{"id":9812,"date":"2022-11-05T17:49:00","date_gmt":"2022-11-05T09:49:00","guid":{"rendered":"http:\/\/139.9.1.231\/?p=9812"},"modified":"2023-02-14T11:04:58","modified_gmt":"2023-02-14T03:04:58","slug":"occupancy-network","status":"publish","type":"post","link":"http:\/\/139.9.1.231\/index.php\/2022\/11\/05\/occupancy-network\/","title":{"rendered":"\u7279\u65af\u62c9 &#8211; occupancy network\u5360\u636e\u7f51\u7edc"},"content":{"rendered":"\n<p class=\"has-light-gray-background-color has-background\">\u89c6\u9891\uff1a <a href=\"https:\/\/www.zhihu.com\/zvideo\/1566362268736200704?playTime=194.2\">https:\/\/www.zhihu.com\/zvideo\/1566362268736200704?playTime=194.2<\/a><\/p>\n\n\n\n<p class=\"has-light-pink-background-color has-background\">\u8bb2\u89e3\uff1a <a href=\"https:\/\/zhuanlan.zhihu.com\/p\/572057070\">https:\/\/zhuanlan.zhihu.com\/p\/572057070<\/a><\/p>\n\n\n\n<p>    \u4eca\u5e74Tesla FSD\u90e8\u5206\uff0c\u611f\u77e5\u7f51\u7edc\u4ece\u53bb\u5e74\u7684Bev\u611f\u77e5(Hydranet)\u7684\u57fa\u7840\u4e0a\uff0c\u66f4\u8fd1\u4e00\u6b65\uff0c\u63d0\u51fa\u4e86occupancy network.<\/p>\n\n\n\n<h3><strong>1. \u4e3a\u4ec0\u4e48\u662foccupancy network?<\/strong><\/h3>\n\n\n\n<p>\u5728\u57fa\u4e8e LiDAR \u7684\u7cfb\u7edf\u4e2d\uff0c\u53ef\u4ee5\u6839\u636e\u68c0\u6d4b\u5230\u7684\u53cd\u5c04\u5f3a\u5ea6\u6765\u786e\u5b9a\u5bf9\u8c61\u7684\u5b58\u5728\uff0c\u4f46\u5728\u76f8\u673a\u7cfb\u7edf\u4e2d\uff0c\u5fc5\u987b\u9996\u5148\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u68c0\u6d4b\u5bf9\u8c61\u3002\u5982\u679c\u770b\u5230\u4e0d\u5c5e\u4e8e\u6570\u636e\u96c6\u7684\u5bf9\u8c61\u600e\u4e48\u529e\uff1f\u6bd4\u5982\u4fa7\u7ffb\u7684\u5927\u5361\u8f66\u3002\u4ec5\u6b64\u4e00\u9879\uff0c\u5c31\u5f15\u53d1\u4e86\u5f88\u591a\u4e8b\u6545\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/v2-8fe9624320b3a770d24f059735f9ee32_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u53ef\u884c\u9a76\u533a\u57df\u7684\u4e00\u4e9b\u95ee\u9898<\/p>\n\n\n\n<p>rv\u3001bev (Birds Eye View) \u7a7a\u95f4\u4e0b\u53ef\u884c\u9a76\u533a\u57df\u4f1a\u6709\u4e00\u5b9a\u95ee\u9898\uff1a<\/p>\n\n\n\n<ul><li><strong>\u5730\u5e73\u7ebf\u7684\u6df1\u5ea6\u4e0d\u4e00\u81f4<\/strong>\uff0c\u53ea\u67092\u4e2a\u5de6\u53f3\u7684\u50cf\u7d20\u51b3\u5b9a\u4e86\u4e00\u4e2a\u5927\u533a\u57df\u7684\u6df1\u5ea6\u3002<\/li><li><strong>\u65e0\u6cd5\u770b\u7a7f\u906e\u6321\u7269<\/strong>\uff0c\u4e5f\u65e0\u6cd5\u884c\u9a76\u3002<\/li><li><strong>\u63d0\u4f9b\u7684\u7ed3\u6784\u662f 2D<\/strong>\u7684\uff0c\u4f46\u4e16\u754c\u662f 3D \u7684\u3002<\/li><li><strong>\u9ad8\u5ea6\u65b9\u5411\u53ef\u80fd\u53ea\u6709\u4e00\u4e2a\u969c\u788d\u7269\uff08\u60ac\u5782\u7684\u68c0\u6d4b\u4e0d\u5230\uff09<\/strong>\uff0c\u76ee\u524d\u662f\u6bcf\u7c7b\u5bf9\u8c61\u8bbe\u7f6e\u56fa\u5b9a\u7684\u77e9\u5f62\u3002<\/li><li><strong>\u5b58\u5728\u672a\u77e5\u7269\u4f53<\/strong>\uff0c\u4f8b\u5982\uff0c\u5982\u679c\u770b\u5230\u4e0d\u5c5e\u4e8e\u6570\u636e\u96c6\u7684\u5bf9\u8c61\u3002<\/li><\/ul>\n\n\n\n<p>\u6240\u4ee5\u5e0c\u671b\u6709\u79cd\u901a\u7528\u7684\u65b9\u5f0f\u6765\u89e3\u51b3\u8be5\u95ee\u9898\uff0c\u9996\u5148\u80fd\u60f3\u5230\u7684\u662fbev\u4e0b\u7684\u53ef\u884c\u9a76\u533a\u57df\uff0c\u4f46\u76f8\u5bf9\u6765\u8bf4\u5728\u9ad8\u5ea6\u7ef4\u4f1a\u6bd4\u8f83\u53d7\u9650\uff0c\u7d22\u6027\u4e00\u6b65\u5230\u4f4d\u53d8\u62103d\u7a7a\u95f4\u9884\u6d4b\u3001\u91cd\u5efa\u3002<\/p>\n\n\n\n<h3><strong>2. Occupancy Network<\/strong><\/h3>\n\n\n\n<p>     <strong>2022 CVPR\u4e2d\uff0ctesla FSD\u65b0\u8d1f\u8d23\u4eba Ashok Elluswamy \u63a8\u51fa\u4e86Occupancy Network\u3002\u501f\u9274\u4e86\u673a\u5668\u4eba\u9886\u57df\u5e38\u7528\u7684\u601d\u60f3\uff0c\u57fa\u4e8eoccupancy grid mapping\uff0c\u662f\u4e00\u79cd\u7b80\u5355\u5f62\u5f0f\u7684\u5728\u7ebf3d\u91cd\u5efa\u3002\u5c06\u4e16\u754c\u5212\u5206\u4e3a\u4e00\u7cfb\u5217\u7f51\u683c\u5355\u5143\uff0c\u7136\u540e\u5b9a\u4e49\u54ea\u4e2a\u5355\u5143\u88ab\u5360\u7528\uff0c\u54ea\u4e2a\u5355\u5143\u662f\u7a7a\u95f2\u7684\u3002\u901a\u8fc7\u9884\u6d4b3d\u7a7a\u95f4\u4e2d\u7684\u5360\u636e\u6982\u7387\u6765\u83b7\u5f97\u4e00\u79cd\u7b80\u5355\u76843\u7ef4\u7a7a\u95f4\u8868\u793a\u3002\u5173\u952e\u8bcd\u662f3D\u3001\u4f7f\u7528\u5360\u636e\u6982\u7387\u800c\u975e\u68c0\u6d4b\u3001\u591a\u89c6\u89d2\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/v2-ffca485bf25838b764ba7b522e31c322_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">Occupancy Network<\/p>\n\n\n\n<p>\u8fd9\u91cc\u8f93\u51fa\u7684\u5e76\u975e\u662f\u5bf9\u8c61\u7684\u786e\u5207\u5f62\u72b6\uff0c\u800c\u662f\u4e00\u4e2a\u8fd1\u4f3c\u503c\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u56e0\u4e3a\u7b97\u529b\u548c\u5185\u5b58\u6709\u9650\uff0c\u5bfc\u81f4\u8f6e\u5ed3\u4e0d\u591fsharp\uff0c\u4f46\u4e5f\u591f\u7528\u3002\u53e6\u5916\u8fd8\u53ef\u4ee5\u5728\u9759\u6001\u548c\u52a8\u6001\u5bf9\u8c61\u4e4b\u95f4\u8fdb\u884c\u9884\u6d4b\uff0c<strong>\u4ee5\u8d85\u8fc7 100 FPS \u7684\u901f\u5ea6\u8fd0\u884c<\/strong>\uff08\u6216\u8005\u662f\u76f8\u673a\u53ef\u4ee5\u4ea7\u751f\u7684 3 \u500d\u4ee5\u4e0a\uff09\u3002<\/p>\n\n\n\n<p><strong>2020 AI day\u4e2d\u7684Hydranet\u7b97\u6cd5\u4e2d\u6709\u4e09\u4e2a\u6838\u5fc3\u8bcd\u6c47\uff1a\u9e1f\u77b0\u56fe(BEV)\u7a7a\u95f4\u3001\u56fa\u5b9a\u77e9\u5f62\u3001\u7269\u4f53\u68c0\u6d4b\u3002\u800coccupancy network\u9488\u5bf9\u8fd9\u4e09\u70b9\u6709\u54ea\u4e9b\u4f18\u5316\uff0c\u53ef\u4ee5\u770b\uff1a<\/strong><\/p>\n\n\n\n<p>\u7b2c\u4e00\u662f\u9e1f\u77b0\u56fe\u3002\u5728 2020 \u5e74\u7279\u65af\u62c9 AI \u65e5\u4e0a\uff0cAndrej Karpathy \u4ecb\u7ecd\u4e86\u7279\u65af\u62c9\u7684\u9e1f\u77b0\u7f51\u7edc\u3002\u8be5\u7f51\u7edc\u5c55\u793a\u4e86\u5982\u4f55\u5c06\u68c0\u6d4b\u5230\u7684\u7269\u4f53\u3001\u53ef\u9a7e\u9a76\u7a7a\u95f4\u548c\u5176\u4ed6\u7269\u4f53\u653e\u5165 