{"id":4905,"date":"2024-10-06T23:01:01","date_gmt":"2024-10-06T15:01:01","guid":{"rendered":""},"modified":"2024-10-06T23:01:01","modified_gmt":"2024-10-06T15:01:01","slug":"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8","status":"publish","type":"post","link":"https:\/\/mushiming.com\/4905.html","title":{"rendered":"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8"},"content":{"rendered":"<p><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"display: none;\"> \n <path stroke-linecap=\"round\" d=\"M5,0 0,2.5 5,5z\" id=\"raphael-marker-block\" style=\"-webkit-tap-highlight-color: rgba(0, 0, 0, 0);\"><\/path> \n<\/svg> <\/p>\n<div class=\"toc\">\n<h4>\u70b9\u4e91 3D \u76ee\u6807\u8ddf\u8e2a - AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics - 3D\u591a\u76ee\u6807\u8ddf\u8e2a\u57fa\u7ebf\u548c\u65b0\u7684\u8bc4\u4f30\u6307\u6807\uff08IROS 2020, ECCVW 2020\uff09<\/h4>\n<ul>\n<li>\u6458\u8981<\/li>\n<li>1. \u5f15\u8a00<\/li>\n<li>2. \u76f8\u5173\u5de5\u4f5c<\/li>\n<li>3. \u65b9\u6cd5<\/li>\n<li>\n<ul>\n<li>A. 3D\u76ee\u6807\u68c0\u6d4b<\/li>\n<li>B. 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff1a\u72b6\u6001\u9884\u6d4b<\/li>\n<li>C. \u6570\u636e\u5173\u8054<\/li>\n<li>D. 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff1a\u72b6\u6001\u66f4\u65b0<\/li>\n<li>E. \u51fa\u751f\u548c\u5e9f\u5f03\u8bb0\u5f55<\/li>\n<\/ul>\n<\/li>\n<li>4. \u65b0\u578b3D MOT\u8bc4\u4f30\u5de5\u5177<\/li>\n<li>5. \u65b0\u7684MOT\u8bc4\u4f30\u6307\u6807<\/li>\n<li>\n<ul>\n<li>A. CLEAR\u6307\u6807\u7684\u9650\u5236<\/li>\n<li>B. \u79ef\u5206\u6307\u6807\uff1aAMOTA\u548cAMOTP<\/li>\n<li>C. \u7f29\u653e\u7cbe\u5ea6\u5ea6\u91cf\uff1asAMOTA<\/li>\n<\/ul>\n<\/li>\n<li>6. \u5b9e\u9a8c<\/li>\n<li>\n<ul>\n<li>A. \u8bbe\u7f6e<\/li>\n<li>B. \u5b9e\u9a8c\u7ed3\u679c<\/li>\n<li>C. \u6d88\u878d\u7814\u7a76<\/li>\n<\/ul>\n<\/li>\n<li>7. \u7ed3\u8bba<\/li>\n<li>REFERENCES<\/li>\n<li>\u53c2\u8003\u8d44\u6599<\/li>\n<\/ul>\n<\/div>\n<blockquote>\n<p><mark>\u58f0\u660e\uff1a\u6b64\u7ffb\u8bd1\u4ec5\u4e3a\u4e2a\u4eba\u5b66\u4e60\u8bb0\u5f55<\/mark><\/p>\n<p> \u6587\u7ae0\u4fe1\u606f<\/p>\n<ul>\n<li>\u6807\u98981\uff1a<strong>3D Multi-Object Tracking: A Baseline and New Evaluation Metrics (IROS 2020)<\/strong><\/li>\n<li>\u94fe\u63a51\uff1ahttps:\/\/arxiv.org\/pdf\/1907.03961.pdf<\/li>\n<li>\u6807\u98982\uff1a<strong>AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metrics (ECCVW 2020)<\/strong><\/li>\n<li>\u94fe\u63a52\uff1ahttps:\/\/arxiv.org\/pdf\/2008.08063.pdf<\/li>\n<li>\u4f5c\u8005\uff1a<strong>Xinshuo Weng, Jianren Wang, David Held and Kris