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\u9ad8\u7cbe\u5730\u56fe\u7684\u4f5c\u7528\u6b63\u662f\u6253\u5f00\u4e0a\u5e1d\u89c6\u91ce\uff0c\u8d85\u89c6\u8ddd\u3001\u9ad8\u5bc6\u5ea6\u5730\u63d0\u4f9b\u667a\u9a7e\u6240\u9700\u7684\u5148\u9a8c\u4fe1\u606f\u3002\u5728\u5176\u8f85\u52a9\u4e0b\uff0c\u667a\u9a7e\u7cfb\u7edf\u5373\u4f7f\u5728\u573a\u666f\u590d\u6742\u3001\u7269\u4f53\u906e\u6321\u3001\u8def\u53e3\u9519\u4f4d\u7684\u60c5\u51b5\u4e0b\uff0c\u4e5f\u80fd\u591f\u4ee5\u66f4\u5927\u6982\u7387\u9009\u5bf9\u6b63\u8def\uff0c\u5c11\u8d70\u5f2f\u8def\u3002 <\/p>\n

\u56e0\u4e3a\u8fd9\u4e9b\u4f18\u70b9\uff0c\u5373\u4f7f\u662f\u5728\u53bb\u9ad8\u7cbe\u5730\u56fe\u8fdb\u7a0b\u4e2d\u9886\u5148\u7684\u5c0f\u9e4f\u3001\u534e\u4e3a\uff0c\u76ee\u524d\u4e5f\u4ecd\u9075\u5faa\u201c\u6709\uff08\u9ad8\u7cbe\u5730\uff09\u56fe\u7528\u56fe\u201d\u7684\u539f\u5219\u3002 <\/p>\n

\u663e\u7136\uff0c\u5148\u9a8c\u4fe1\u606f\u8d8a\u4e30\u5bcc\uff0c\u667a\u9a7e\u7684\u4f53\u9a8c\u4e0a\u9650\u5c31\u8d8a\u9ad8\u3002\u901a\u52e4\u6a21\u5f0f\u8981\u7529\u5f00\u9ad8\u7cbe\u5730\u56fe\uff0c\u5fc5\u987b\u8981\u89e3\u51b3\u7684\u5173\u952e\u95ee\u9898\u662f\uff1a\u5982\u4f55\u8865\u4e0a\u5931\u53bb\u7684\u5148\u9a8c\u4fe1\u606f\uff1f<\/p>\n

\u76ee\u524d\u6765\u770b\uff0c\u884c\u4e1a\u81f3\u5c11\u5df2\u7ecf\u6709\u4e09\u79cd\u4e0d\u540c\u7684\u6280\u672f\u65b9\u6848\uff1a <\/p>\n

\u6309\u56fe\u7d22\u9aa5\u6d3e\uff0c\u5927\u7586\uff1b\u9ad8\u7ef4\u7279\u5f81\u6d3e\uff0c\u7406\u60f3\uff1b\u786c\u603c\u611f\u77e5\u6d3e\uff0c\u5c0f\u9e4f\u3002 <\/p>\n

\u5728\u4e3a\u8f66\u4f01\u63d0\u4f9b\u7684\u201c\u6210\u884c\u201c\u5e73\u53f0\u667a\u9a7e\u65b9\u6848\u4e2d\uff0c\u5927\u7586\u8f66\u8f7d\u4f1a\u63d0\u4f9b\u8bb0\u5fc6\u884c\u8f66\uff08\u4e91\u6735\u7075\u7280\u7248\u79f0\u8bb0\u5fc6\u9886\u822a\uff09\u529f\u80fd\u3002 <\/p>\n

\u6839\u636e\u5927\u7586\u8f66\u8f7d\u5b98\u7f51\u7684\u4fe1\u606f\uff0c\u8bb0\u5fc6\u884c\u8f66\u529f\u80fd\u9996\u5148\u9700\u8981\u201c\u8def\u7ebf\u8bb0\u5fc6\u201d\uff0c\u7528\u6237\u4e3b\u52a8\u8bb0\u5f55\u4e0b\u4e00\u6bb5\u8def\u7a0b\u7684\u884c\u8f66\u8f68\u8ff9\uff08\u8f68\u8ff9\u4e2d\u5305\u542b\u5b9a\u4f4d\uff0c\u6a2a\u7eb5\u5411\u52a0\u901f\u5ea6\u7b49\u4fe1\u606f\uff09\u3002\u5728\u4f7f\u7528\u529f\u80fd\u65f6\uff0c\u5b9a\u4f4d\u5230\u4e86\u9a76\u5165\u8bb0\u5fc6\u8def\u7ebf\u4e4b\u5185\u5c31\u53ef\u4ee5\u5f00\u542f\u201c\u8bb0\u5fc6\u884c\u8f66\u201d\u3002 <\/p>\n<\/p>\n