2D \u9e1f\u77b0\u89c6\u56fe\u4e2d\u3002occupancy\u5219\u662f\u8ba1\u7b97\u5360\u636e\u7a7a\u95f4\u7684\u6982\u7387\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/v2-f5661e7c2b823686b30d4a0fe62b1fb6_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">BEV vs Volume Occupancy<\/p>\n\n\n\n<p>\u6700\u4e3b\u8981\u7684\u533a\u522b\u5c31\u662f\uff0c\u524d\u8005\u662f 2D\u8868\u793a\uff0c\u800c\u540e\u8005\u662f3D\u8868\u793a\u3002<\/p>\n\n\n\n<p>\u7b2c\u4e8c\u662f\u56fa\u5b9a\u77e9\u5f62\uff0c\u5728\u8bbe\u8ba1\u611f\u77e5\u7cfb\u7edf\u65f6\uff0c\u7ecf\u5e38\u4f1a\u5c06\u68c0\u6d4b\u4e0e\u56fa\u5b9a\u8f93\u51fa\u5c3a\u5bf8\u8054\u7cfb\u8d77\u6765\uff0c\u77e9\u5f62\u65e0\u6cd5\u8868\u793a\u4e00\u4e9b\u5f02\u5f62\u7684\u8f66\u8f86\u6216\u8005\u969c\u788d\u7269\u3002\u5982\u679c\u60a8\u770b\u5230\u4e00\u8f86\u5361\u8f66\uff0c\u5c06\u5728featuremap\u4e0a\u653e\u7f6e\u4e00\u4e2a 7&#215;3 \u7684\u77e9\u5f62\uff0c\u5982\u679c\u770b\u5230\u4e00\u4e2a\u884c\u4eba\uff0c\u5219\u4f7f\u7528\u4e00\u4e2a 1&#215;1 \u7684\u77e9\u5f62\u3002<strong>\u95ee\u9898\u662f\uff0c\u8fd9\u6837\u65e0\u6cd5\u9884\u6d4b\u60ac\u5782\u7684\u969c\u788d\u7269\u3002<\/strong>\u5982\u679c\u6c7d\u8f66\u9876\u90e8\u6709\u68af\u5b50\uff0c\u5361\u8f66\u6709\u4fa7\u62d6\u8f66\u6216\u624b\u81c2\uff1b\u90a3\u4e48\u8fd9\u79cd\u56fa\u5b9a\u7684\u77e9\u5f62\u53ef\u80fd\u65e0\u6cd5\u68c0\u6d4b\u5230\u76ee\u6807\u3002\u800c\u4f7f\u7528Occupancy Network\u7684\u8bdd\uff0c\u770b\u5230\u4e0b\u56fe\u4e2d\uff0c\u662f\u53ef\u4ee5\u7cbe\u7ec6\u7684\u9884\u6d4b\u5230\u8fd9\u4e9b\u60c5\u51b5\u7684\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/v2-c9ec7dea015d5fbd7d3f849d720339c2_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u56fa\u5b9a\u77e9\u5f62 vs Volume Occupancy<\/p>\n\n\n\n<p>\u540e\u8005\u7684\u5de5\u4f5c\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ol><li>\u5c06\u4e16\u754c\u5212\u5206\u4e3a\u5fae\u5c0f\uff08\u6216\u8d85\u5fae\u5c0f\uff09\u7684\u7acb\u65b9\u4f53\u6216<strong>\u4f53\u7d20<\/strong><\/li><li>\u9884\u6d4b\u6bcf\u4e2a\u4f53\u7d20\u662f<strong>\u7a7a\u95f2<\/strong><strong>\u8fd8\u662f<\/strong><strong>\u88ab\u5360\u7528<\/strong><\/li><\/ol>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter\"><img src=\"https:\/\/pic3.zhimg.com\/80\/v2-a16fae6952078f2772b21c4492336bfe_1440w.webp\" alt=\"\"\/><figcaption>\u4f53\u7d20\u7a7a\u95f4\u4e2d\u7684\u88ab\u5360\u7528\u4f53\u7d20<\/figcaption><\/figure><\/div>\n\n\n\n<p>\u8fd9\u91cc\u610f\u5473\u7740\u4e24\u79cd\u65b9\u6cd5\u7684\u601d\u7ef4\u65b9\u5f0f\u5b8c\u5168\u4e0d\u4e00\u6837\uff0c\u524d\u8005\u662f\u4e3a\u4e00\u4e2a\u5bf9\u8c61\u5206\u914d\u4e00\u4e2a\u56fa\u5b9a\u5927\u5c0f\u7684\u77e9\u5f62\uff0c\u800c\u540e\u8005\u662f\u7b80\u5355\u5730\u8bf4\u201c<strong>\u8fd9\u4e2a\u5c0f\u7acb\u65b9\u4f53\u4e2d\u6709\u4e00\u4e2a\u5bf9\u8c61\u5417\uff1f<\/strong>&nbsp;\u201d\u3002<\/p>\n\n\n\n<p>\u7b2c\u4e09\u70b9\uff0c\u7269\u4f53\u68c0\u6d4b\u3002<\/p>\n\n\n\n<p>\u76ee\u524d\u6709\u5f88\u591a\u65b0\u63d0\u51fa\u6765\u7684\u7269\u4f53\u68c0\u6d4b\u7b97\u6cd5\uff0c\u4f46\u5927\u591a\u9762\u5411\u7684\u662f\u56fa\u5b9a\u7684\u6570\u636e\u96c6\uff0c\u53ea\u68c0\u6d4b\u5c5e\u4e8e\u6570\u636e\u96c6\u7684\u90e8\u5206\u6216\u5168\u90e8\u5bf9\u8c61\uff0c\u4e00\u65e6\u6709\u6ca1\u6709\u6807\u6ce8\u7684\u7269\u4f53\u51fa\u73b0\uff0c\u6bd4\u5982\u4fa7\u7ffb\u7684\u767d\u8272\u5927\u5361\u8f66\uff0c\u5783\u573e\u6876\u51fa\u73b0\u7684\u8def\u4e2d\uff0c\u8fd9\u662f\u6ca1\u6cd5\u68c0\u6d4b\u5230\u7684\u3002\u800c\u5f53\u601d\u8003\u548c\u8bad\u7ec3\u4e00\u4e2a\u6a21\u578b\u6765\u9884\u6d4b\u201c\u8fd9\u4e2a\u7a7a\u95f4\u662f\u7a7a\u95f2\u7684\u8fd8\u662f\u88ab\u5360\u7528\u7684\uff0c\u4e0d\u7ba1\u5bf9\u8c61\u7684\u7c7b\u522b\u662f\u4ec0\u4e48\uff1f\u201d\uff0c\u6b63\u53ef\u4ee5\u907f\u514d\u8fd9\u79cd\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic1.zhimg.com\/v2-c3a132903bd4b022b6a00111fc0252e8_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u5bf9\u8c61\u68c0\u6d4b vs Occupancy Network<\/p>\n\n\n\n<p>\u57fa\u4e8e\u89c6\u89c9\u7684\u7cfb\u7edf\u6709 5 \u4e2a\u4e3b\u8981\u7f3a\u9677\uff1a<strong>\u5730\u5e73\u7ebf\u6df1\u5ea6\u4e0d\u4e00\u81f4<\/strong>\u3001<strong>\u7269\u4f53\u5f62\u72b6\u56fa\u5b9a<\/strong>\u3001<strong>\u9759\u6001\u548c\u79fb\u52a8\u7269\u4f53<\/strong>\u3001<strong>\u906e\u6321<\/strong>\u548c<strong>\u672c\u4f53\u88c2\u7f1d<\/strong>\u3002\u7279\u65af\u62c9\u65e8\u5728\u521b\u5efa\u4e00\u79cd\u7b97\u6cd5\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u65b0\u7684\u5360\u7528\u7f51\u7edc\u901a\u8fc7\u5b9e\u65bd 3 \u4e2a\u6838\u5fc3\u601d\u60f3\u89e3\u51b3\u4e86\u8fd9\u4e9b\u95ee\u9898\uff1a<strong>\u4f53\u79ef\u9e1f\u77b0\u56fe\u3001\u5360\u7528\u68c0\u6d4b<\/strong>\u548c<strong>\u4f53\u7d20\u5206\u7c7b\u3002<\/strong>\u8fd9\u4e9b\u7f51\u7edc\u53ef\u4ee5\u4ee5\u8d85\u8fc7 100 FPS \u7684\u901f\u5ea6\u8fd0\u884c\uff0c\u53ef\u4ee5\u7406\u89e3\u79fb\u52a8\u5bf9\u8c61\u548c\u9759\u6001\u5bf9\u8c61\uff0c\u5e76\u4e14\u5177\u6709\u8d85\u5f3a\u7684\u5185\u5b58\u6548\u7387\u3002<\/p>\n\n\n\n<p>\u6a21\u578b\u7ed3\u6784\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic4.zhimg.com\/v2-3a00d35a19d5fb2384757b0473aed19f_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">cvpr \u65f6\u7684\u7f51\u7edc\u7ed3\u6784<\/p>\n\n\n\n<ul><li>\u8f93\u5165\u4e3a\u4e0d\u540c\u89c6\u89d2\u7684\u56fe\u50cf\uff08\u603b\u5171 8 \u4e2a\uff1a\u6b63\u9762\u3001\u4fa7\u9762\u3001\u80cc\u9762\u7b49&#8230;&#8230;\uff09\u3002<\/li><li>\u56fe\u50cf\u7531<a href=\"https:\/\/arxiv.org\/pdf\/2101.00590.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">Regnet<\/a>\u548c<a href=\"https:\/\/paperswithcode.com\/method\/bifpn#:~:text=A%20BiFPN%2C%20or%20Weighted%20Bi,fast%20multi%2Dscale%20feature%20fusion.