Kitani<\/strong><\/li>\n<li>\u6587\u7ae0\u4ee3\u7801\uff1ahttps:\/\/github.com\/xinshuoweng\/AB3DMOT<\/li>\n<\/ul>\n<\/blockquote>\n<h2>\u6458\u8981<\/h2>\n<p>\u2003\u20033D\u591a\u76ee\u6807\u8ddf\u8e2a\uff08MOT\uff09\u662f\u81ea\u52a8\u9a7e\u9a76\u548c\u8f85\u52a9\u673a\u5668\u4eba\u7b49\u8bb8\u591a\u5e94\u7528\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002\u6700\u8fd1\u5173\u4e8e3D MOT\u7684\u5de5\u4f5c\u4fa7\u91cd\u4e8e\u5f00\u53d1\u7cbe\u786e\u7684\u7cfb\u7edf\uff0c\u800c\u4e0d\u592a\u6ce8\u91cd\u5b9e\u9645\u8003\u8651\uff0c\u4f8b\u5982\u8ba1\u7b97\u6210\u672c\u548c\u7cfb\u7edf\u590d\u6742\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u8fd9\u9879\u5de5\u4f5c\u63d0\u51fa\u4e86\u4e00\u4e2a\u7b80\u5355\u7684\u5b9e\u65f63D MOT\u7cfb\u7edf\u3002\u6211\u4eec\u7684\u7cfb\u7edf\u9996\u5148\u4eceLiDAR\u70b9\u4e91\u83b7\u5f973D\u68c0\u6d4b\u3002\u7136\u540e\uff0c\u4f7f\u75283D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u548c\u5308\u7259\u5229\u7b97\u6cd5\u7684\u76f4\u63a5\u7ec4\u5408\u8fdb\u884c\u72b6\u6001\u4f30\u8ba1\u548c\u6570\u636e\u5173\u8054\u3002\u6b64\u5916\uff0c3D MOT\u6570\u636e\u96c6\uff08\u5982KITTI\uff09\u8bc4\u4f302D\u7a7a\u95f4\u4e2d\u7684MOT\u65b9\u6cd5\uff0c\u6807\u51c6\u5316\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u7f3a\u5931\uff0c\u65e0\u6cd5\u516c\u5e73\u6bd4\u8f833D MOT\u65b9\u6cd5\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u4ee5\u53ca\u4e09\u79cd\u65b0\u7684\u6307\u6807\uff0c\u4ee5\u5168\u9762\u8bc4\u4f303D MOT\u65b9\u6cd5\u3002\u6211\u4eec\u8868\u660e\uff0c\u5c3d\u7ba1\u6211\u4eec\u7684\u7cfb\u7edf\u91c7\u7528\u4e86\u7ecf\u5178MOT\u6a21\u5757\u7684\u7ec4\u5408\uff0c\u4f46\u6211\u4eec\u5728\u4e24\u4e2a3D MOT\u57fa\u51c6\uff08KITTI\u548cnuScenes\uff09\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u76843D MOT\u6027\u80fd\u3002\u4ee4\u4eba\u60ca\u8bb6\u7684\u662f\uff0c\u5c3d\u7ba1\u6211\u4eec\u7684\u7cfb\u7edf\u4e0d\u4f7f\u7528\u4efb\u4f552D\u6570\u636e\u4f5c\u4e3a\u8f93\u5165\uff0c\u4f46\u6211\u4eec\u5728KITTI 2D MOT\u6392\u884c\u699c\u4e0a\u53d6\u5f97\u4e86\u7ade\u4e89\u6027\u7684\u8868\u73b0\u3002\u6211\u4eec\u63d0\u51fa\u7684\u7cfb\u7edf\u5728KITTI\u6570\u636e\u96c6\u4e0a\u4ee5207.4 FPS\u7684\u901f\u5ea6\u8fd0\u884c\uff0c\u5728\u6240\u6709\u73b0\u4ee3MOT\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u4e86\u6700\u5feb\u7684\u901f\u5ea6\u3002\u4e3a\u4e86\u9f13\u52b1\u6807\u51c6\u53163D MOT\u8bc4\u4f30\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u548c\u8bc4\u4f30\u4ee3\u7801\u5728https:\/\/github.com\/xinshuoweng\/AB3DMOT\u3002<\/p>\n<h2>1. \u5f15\u8a00<\/h2>\n<p>\u2003\u2003MOT\u662f\u8bb8\u591a\u5b9e\u65f6\u5e94\u7528\u7684\u91cd\u8981\u7ec4\u4ef6\uff0c\u5982\u81ea\u52a8\u9a7e\u9a76[1]\u3001[2]\u548c\u8f85\u52a9\u673a\u5668\u4eba[3]\u3001[4]\u3002\u7531\u4e8e\u76ee\u6807\u68c0\u6d4b\u7684\u8fdb\u6b65[5]\u2013[8]\uff0cMOT\u53d6\u5f97\u4e86\u5f88\u5927\u8fdb\u5c55\u3002\u4f8b\u5982\uff0c\u5bf9\u4e8eKITTI[9]2D