\u5927\u7586\u8f66\u8f7d\u8bb0\u5fc6\u884c\u8f66\u529f\u80fd <\/p>\n

\u4e0d\u8fc7\u8fd9\u4e00\u8fc7\u7a0b\u5e76\u6ca1\u6709\u90a3\u4e48\u6b7b\u677f\uff0c\u800c\u662f\u4f1a\u53c2\u8003\u8bb0\u5fc6\u7684\u8def\u7ebf\u548c\u5b9e\u65f6\u611f\u77e5\uff0c\u9009\u62e9\u66f4\u4f18\u7684\u8f66\u9053\uff0c\u9700\u8981\u65f6\u4f5c\u51fa\u8fc7\u8def\u53e3\u3001\u907f\u8ba9\u3001\u7ed5\u884c\u7b49\u52a8\u4f5c\u3002\u800c\u8fd9\u4e9b\u65b0\u7684\u884c\u9a76\u8bb0\u5f55\u4e5f\u4f1a\u4e0d\u65ad\u8986\u76d6\u4e4b\u524d\u7684\u8bb0\u5fc6\u8def\u7ebf\uff0c\u5e2e\u52a9\u8f66\u201c\u8d8a\u5f00\u8d8a\u597d\u201d\u3002 <\/p>\n

\u7406\u60f3\u5411\u65e9\u9e1f\u7528\u6237\u63d0\u4f9b\u7684\u6d4b\u8bd5\u7248\u901a\u52e4\u6a21\u5f0f\uff0c\u5219\u9009\u62e9\u4e86NPN\u795e\u7ecf\u5148\u9a8c\u7f51\u7edc\u89e3\u51b3\u5148\u9a8c\u4fe1\u606f\u3002 <\/p>\n

\u5728\u8f66\u4e3b\u8fdb\u884c\u8def\u7ebf\u8bad\u7ec3\u65f6\uff0c\u7406\u60f3\u7684\u667a\u9a7e\u7cfb\u7edf\u4f1a\u5c06\u91c7\u96c6\u5230\u7684\u9053\u8def\u4fe1\u606f\uff08\u5c24\u5176\u662f\u8def\u53e3\u7b49\u590d\u6742\u573a\u666f\uff09\u901a\u8fc7NPN\u7f51\u7edc\u8f93\u51fa\u4e3a\u4eba\u7c7b\u770b\u4e0d\u61c2\u7684\u9ad8\u7ef4\u7279\u5f81\uff0c\u591a\u6b21\u4e0a\u4f20\u3001\u5237\u65b0\u540e\u5728\u4e91\u7aef\u805a\u5408\u51fa\u7279\u5b9a\u9053\u8def\u7684\u5b8c\u6574\u7279\u5f81\u3002 <\/p>\n<\/p>\n

\u7406\u60f3NPN\u795e\u7ecf\u7f51\u7edc <\/p>\n

\u901a\u52e4\u6a21\u5f0f\u542f\u7528\u65f6\uff0c\u7406\u60f3\u7684\u667a\u9a7e\u7cfb\u7edf\u4f1a\u4ece\u4e91\u7aef\u4e0b\u8f7d\u65e2\u5b9a\u8def\u7ebf\u7684\u9ad8\u7ef4\u7279\u5f81\u6570\u636e\uff0c\u4f5c\u4e3a\u611f\u77e5\u7cfb\u7edf\u7684\u91cd\u8981\u53c2\u8003\uff0c\u8f85\u52a9\u8f93\u51fa\u66f4\u7a33\u5b9a\u53ef\u9760\u7684\u611f\u77e5\u7ed3\u679c\u3002\u6bd4\u5982\u5728\u8fc7\u8def\u53e3\u65f6\uff0c\u56e0\u4e3a\u906e\u6321\u3001\u5149\u7ebf\u95ee\u9898\u667a\u9a7e\u7cfb\u7edf\u53ef\u80fd\u4f1a\u770b\u4e0d\u5168\u3001\u770b\u4e0d\u6e05\u8f66\u9053\u7ebf\u3001\u505c\u6b62\u7ebf\uff0c\u4f46\u5f15\u5165\u4e86NPN\u7f51\u7edc\u63d0\u4f9b\u7684\u5148\u9a8c\u4fe1\u606f\u540e\uff0c\u611f\u77e5\u7ed3\u679c\u4f1a\u66f4\u7cbe\u786e\uff08\u867d\u7136\u4ecd\u6bd4\u4e0d\u4e0a\u9ad8\u7cbe\u5730\u56fe\uff09\u3002 <\/p>\n