\" target=\"_blank\" rel=\"noreferrer noopener\">BiFPN<\/a>\u7b49\u7f51\u7edc\u63d0\u53d6\u7279\u5f81<\/li><li>\u63a5\u7740transformer\u6a21\u5757\uff0c\u4f7f\u7528\u6ce8\u610f\u529b\u6a21\u5757\uff0c\u91c7\u7528<strong>\u4f4d\u7f6e\u56fe\u50cf\u7f16\u7801\u52a0\u4e0aQKV\u83b7\u5f97\u7279\u5f81\uff0c<\/strong>\u4ee5\u6b64\u6765\u4ea7\u751f\u5360\u7528Occupancy\u3002<\/li><li>\u8fd9\u4f1a\u4ea7\u751f\u4e00\u4e2aOccupancy feature\uff0c\u7136\u540e\u5c06\u5176\u4e0e\u4e4b\u524d\u7684\u4f53\u79ef\uff08t-1\u3001t-2 \u7b49\uff09<strong>\u878d\u5408\uff0c\u4ee5\u83b7\u5f974D Occupancy feature<\/strong>\u3002<\/li><li>\u6700\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u53cd\u5377\u79ef\u6765\u68c0\u7d22\u539f\u59cb\u5927\u5c0f\u5e76\u83b7\u5f97\u4e24\u4e2a\u8f93\u51fa\uff1aOccupancy volume\u548cOccupancy flow\u3002<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-53082ea1857bce5860cb73de4e290de9_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">AI day\u65f6\u7684\u7f51\u7edc\u7ed3\u6784<\/p>\n\n\n\n<p>\u76f8\u6bd4cvpr\u65f6\uff0cAI day\u4e0a\u7684\u5206\u4eab\u66f4\u52a0\u8be6\u7ec6\uff0c\u4e3b\u8981\u6709\u4e09\u70b9\u66f4\u65b0\uff1a<\/p>\n\n\n\n<ol><li>\u6700\u5de6\u4fa7\u662f\u57fa\u4e8ephoton count\u7684\u4f20\u611f\u5668\u56fe\u50cf\u4f5c\u4e3a\u6a21\u578b\u8f93\u5165\uff08\u867d\u7136\u9f13\u5439\u7684\u5f88\u9ad8\u5927\u4e0a\uff0c\u5176\u5b9e\u5c31\u662fISP\u5904\u7406\u524d\u7684raw\u6570\u636e\uff09\uff0c\u8fd9\u91cc\u7684\u597d\u5904\u662f\u53ef\u4ee5\u5728\u4f4e\u5149\u7167\u3001\u53ef\u89c1\u5ea6\u4f4e\u7b49\u60c5\u51b5\u4e0b\uff0c\u611f\u77e5\u7684\u52a8\u6001\u8303\u56f4\u66f4\u597d\u3002<\/li><li>temporal alignment\u5229\u7528\u91cc\u7a0b\u8ba1\u4fe1\u606f\uff0c\u5bf9\u524d\u9762\u65f6\u523b\u7684occupancy features\u8fdb\u884c\u65f6\u5e8f\u4e0a\u7684\u52a0\u6743\u878d\u5408\uff0c\u4e0d\u540c\u7684\u65f6\u95f4\u7684\u7279\u5f81\u6709\u7740\u4e0d\u540c\u7684\u6743\u91cd\uff0c\u7136\u540e\u65f6\u5e8f\u4fe1\u606f\u4f3c\u4e4e\u5b9e\u5728Channel\u7ef4\u5ea6\u8fdb\u884c\u62fc\u63a5\u7684\uff1f\u7ec4\u5408\u540e\u7684\u7279\u5f81\u8fdb\u5165deconv\u6a21\u5757\u63d0\u9ad8\u5206\u8fa8\u7387\u3002\u8fd9\u6837\u770b\u6765\u65f6\u5e8f\u878d\u5408\u4e0a\uff0c\u66f4\u503e\u5411\u4e8e\u4f7f\u7528\u7c7b\u4f3ctransformer\u6216\u8005\u65f6\u95f4\u7ef4\u5ea6\u4f5c\u4e3a\u4e00\u4e2achannel\u7684\u65f6\u5e8fcnn\u8fdb\u884c\u5e76\u884c\u7684\u5904\u7406\uff0c\u800c\u975espatial RNN\u65b9\u6848\u3002<\/li><li>\u76f8\u6bd4CVPR\u7684\u65b9\u6848\uff0c\u9664\u4e86\u8f93\u51fa3D occupancy\u7279\u5f81\u548coccupancy flow\uff08\u901f\u5ea6\uff0c\u52a0\u901f\u5ea6\uff09\u4ee5\u5916\uff0c\u8fd8\u589e\u52a0\u4e86\u57fa\u4e8ex,y,z\u5750\u6807\u7684query\u601d\u8def\uff08\u501f\u9274\u4e86Nerf\uff09\uff0c\u53ef\u4ee5\u7ed9occupancy network\u63d0\u4f9b\u57fa\u4e8equery\u7684\u4e9a\u50cf\u7d20\u3001\u53d8\u5206\u8fa8\u7387\u7684\u51e0\u4f55\u548c\u8bed\u4e49\u8f93\u51fa\u3002<\/li><\/ol>\n\n\n\n<p>\u56e0\u4e3anerf\u53ea\u80fd\u79bb\u7ebf\u91cd\u5efa\uff0c\u8f93\u51fa\u7684occupancy \u731c\u60f3\u53ef\u4ee5\u901a\u8fc7\u63d0\u524d\u8bad\u597d\u7684\u7684nerf\u751f\u6210GT\u6765\u76d1\u7763\uff1f<\/p>\n\n\n\n<h3><strong>\u5149\u6d41\u4f30\u8ba1\u548cOccupancy flow<\/strong><\/h3>\n\n\n\n<p>\u7279\u65af\u62c9\u5728\u8fd9\u91cc\u5b9e\u9645\u4e0a\u505a\u7684\u662f\u9884\u6d4b\u5149\u6d41\u3002\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\uff0c\u5149\u6d41\u662f\u50cf\u7d20\u4ece\u4e00\u5e27\u5230\u53e6\u4e00\u5e27\u7684\u79fb\u52a8\u91cf\u3002\u8f93\u51fa\u901a\u5e38\u662f<a href=\"https:\/\/courses.thinkautonomous.ai\/optical-flow\" target=\"_blank\" rel=\"noreferrer noopener\">flow map<\/a>&nbsp;\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u53ef\u4ee5<strong>\u6709\u6bcf\u4e00\u4e2a\u4f53\u7d20\u7684\u6d41\u52a8\uff0c\u56e0\u6b64\u6bcf\u8f86\u8f66\u7684\u8fd0\u52a8\u90fd\u53ef\u4ee5\u77e5\u9053\uff1b<\/strong>\u8fd9\u5bf9\u4e8e\u906e\u6321\u975e\u5e38\u6709\u5e2e\u52a9\uff0c\u4f46\u5bf9\u4e8e\u9884\u6d4b\u3001\u89c4\u5212\u7b49\u5176\u4ed6\u95ee\u9898\u4e5f\u5f88\u6709\u5e2e\u52a9<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-64984a871dce8e36b3f45ffb5deaa3d9_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">Occupancy Flow\uff08<a href=\"https:\/\/www.youtube.com\/watch?v=jPCV4GKX9Dw&amp;t=1135s\" target=\"_blank\" rel=\"noreferrer noopener\">\u6765\u6e90<\/a>\uff09<\/p>\n\n\n\n<p><strong>Occupancy flow\u5b9e\u9645\u4e0a\u663e\u793a\u4e86\u6bcf\u4e2a\u5bf9\u8c61\u7684\u65b9\u5411<\/strong>\uff1a\u7ea2\u8272\uff1a\u5411\u524d \u2014 \u84dd\u8272\uff1a\u5411\u540e \u2014 \u7070\u8272\uff1a\u9759\u6b62\u7b49\u2026\u2026\uff08\u5b9e\u9645\u4e0a\u6709\u4e00\u4e2a\u8272\u8f6e\u4ee3\u8868\u6bcf\u4e2a\u53ef\u80fd\u7684\u65b9\u5411\uff09<\/p>\n\n\n\n<p>Nerf<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/v2-1583a94c81ae3eeb26130a30827683fe_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u7279\u65af\u62c9\u7684 NeRF\uff08<a href=\"https:\/\/www.youtube.com\/watch?v=jPCV4GKX9Dw\" target=\"_blank\" rel=\"noreferrer noopener\">\u6765\u6e90<\/a>\uff09<\/p>\n\n\n\n<p><strong>\u795e\u7ecf\u8f90\u5c04\u573a<\/strong>\uff0c\u6216 Nerf\uff0c\u6700\u8fd1\u5e2d\u5377\u4e863D \u91cd\u5efa\uff1b\u7279\u65af\u62c9\u4e5f\u662f\u5176\u5fe0\u5b9e\u7c89\u4e1d\u3002\u5b83\u6700\u521d\u7684\u60f3\u6cd5\u662f\u4ece\u591a\u89c6\u56fe\u56fe\u50cf\u4e2d\u91cd\u5efa\u573a\u666f\uff08\u8be6\u89c1<a href=\"https:\/\/courses.thinkautonomous.ai\/3d-reconstruction\" target=\"_blank\" rel=\"noreferrer noopener\">3D \u91cd\u5efa\u8bfe\u7a0b<\/a>\uff09\u3002<\/p>\n\n\n\n<p><strong>\u8fd9\u4e0eoccupancy network&nbsp;<\/strong>\u975e\u5e38\u76f8\u4f3c\uff0c\u4f46\u8fd9\u91cc\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\u4e5f\u662f\u4ece\u591a\u4e2a\u4f4d\u7f6e\u6267\u884c\u6b64\u64cd\u4f5c\u7684\u3002\u5728\u5efa\u7b51\u7269\u5468\u56f4\u884c\u9a76\uff0c\u5e76\u91cd\u5efa\u5efa\u7b51\u7269\u3002\u8fd9\u53ef\u4ee5\u4f7f\u7528\u4e00\u8f86\u6c7d\u8f66\u6216\u7279\u65af\u62c9\u8f66\u961f\u5728\u57ce\u9547\u5468\u56f4\u884c\u9a76\u6765\u5b8c\u6210\u3002<\/p>\n\n\n\n<p><strong>\u8fd9\u4e9b