MOT\u57fa\u51c6\u4e0a\u7684\u6c7d\u8f66\u7c7b\u522b\uff0cMOTA\uff08\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff09\u5728\u77ed\u77ed\u4e24\u5e74\u5185\u4ece57.03[10]\u63d0\u9ad8\u523084.04[11]\uff01\u867d\u7136\u6211\u4eec\u5bf9\u8fd9\u4e00\u8fdb\u5c55\u611f\u5230\u9f13\u821e\uff0c\u4f46\u6211\u4eec\u53d1\u73b0\uff0c\u6211\u4eec\u5bf9\u521b\u65b0\u548c\u51c6\u786e\u6027\u7684\u5173\u6ce8\u662f\u4ee5\u8ba1\u7b97\u6548\u7387\u548c\u7cfb\u7edf\u7b80\u5355\u6027\u7b49\u5b9e\u9645\u56e0\u7d20\u4e3a\u4ee3\u4ef7\u7684\u3002\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u901a\u5e38\u9700\u8981\u5927\u91cf\u7684\u8ba1\u7b97\u6210\u672c[12]-[15]\uff0c\u8fd9\u4f7f\u5f97\u5b9e\u65f6\u6027\u80fd\u6210\u4e3a\u4e00\u4e2a\u6311\u6218\u3002\u6b64\u5916\uff0c\u73b0\u4ee3MOT\u7cfb\u7edf\u901a\u5e38\u975e\u5e38\u590d\u6742\uff0c\u5e76\u4e0d\u603b\u662f\u6e05\u695a\u7cfb\u7edf\u7684\u54ea\u4e2a\u90e8\u5206\u5bf9\u6027\u80fd\u8d21\u732e\u6700\u5927\u3002\u4f8b\u5982\uff0c\u9886\u5148\u7684\u4f5c\u54c1[14]\u2013[16]\u5177\u6709\u5b9e\u8d28\u4e0a\u4e0d\u540c\u7684\u7cfb\u7edf\u7ba1\u7ebf\uff0c\u4f46\u6027\u80fd\u4e0a\u53ea\u6709\u5fae\u5c0f\u7684\u5dee\u5f02\u3002\u5728\u8fd9\u4e9b\u60c5\u51b5\u4e0b\uff0c\u6a21\u5757\u5316\u6bd4\u8f83\u5206\u6790\u975e\u5e38\u5177\u6709\u6311\u6218\u6027\u3002<\/p>\n<p>\u2003\u2003\u4e3a\u4e86\u4e3a\u6bd4\u8f83\u5206\u6790\u63d0\u4f9b\u6807\u51c6\u76843D MOT\u57fa\u7ebf\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u4e00\u79cd\u8bbe\u8ba1\u9ad8\u6548\u4e14\u7b80\u5355\u7684\u7ecf\u5178\u65b9\u6cd5\u2014\u2014\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668[17]\uff081960\u5e74\uff09\u548c\u5308\u7259\u5229\u65b9\u6cd5[18]\uff081955\u5e74\uff09\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u4f7f\u7528\u73b0\u6210\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u4eceLiDAR\u70b9\u4e91\u83b7\u5f973D\u68c0\u6d4b[6]\u3002\u7136\u540e\uff0c\u4f7f\u75283D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08\u5177\u6709\u6052\u5b9a\u901f\u5ea6\u6a21\u578b\uff09\u548c\u5308\u7259\u5229\u7b97\u6cd5\u7684\u7ec4\u5408\u8fdb\u884c\u72b6\u6001\u4f30\u8ba1\u548c\u6570\u636e\u5173\u8054\u3002\u4e0e\u57282D\u7a7a\u95f4[19]\u6216\u9e1f\u77b0\u56fe[20]\u4e2d\u5b9a\u4e49\u6ee4\u6ce2\u5668\u72b6\u6001\u7a7a\u95f4\u7684\u5176\u4ed6\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684MOT\u7cfb\u7edf\u4e0d\u540c\uff0c\u6211\u4eec\u5c06\u76ee\u6807\u7684\u72b6\u6001\u7a7a\u95f4\u6269\u5c55\u52303D\u7a7a\u95f4\uff0c\u5305\u62ec3D\u4f4d\u7f6e\u30013D\u5927\u5c0f\u30013D\u901f\u5ea6\u548c\u822a\u5411\u65b9\u5411\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/fb268c00b32d41b7839a79c154b4ae14.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c1\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c1\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u56fe1. KITTI 2D MOT\u6392\u884c\u699c\u4e0a\u73b0\u4ee32D\u548c3D MOT\u7cfb\u7edf\u7684MOTA\u3002\u8d8a\u9ad8\u8d8a\u53f3\u8d8a\u597d\u3002\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u57282D MOT\u8bc4\u4f30\u4e2d\u5b9e\u73b0\u4e86\u5177\u6709\u7ade\u4e89\u529b\u7684MOTA\uff0c\u540c\u65f6\u901f\u5ea6\u6700\u5feb\u3002<\/p>\n<\/blockquote>\n<p>\u2003\u2003\u6211\u4eec\u7684\u5b9e\u8bc1\u7ed3\u679c\u4ee4\u4eba\u62c5\u5fe7\u3002\u867d\u7136\u6211\u4eec\u7cfb\u7edf\u4e2d\u7684\u6a21\u5757\u7ec4\u5408\u5f88\u7b80\u5355\uff0c\u4f46\u6211\u4eec\u5728\u6807\u51c63D MOT\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u76843D MOT\u6027\u80fd\uff1aKITTI\u548cnuScenes\u3002\u4ee4\u4eba\u60ca\u8bb6\u7684\u662f\uff0c\u5c3d\u7ba1\u6211\u4eec\u7684\u7cfb\u7edf\u4e0d\u4f7f\u7528\u4efb\u4f552D\u6570\u636e\u4f5c\u4e3a\u8f93\u5165\uff0c\u4f46\u6211\u4eec\u5728KITTI 2D MOT\u6392\u884c\u699c\u4e0a\u4e5f\u53d6\u5f97\u4e86\u7ade\u4e89\u6027\u7684\u8868\u73b0\uff0c\u5982\u56fe1\u6240\u793a\u3002\u6211\u4eec\u5047\u8bbe\uff0c\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u7684\u5f3a\u59272D MOT\u6027\u80fd\u53ef\u80fd\u662f\u56e0\u4e3a3D\u4e2d\u7684\u8ddf\u8e2a\u6bd42D\u4e2d\u7684\u8ddf\u8e2a\u80fd\u591f\u66f4\u597d\u5730\u89e3\u51b3\u6df1\u5ea6\u6a21\u7cca\uff0c\u5e76\u5bfc\u81f4\u66f4\u5c11\u7684\u5931\u914d\u3002\u6b64\u5916\uff0c\u7531\u4e8e\u6211\u4eec\u7cfb\u7edf\u7684\u9ad8\u6548\u8bbe\u8ba1\uff0c\u5b83\u5728KITTI\u6570\u636e\u96c6\u4e0a\u4ee5207.4 FPS\u7684\u901f\u5ea6\u8fd0\u884c\uff0c\u5b9e\u73b0\u4e86\u73b0\u4ee3MOT\u7cfb\u7edf\u4e2d\u6700\u5feb\u7684\u901f\u5ea6\u3002\u5f88\u660e\u663e\uff0c\u8fd9\u9879\u5de5\u4f5c\u7684\u8d21\u732e\u4e0d\u662f\u521b\u65b03D MOT\u7b97\u6cd5\uff0c\u800c\u662f\u4e0e\u6700\u57fa\u672c\u4f46\u6700\u5f3a\u5927\u7684\u57fa\u7ebf\u76f8\u6bd4\uff0c\u63d0\u4f9b\u4e86\u73b0\u4ee33D MOT\u7cfb\u7edf\u7684\u66f4\u6e05\u6670\u7684\u753b\u9762\uff0c\u5176\u7ed3\u679c\u5728\u6574\u4e2a\u793e\u533a\u90fd\u5f88\u91cd\u8981\u3002<\/p>\n<p>\u2003\u2003\u9664\u4e863D MOT\u7cfb\u7edf\uff0c\u6211\u4eec\u8fd8\u89c2\u5bdf\u5230\u4e863D MOT\u8bc4\u4f30\u4e2d\u7684\u4e24\u4e2a\u95ee\u9898\uff1a\uff081\uff09\u6807\u51c6MOT\u57fa\u51c6\uff08\u5982KITTI\u6570\u636e\u96c6\uff09\u4ec5\u652f\u63012D