u5411\u3001\u901f\u5ea6\u548c\u5c5e\u6027\uff09\u3002<\/p>\n

    \u9884\u6d4b\u7ba1\u9053<\/h4>\n

    \u5982\u88682\u6240\u793a\uff0c\u672c\u6587\u9075\u5faa\u4e24\u79cd\u7ecf\u5178\u76843D\u5bf9\u8c61\u68c0\u6d4b\u8303\u5f0fBEVDet-R50 \u548cCenterPoint \uff0c\u5206\u522b\u6784\u5efa\u56fe\u50cf\u5206\u652f\u548cLiDAR\u5206\u652f\uff0c\u7528\u4e8e\u6d88\u878d\u7814\u7a76\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e9b\u63a8\u8350\u7684\u914d\u7f6e\uff0c\u5728\u63a8\u7406\u5ef6\u8fdf\u548c\u51c6\u786e\u6027\u4e4b\u95f4\u5b9e\u73b0\u4e86\u51fa\u8272\u7684\u6743\u8861\u3002<\/p>\n

     <\/p>\n

    \u8bad\u7ec3\u548c\u8bc4\u4f30<\/h4>\n

    DAL\u6a21\u578b\u572816\u4e2a3090 GPU\u4e0a\u4ee564\u4e2a\u6279\u5904\u7406\u5927\u5c0f\u8fdb\u884c\u8bad\u7ec3\u3002\u5982\u88681\u6240\u793a\uff0c
    \n\u4e0e\u5927\u591a\u6570\u9700\u8981\u591a\u4e2a\u9884\u8bad\u7ec3\u9636\u6bb5\u548c\u590d\u6742\u5b66\u4e60\u7387\u7b56\u7565\u7684\u73b0\u6709\u65b9\u6cd5\u4e0d\u540c\uff0cDAL\u4ec5\u4eceImageNet\u5206\u7c7b\u4efb\u52a1\u4e2d\u52a0\u8f7d\u9884\u8bad\u7ec3\u6743\u91cd\uff0c\u5e76\u4f7f\u7528CBGS\u5bf9\u6574\u4e2a\u6d41\u6c34\u7ebf\u8fdb\u884c20\u4e2aepoch\u7684\u8bad\u7ec3\u3002DAL\u4e0eCenterPoint\u5171\u4eab\u76f8\u540c\u7684\u5b66\u4e60\u7387\u7b56\u7565\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b66\u4e60\u7387\u901a\u8fc7\u9075\u5faa\u5faa\u73af\u5b66\u4e60\u7387\u7b56\u7565\u8fdb\u884c\u8c03\u6574\uff0c\u521d\u59cb\u503c\u4e3a2.0\u00d710-4\u3002\u5728\u8bc4\u4f30\u8fc7\u7a0b\u4e2d\uff0c\u672c\u6587\u62a5\u544a\u4e86\u5355\u4e2a\u6a21\u578b\u5728\u65e0\u6d4b\u8bd5\u65f6\u95f4\u589e\u5e7f\u60c5\u51b5\u4e0b\u7684\u6027\u80fd\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u63a8\u7406\u901f\u5ea6\u90fd\u5728\u5355\u4e2a3090 GPU\u4e0a\u6d4b\u8bd5\u3002BEVPoolV2 \u7528\u4e8e\u52a0\u901f\u89c6\u56fe\u53d8\u6362\u7b97\u6cd5LSS\u3002<\/p>\n

     <\/p>\n

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