NeRF \u662f\u5982\u4f55\u4f7f\u7528\u7684\uff1f<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8eOccupancy network\u4ea7\u751f 3D volume\uff0c\u53ef\u4ee5\u5c06\u8fd9\u4e9b 3D volume\u4e0e 3D-reconstruction volume\uff08Nerf\u79bb\u7ebf\u8bad\u7ec3\u5f97\u5230\uff09\u8fdb\u884c\u6bd4\u8f83\uff0c\u4ece\u800c\u6bd4\u8f83\u9884\u6d4b\u7684 3D \u573a\u666f\u662f\u5426\u4e0e\u201c\u5730\u56fe\u201d\u5339\u914d\uff08NeRF \u4ea7\u751f 3D\u91cd\u5efa\uff09\u3002<\/p>\n\n\n\n<p>\u5728\u8fd9\u4e9b\u91cd\u5efa\u8fc7\u7a0b\u4e2d\u4e5f\u53ef\u80fd\u51fa\u73b0\u95ee\u9898\u662f\u56fe\u50cf\u6a21\u7cca\u3001\u96e8\u3001\u96fe\u7b49&#8230;&#8230;\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u4ed6\u4eec\u4f7f\u7528<strong>\u8f66\u961f\u5e73\u5747<\/strong>\uff08\u6bcf\u6b21\u8f66\u8f86\u770b\u5230\u573a\u666f\uff0c\u5b83\u90fd\u4f1a\u66f4\u65b0\u5168\u5c40 3D \u91cd\u5efa\u573a\u666f\uff09\u548c<strong>\u63cf\u8ff0\u7b26<\/strong>\u800c\u4e0d\u662f\u7eaf\u50cf\u7d20\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/v2-c25b2c7223155de5b9393932a87a4f45_r.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">\u4f7f\u7528Nerf\u7684descriptor<\/p>\n\n\n\n<p>\u8fd9\u5c31\u662f\u83b7\u5f97\u6700\u7ec8\u8f93\u51fa\u7684\u65b9\u5f0f\uff01\u7279\u65af\u62c9\u8fd8\u5ba3\u5e03\u4e86\u4e00\u79cd\u540d\u4e3a\u9690\u5f0f\u7f51\u7edc\u7684\u65b0\u578b\u7f51\u7edc\uff0c\u5176\u4e3b\u8981\u601d\u60f3\u662f\u76f8\u4f3c\u7684\uff1a\u901a\u8fc7\u5224\u65ad\u89c6\u56fe\u662f\u5426\u88ab\u5360\u7528\u6765\u907f\u514d\u51b2\u7a81<\/p>\n\n\n\n<p>\u603b\u7ed3\u6765\u8bf4\uff1a<\/p>\n\n\n\n<ol><li>\u5f53\u524d\u4ec5\u57fa\u4e8e\u89c6\u89c9\u7684\u7cfb\u7edf\u7684\u7b97\u6cd5\u5b58\u5728\u95ee\u9898\uff1a\u5b83\u4eec\u4e0d\u8fde\u7eed\uff0c\u5728\u906e\u6321\u65b9\u9762\u505a\u5f97\u4e0d\u597d\uff0c\u65e0\u6cd5\u5224\u65ad\u7269\u4f53\u662f\u79fb\u52a8\u8fd8\u662f\u9759\u6b62\uff0c\u5e76\u4e14\u5b83\u4eec\u4f9d\u8d56\u4e8e\u7269\u4f53\u68c0\u6d4b\u3002 \u56e0\u6b64\uff0c\u7279\u65af\u62c9\u51b3\u5b9a\u53d1\u660e\u201cOccupancy network\u201d\uff0c\u5b83\u53ef\u4ee5\u5224\u65ad 3D \u7a7a\u95f4\u4e2d\u7684\u4e00\u4e2a\u5355\u5143\u683c\u662f\u5426\u88ab\u5360\u7528\u3002<\/li><li>\u8fd9\u4e9b\u7f51\u7edc\u6539\u8fdb\u4e86 3 \u4e2a\u4e3b\u8981\u65b9\u9762\uff1a\u9e1f\u77b0\u56fe\u3001\u7269\u4f53\u7c7b\u522b\u548c\u56fa\u5b9a\u5927\u5c0f\u7684\u77e9\u5f62\u3002<\/li><li>occupancy network\u5206 4 \u4e2a\u6b65\u9aa4\u5de5\u4f5c\uff1a\u7279\u5f81\u63d0\u53d6\u3001\u6ce8\u610f\u548coccupancy\u68c0\u6d4b\u3001\u591a\u5e27\u5bf9\u9f50\u548c\u53cd\u5377\u79ef\uff0c\u4ece\u800c\u9884\u6d4b\u5149\u6d41\u4f30\u8ba1\u548c\u5360\u7528\u4f30\u8ba1\u3002<\/li><li>\u751f\u6210 