\u76f8\u6bd4\u5927\u7586\u3001\u7406\u60f3\uff0c\u5c0f\u9e4f\u5c55\u793a\u7684\u5219\u662f\u4e00\u79cd\u5927\u529b\u51fa\u5947\u8ff9\u7684\u65b9\u6848\uff1a\u5c06\u8f66\u8f86\u7684\u611f\u77e5\u80fd\u529b\u505a\u5f97\u66f4\u5f3a\u3001\u66f4\u8fdc\uff0c\u51cf\u5c11\u5bf9\u5148\u9a8c\u4fe1\u606f\u7684\u4f9d\u8d56\u3002 <\/p>\n

\u4e0a\u5468\u5728\u5317\u4eac\u8fdb\u884c\u7684\u65e0\u56fe\u57ce\u5e02NoA\u6f14\u793a\u4e2d\uff0c\u5c0f\u9e4f\u8868\u793a\u5176XNet\u7684\u611f\u77e5\u8303\u56f4\u63d0\u5347\u4e862\u500d\uff0c\u8fbe\u52301.8\u4e2a\u6807\u51c6\u8db3\u7403\u573a\u5927\u5c0f\uff0c\u6b64\u5916\u5c0f\u9e4f\u7684\u7b97\u6cd5\u4e5f\u62e5\u6709\u66f4\u5f3a\u7684\u201c\u8111\u8865\u201d\u80fd\u529b\u3002\u8fd9\u8ba9\u8f66\u8f86\u80fd\u591f\u5728\u767e\u7c73\u8ddd\u79bb\u5c31\u770b\u5230\u5e76\u8bb0\u4f4f\u7ea2\u7eff\u706f\u3001\u6807\u5fd7\u7ebf\uff0c\u63d0\u9ad8\u505a\u51fa\u6b63\u786e\u9a7e\u9a76\u51b3\u7b56\u7684\u6982\u7387\u3002 <\/p>\n<\/p>\n

\u8fd9\u79cd\u65b9\u5f0f\u9009\u62e9\u6b66\u88c5\u81ea\u8eab\uff0c\u53d7\u7ea6\u675f\u8f83\u5c11\uff0c\u4f46\u53ef\u80fd\u6700\u8017\u8d39\u8111\u7ec6\u80de\uff1aXNet\u91c7\u7528\u7684BEV+Transformer\u611f\u77e5\u6280\u672f\u6846\u67b6\u867d\u7136\u4e0a\u9650\u9ad8\uff0c\u4f46\u63d0\u5347BEV\u611f\u77e5\u6d88\u8017\u7684\u7b97\u529b\u4f1a\u968f\u8ddd\u79bb\u589e\u52a0\u6210\u500d\u589e\u957f\u3002 <\/p>\n

\u884c\u4e1a\u63d0\u51fa\u7684\u5e94\u5bf9\u65b9\u6848\u662f\u5bf9BEV\u7b97\u6cd5\u8fdb\u884c\u7a00\u758f\u5316\u6539\u9020\uff0c\u5373\u901a\u8fc7\u8bbe\u8ba1\u8ba9\u7b97\u6cd5\u53bb\u7b97\u90a3\u4e9b\u66f4\u8be5\u88ab\u611f\u77e5\u7684\u7269\u4f53\uff0c\u6bd4\u5982\u5730\u5e73\u7ebf\u7684Sparse4D\u3001\u56fe\u68ee\u7684\u7a00\u758fBEV\u3002\u4e0d\u8fc7\uff0c\u843d\u5730\u5230\u9ad8\u9636\u667a\u9a7e\u91cf\u4ea7\u4e2d\u7684\u7a00\u758f\u5316BEV\u5c1a\u4e0d\u591a\u3002 <\/p>\n

\u5982\u4f55\u5728\u82af\u7247\u7b97\u529b\u3001\u5185\u5b58\u4e0d\u53d8\u7684\u6761\u4ef6\u4e0b\uff0c\u8ba9\u611f\u77e5\u8ddd\u79bb\u6210\u500d\u63d0\u5347\u800c\u4e0d\u635f\u5931\u611f\u77e5\u7cbe\u5ea6\uff0c\u662f\u5bf9\u667a\u9a7e\u56e2\u961f\u6280\u672f\u4e0e\u5de5\u7a0b\u5b9e\u529b\u7684\u91cd\u5927\u8003\u9a8c\u3002 <\/p>\n

03 \u89c4\u5212\u62df\u4eba<\/h2>\n

\u8981\u6279\u91cf\u843d\u5730\u901a\u52e4\u6a21\u5f0f\uff0c\u89e3\u51b3\u5148\u9a8c\u4fe1\u606f\u95ee\u9898\u53ea\u662f\u7b2c\u4e00\u4e2a\u91cd\u5927\u95ee\u9898\uff0c\u5982\u4f55\u505a\u597d\u65e0\u9ad8\u7cbe\u5730\u56fe\u72b6\u6001\u4e0b\u7684\u667a\u9a7e\u51b3\u7b56\u89c4\u5212\uff0c\u5219\u662f\u7b2c\u4e8c\u4e2a\u3002<\/p>\n

