{"id":20932,"date":"2026-05-14T07:07:14","date_gmt":"2026-05-14T07:07:14","guid":{"rendered":"https:\/\/multicorewareinc.com\/ch\/?p=20932"},"modified":"2026-05-15T12:41:10","modified_gmt":"2026-05-15T12:41:10","slug":"optimized-bev-models-for-real-time-autonomous-perception-bevdet-bevformer","status":"publish","type":"post","link":"https:\/\/multicorewareinc.com\/ch\/optimized-bev-models-for-real-time-autonomous-perception-bevdet-bevformer\/","title":{"rendered":"\u9488\u5bf9\u5b9e\u65f6\u81ea\u4e3b\u611f\u77e5\u4f18\u5316\u7684BEV\u6a21\u578b\uff1aBEVDet \u4e0e BEVFormer"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"20932\" class=\"elementor elementor-20932\">\n\t\t\t\t<div class=\"elementor-element elementor-element-610aff1 e-con-full e-flex e-con e-parent\" data-id=\"610aff1\" data-element_type=\"container\">\n\t\t<div class=\"elementor-element elementor-element-70a15a4c e-con-full e-flex e-con e-child\" data-id=\"70a15a4c\" data-element_type=\"container\">\n\t\t<div class=\"elementor-element elementor-element-50d7dce2 e-con-full e-flex e-con e-child\" data-id=\"50d7dce2\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-22265c91 elementor-widget elementor-widget-text-editor\" data-id=\"22265c91\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p>\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u611f\u77e5\u6280\u672f\u5c06\u591a\u6444\u50cf\u5934\u548c\u4f20\u611f\u5668\u7684\u8f93\u5165\u8f6c\u6362\u4e3a\u7edf\u4e00\u7684\u81ea\u4e0a\u800c\u4e0b\u89c6\u56fe\uff0c\u4f7f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u80fd\u591f\u5b9e\u65f6\u68c0\u6d4b\u7269\u4f53\u3001\u8ffd\u8e2a\u8fd0\u52a8\u5e76\u63a8\u65ad\u5468\u56f4\u73af\u5883\u3002\u7136\u800c\uff0c\u7531\u4e8e\u8ba1\u7b97\u9700\u6c42\u9ad8\u3001\u7b97\u5b50\u6a21\u5f0f\u590d\u6742\uff0c\u4e14\u5bf9\u56fe\u4f18\u5316\u548c\u91cf\u5316\u975e\u5e38\u654f\u611f\uff0c\u50cf BEVDet \u548c BEVFormer \u8fd9\u6837\u7684 BEV \u6a21\u578b\u5728\u90e8\u7f72\u4e0a\u9887\u5177\u6311\u6218\u3002MulticoreWare \u4e0e Autoware \u57fa\u91d1\u4f1a\u5408\u4f5c\uff0c\u9488\u5bf9\u8fb9\u7f18\u8bbe\u5907\u3001AI \u52a0\u901f\u5668\u548c\u6c7d\u8f66 SoC \u5bf9\u8fd9\u4e9b\u6a21\u578b\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u5728\u5404\u7c7b\u8fb9\u7f18\u5e73\u53f0\u4e0a\u7684\u9ad8\u6548\u3001\u53ef\u6269\u5c55\u90e8\u7f72\u3002<\/p><p><a href=\"https:\/\/autoware.org\/from-bevdet-to-bevformer\/\" target=\"_blank\" rel=\"noopener\"><strong>\u6709\u5173 BEVDet \u548c BEVFormer \u7684\u8be6\u7ec6\u6280\u672f\u6982\u8ff0\uff0c\u8bf7\u53c2\u9605\u4e0e Autoware \u57fa\u91d1\u4f1a\u8054\u5408\u53d1\u5e03\u7684\u5b8c\u6574\u7814\u7a76\u62a5\u544a\uff1a<\/strong><\/a><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-266277f1 e-con-full e-flex e-con e-child\" data-id=\"266277f1\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-5abd1590 elementor-widget elementor-widget-text-editor\" data-id=\"5abd1590\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><strong>BEVDet <\/strong>\u5f15\u5165\u4e86\u201cLift-Splat-Shoot\u201d\u65b9\u6cd5\uff0c\u5c06\u591a\u6444\u50cf\u5934\u56fe\u50cf\u8f6c\u6362\u4e3a\u7edf\u4e00\u7684 BEV \u8868\u793a\uff0c\u4ece\u800c\u5b9e\u73b0\u7cbe\u786e\u7684 3D \u68c0\u6d4b\u3002\u7ecf\u8fc7 MulticoreWare \u7684\u4f18\u5316\uff0c\u8be5\u6a21\u578b\u5b9e\u73b0\u4e86\u5b9e\u65f6\u6027\u80fd\uff0c\u5728 RTX 2080 Ti \u4e0a FP32 \u6a21\u5f0f\u4e0b\u8fbe\u5230\u7ea6 3 FPS\uff0cFP16 \u6a21\u5f0f\u4e0b\u8fbe\u5230\u7ea6 5 FPS\uff0c\u4e3a\u53ef\u90e8\u7f72\u7684\u611f\u77e5\u7cfb\u7edf\u5efa\u7acb\u4e86\u5f3a\u5927\u7684\u57fa\u7ebf\u3002<\/p><p><strong>BEVFormer <\/strong>\u901a\u8fc7\u6574\u5408\u7a7a\u95f4\u548c\u65f6\u95f4\u4fe1\u606f\u8fdb\u4e00\u6b65\u589e\u5f3a\u4e86\u8be5\u65b9\u6cd5\uff0c\u63d0\u5347\u4e86\u5bf9\u79fb\u52a8\u6216\u88ab\u906e\u6321\u7269\u4f53\u7684\u68c0\u6d4b\u80fd\u529b\uff0c\u5e76\u5b9e\u73b0\u4e86\u901f\u5ea6\u4f30\u8ba1\u3002\u7ecf\u8fc7 TensorRT \u4f18\u5316\u7684\u5b8c\u6574 C++ \u7ba1\u9053\u8868\u73b0\u51fa\u8272\uff0c\u5b9e\u73b0\u4e86 0.478 \u7684 NuScenes \u68c0\u6d4b\u5206\u6570\u30010.370 \u7684 mAP \u4ee5\u53caFP16 \u4e0b\u7ea6 90 \u6beb\u79d2\u7684\u5ef6\u8fdf\u3002<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-473ac5a9 pb-0 elementor-widget elementor-widget-text-editor\" data-id=\"473ac5a9\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h4><strong>\u63a8\u52a8\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u611f\u77e5\u6280\u672f\u5728\u5b9e\u9645\u90e8\u7f72\u4e2d\u7684\u5e94\u7528<br \/><\/strong><\/h4><p>\u7ecf\u8fc7\u4f18\u5316\u7684 BEVDet \u548c BEVFormer \u80fd\u591f\u5b9e\u73b0\u5177\u5907\u65f6\u5e8f\u611f\u77e5\u80fd\u529b\u7684\u5b9e\u65f6\u591a\u6444\u50cf\u5934 3D \u611f\u77e5\uff0c\u4ece\u800c\u89e3\u51b3\u4e86\u57fa\u4e8e\u89c6\u89c9\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u6a21\u5316\u5e94\u7528\u4e2d\u7684\u5173\u952e\u6311\u6218\u3002<\/p><p>MulticoreWare 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class=\"elementor-button-content-wrapper\">\n\t\t\t\t\t\t\t\t\t<span class=\"elementor-button-text\">\u9605\u8bfb\u5b8c\u6574\u7684\u6280\u672f\u62a5\u544a<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/a>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u611f\u77e5\u6280\u672f\u5c06\u591a\u6444\u50cf\u5934\u548c\u4f20\u611f\u5668\u7684\u8f93\u5165\u8f6c\u6362\u4e3a\u7edf\u4e00\u7684\u81ea\u4e0a\u800c\u4e0b\u89c6\u56fe\uff0c\u4f7f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u80fd\u591f\u5b9e\u65f6\u68c0\u6d4b\u7269\u4f53\u3001\u8ffd\u8e2a\u8fd0\u52a8\u5e76\u63a8\u65ad\u5468\u56f4\u73af\u5883\u3002\u7136\u800c\uff0c\u7531\u4e8e\u8ba1\u7b97\u9700\u6c42\u9ad8\u3001\u7b97\u5b50\u6a21\u5f0f\u590d\u6742\uff0c\u4e14\u5bf9\u56fe\u4f18\u5316\u548c\u91cf\u5316\u975e\u5e38\u654f\u611f\uff0c\u50cf BEVDet \u548c BEVFormer \u8fd9\u6837\u7684 BEV \u6a21\u578b\u5728\u90e8\u7f72\u4e0a\u9887\u5177\u6311\u6218\u3002<\/p>\n","protected":false},"author":1,"featured_media":20934,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"categories":[29,13],"tags":[],"class_list":["post-20932","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-blog","category-mobility-transportation"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.12 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u9488\u5bf9\u5b9e\u65f6\u81ea\u4e3b\u611f\u77e5\u4f18\u5316\u7684BEV\u6a21\u578b\uff1aBEVDet \u4e0e BEVFormer - MulticoreWare<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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