3D \u4f53\u79ef\u540e\uff0c\u4f7f\u7528 NeRF\uff08\u795e\u7ecf\u8f90\u5c04\u573a\uff09\u5c06\u8f93\u51fa\u4e0e\u7ecf\u8fc7\u8bad\u7ec3\u7684 3D \u91cd\u5efa\u573a\u666f\u8fdb\u884c\u6bd4\u8f83\u3002<\/li><li>\u8f66\u961f\u5e73\u5747\u91c7\u96c6\u6570\u636e\u7528\u4e8e\u89e3\u51b3\u906e\u6321\u3001\u6a21\u7cca\u3001\u5929\u6c14\u7b49\u573a\u666f<\/li><\/ol>\n\n\n\n<p class=\"has-light-pink-background-color has-background\"><strong>reference\uff1a<\/strong><\/p>\n\n\n\n<ul><li>cvpr\u4ecb\u7ecd:&nbsp;<a rel=\"noreferrer noopener\" href=\"https:\/\/www.thinkautonomous.ai\/blog\/occupancy-networks\/\" target=\"_blank\">https:\/\/www.thinkautonomous.ai\/blog\/occupancy-networks\/<\/a><\/li><li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/570431956?utm_medium=social&amp;utm_oi=649945598174826496&amp;utm_psn=1560949563191767040&amp;utm_source=wechat_session\">EatElephant\uff1aTesla AI Day 2022\u4e07\u5b57\u89e3\u8bfb\uff1a\u582a\u79f0\u81ea\u52a8\u9a7e\u9a76\u6625\u665a\uff0c\u53bb\u4e2d\u5fc3\u5316\u7684\u7814\u53d1\u56e2\u961f\uff0c\u91ce\u5fc3\u52c3\u52c3\u7684\u5411AI\u6280\u672f\u516c\u53f8\u8f6c\u578b<\/a><\/li><li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/575058907\">\u6211\u53eb\u65af\u8482\u82ac\uff1a\u5982\u4f55\u642d\u5efaTesla Occupancy Network\u4e4bMonoScene( Monocular 3D Semantic Scene Completion)<\/a>?<\/li><li><a rel=\"noreferrer noopener\" href=\"https:\/\/www.thinkautonomous.ai\/blog\/occupancy-networks\/\" target=\"_blank\">https:\/\/www.thinkautonomous.ai\/blog<\/a><\/li><li><a href=\"https:\/\/zhuanlan.zhihu.com\/p\/149874678\" data-type=\"URL\" data-id=\"https:\/\/zhuanlan.zhihu.com\/p\/149874678\">Occupancy Networks\uff1a\u57fa\u4e8e\u5b66\u4e60\u51fd\u6570\u7a7a\u95f4\u7684\u4e09\u7ef4\u91cd\u5efa\u8868\u793a\u65b9\u6cd5<\/a><\/li><\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u89c6\u9891\uff1a https:\/\/www.zhihu.com\/zvideo\/1566362268736200704?pl &hellip; <a href=\"http:\/\/139.9.1.231\/index.php\/2022\/11\/05\/occupancy-network\/\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">\u7279\u65af\u62c9 &#8211; occupancy network\u5360\u636e\u7f51\u7edc<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[4,31,33],"tags":[],"_links":{"self":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/9812"}],"collection":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/comments?post=9812"}],"version-history":[{"count":27,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/9812\/revisions"}],"predecessor-version":[{"id":14124,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/9812\/revisions\/14124"}],"wp:attachment":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/media?parent=9812"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/categories?post=9812"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/tags?post=9812"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}