\u5c0f\u9e4f\u81ea\u52a8\u9a7e\u9a76\u526f\u603b\u88c1\u5434\u65b0\u5b99\u6b64\u524d\u5728\u63a5\u53d7\u91c7\u8bbf\u65f6\u8ba4\u4e3a\uff0c\u667a\u80fd\u9a7e\u9a76\u540e\u7eed\u7684\u4e3b\u8981\u6280\u672f\u6311\u6218\u6765\u81ea\u51b3\u7b56\u89c4\u5212\u3002\u5728\u4ed6\u79bb\u804c\u540e\uff0c\u5176\u804c\u8d23\u7531\u5c0f\u9e4f\u667a\u9a7e\u89c4\u63a7\u8d1f\u8d23\u4eba\u674e\u529b\u8018\u63a5\u624b\uff0c\u591a\u5c11\u80fd\u8bf4\u660e\u4e3b\u8981\u77db\u76fe\u7684\u53d8\u5316\u3002<\/p>\n

\u5728\u53bb\u9ad8\u7cbe\u5730\u56fe\u540e\uff0c\u667a\u9a7e\u8f66\u8f86\u5bf9\u9759\u6001\u7269\u4f53\uff08\u5305\u62ec\u7ea2\u7eff\u706f\u3001\u8f66\u9053\u7ebf\u3001\u505c\u6b62\u7ebf\u3001\u8def\u6cbf\u7b49\uff09\u7684\u611f\u77e5\u7cbe\u51c6\u5ea6\u4e0e\u7a33\u5b9a\u6027\u90fd\u4f1a\u4e0b\u964d\uff0c\u6b64\u65f6\u89c4\u63a7\u7b97\u6cd5\u9700\u8981\u66f4\u52a0\u7075\u6d3b\u3001\u66f4\u80fd\u5e94\u5bf9\u4e0d\u786e\u5b9a\u6027\uff0c\u4e3a\u7cfb\u7edf\u515c\u5e95\u3002 <\/p>\n

\u5178\u578b\u7684\u4f8b\u5b50\u662f\uff0c\u5728\u4e0d\u4f9d\u8d56\u9ad8\u7cbe\u5730\u56fe\u7684\u667a\u9a7e\u4e2d\uff0c\u7b97\u6cd5\u4e0d\u50cf\u6b64\u524d\u90a3\u6837\u5c06\u8f66\u9053\u7ebf\u4f5c\u4e3a\u4e0d\u53ef\u52a8\u6447\u7684\u53c2\u7167\u7269\uff0c\u800c\u662f\u4f1a\u66f4\u591a\u5730\u7ed3\u5408\u5bf9\u5468\u56f4\u73af\u5883\u548c\u5176\u4ed6\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u611f\u77e5\u8f93\u51fa\u4e00\u4e2a\u201c\u53ef\u884c\u9a76\u533a\u57df\u201d\uff0c\u5e76\u5728\u9884\u6d4b\u5176\u4ed6\u7269\u4f53\u8fd0\u52a8\u8f68\u8ff9\u7684\u57fa\u7840\u4e0a\uff0c\u8ba1\u7b97\u5e76\u6267\u884c\u6700\u4f18\u884c\u9a76\u8def\u7ebf\u3002 <\/p>\n<\/p>\n

\u4e00\u79cd\u7c97\u7565\u7684\u53ef\u884c\u9a76\u7a7a\u95f4\u8868\u793a <\/p>\n

\u5728\u590d\u6742\u4ea4\u901a\u6d41\u4e0b\uff0c\u80fd\u652f\u6301\u8d8a\u591a\u7684\u76ee\u6807\u8f68\u8ff9\u9884\u6d4b\u3001\u8d8a\u9ad8\u9891\u7684\u8def\u5f84\u641c\u7d22\uff0c\u51b3\u7b56\u89c4\u5212\u7684\u6548\u679c\u901a\u5e38\u5c31\u8d8a\u597d\uff0c\u4f46\u540c\u6837\u4e5f\u4f1a\u5927\u91cf\u6d88\u8017\u7b97\u529b\u4e0e\u5185\u5b58\u8d44\u6e90\u3002 <\/p>\n

\u800c\u5728\u771f\u5b9e\u7684\u4ea4\u901a\u573a\u666f\u4e0b\uff0c\u8f66\u8f86\u7684\u51b3\u7b56\u89c4\u5212\u53ef\u80fd\u8fd8\u9700\u8981\u8003\u8651\u5230\u89c6\u91ce\u4e4b\u5916\u3002 <\/p>\n

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