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\u636e\u8d75\u4e91\u4ecb\u7ecd\uff0c\u6d6a\u6f6eDABNet4D\u7b97\u6cd5\u9075\u5faa\u4e0a\u8ff0\u6846\u67b6\uff0c\u91c7\u7528\u57fa\u4e8e\u51e0\u4f55\u89c6\u89c9\u7684\u53d8\u6362\u65b9\u6cd5\uff0c\u8bbe\u8ba1\u4e86\u7aef\u5230\u7aef\u7684\u6a21\u5757\u5316\u6574\u4f53\u67b6\u6784\uff0c\u901a\u8fc7\u5c06\u73af\u89c6\u56fe\u68c0\u6d4b\u7edf\u4e00\u5230BEV\u7a7a\u95f4\uff0c\u4e3a\u540e\u7eed\u7684\u5de5\u4f5c\u63d0\u4f9b\u4e86\u5f88\u597d\u7684\u6a21\u677f\u3002<\/p>\n
DABNet4D\u6a21\u578b\u88ab\u5212\u5206\u4e3a\u56db\u4e2a\u90e8\u5206\uff0cImage-view Encoder\uff0cView-transformer\uff0cBEV-Encoder\uff0cDetection Head\u3002\u5176\u4e2dImage-view Encoder\u4e3a\u56fe\u50cf\u7f16\u7801\u6a21\u5757\u5c06\u539f\u59cb\u56fe\u50cf\u8f6c\u6362\u4e3a\u9ad8\u5c42\u7279\u5f81\u8868\u793a\u3002 View-Transformer\u6a21\u5757\u8d1f\u8d23\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u6362\u5230BEV\u5750\u6807\u4e2d\uff0c\u4e3b\u8981\u5305\u62ec\u4e09\u4e2a\u6a21\u5757\uff1a\u6df1\u5ea6\u9884\u6d4b\u6a21\u5757\u3001\u7279\u5f81\u8f6c\u6362\u6a21\u5757\u548c\u591a\u5e27\u7279\u5f81\u878d\u5408\u6a21\u5757\u3002BEV-Encoder & Heads\u4e3b\u8981\u662f\u5bf9\u878d\u5408BEV\u7279\u5f81\u8fdb\u884c\u7f16\u7801\uff1bHeads\u7528\u6765\u5b8c\u6210\u6700\u7ec8\u76843D\u76ee\u6807\u68c0\u6d4b\u4efb\u52a1\u3002<\/p>\n
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\u521b\u65b0\u7a81\u7834\u4e09 \u56db\u7ef4\u65f6\u7a7a\u878d\u5408<\/p>\n
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