MOT\u8bc4\u4f30\uff0c\u5373\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u8bc4\u4f30\u3002\u76ee\u524d\u8fd8\u6ca1\u6709\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u8bc4\u4f303D MOT\u7cfb\u7edf\u7684\u5de5\u5177\u3002\u5728KITTI\u6570\u636e\u96c6\u4e0a\uff0c\u8bc4\u4f303D MOT\u65b9\u6cd5\u7684\u60ef\u4f8b\u662f\u5c063D MOT\u7ed3\u679c\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\uff0c\u7136\u540e\u4f7f\u7528KITTI 2D MOT\u8bc4\u4f30\u5de5\u5177\u3002\u7136\u800c\uff0c\u6211\u4eec\u8ba4\u4e3a\uff0c\u8fd9\u5c06\u963b\u788d3D MOT\u7cfb\u7edf\u7684\u672a\u6765\u8fdb\u5c55\uff0c\u56e0\u4e3a\u5728\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u8bc4\u4f30\u4e0d\u80fd\u63d0\u4f9b3D MOT\u65b9\u6cd5\u7684\u516c\u5e73\u6bd4\u8f83\uff0c\u4f8b\u5982\uff0c\u57283D\u4e2d\u5b9e\u73b0\u66f4\u597d\u8ddf\u8e2a\u7684\u7cfb\u7edf\u4e0d\u4e00\u5b9a\u57282D MOT\u8bc4\u4f30\u4e2d\u5177\u6709\u66f4\u9ad8\u7684\u6027\u80fd\u3002\u4e3a\u4e86\u514b\u670d\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cdMOT\u8bc4\u4f30\u5de5\u5177\uff0c\u8be5\u5de5\u5177\u4f7f\u75283D\u5ea6\u91cf\u76f4\u63a5\u8bc4\u4f303D\u7a7a\u95f4\u4e2d\u7684MOT\u7cfb\u7edf\uff1b\uff082\uff09 MOTA\u548cMOTP\u7b49\u5e38\u7528MOT\u5ea6\u91cf\u4e0d\u8003\u8651\u88ab\u8ddf\u8e2a\u76ee\u6807\u7684\u7f6e\u4fe1\u5ea6\u5f97\u5206\u3002\u56e0\u6b64\uff0c\u7528\u6237\u5fc5\u987b\u624b\u52a8\u9009\u62e9\u9608\u503c\uff0c\u5e76\u7b5b\u9009\u51fa\u5206\u6570\u8f83\u4f4e\u7684\u8ddf\u8e2a\u76ee\u6807\u3002\u7136\u800c\uff0c\u9009\u62e9\u6700\u4f73\u9608\u503c\u9700\u8981\u4ed8\u51fa\u4e0d\u5c0f\u7684\u52aa\u529b\u3002\u6b64\u5916\uff0c\u5355\u4e00\u9608\u503c\u7684\u8bc4\u4f30\u4f7f\u6211\u4eec\u65e0\u6cd5\u4e86\u89e3MOT\u7cfb\u7edf\u7684\u5168\u90e8\u7cbe\u5ea6\u548c\u7cbe\u5ea6\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e09\u4e2a\u65b0\u7684\u79ef\u5206\u5ea6\u91cf\u6765\u603b\u7ed3MOT\u65b9\u6cd5\u5728\u591a\u4e2a\u9608\u503c\u4e0a\u7684\u6027\u80fd\u3002\u6211\u4eec\u5e0c\u671b\u6211\u4eec\u7684\u65b0\u8bc4\u4f30\u5de5\u5177\uff08\u5305\u62ec\u5ea6\u91cf\uff09\u5c06\u4f5c\u4e3a\u672a\u67653D MOT\u8bc4\u4f30\u7684\u6807\u51c6\u3002\u6211\u4eec\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n<p>1\uff09 \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u5728\u7ebf\u5e94\u7528\u7684\u57fa\u4e8e3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u7684\u7cbe\u786e\u5b9e\u65f63D MOT\u7cfb\u7edf\uff1b<\/p>\n<p>2\uff09 \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u4ee5\u53ca\u4e09\u79cd\u65b0\u7684\u5ea6\u91cf\u6807\u51c6\uff0c\u4ee5\u6807\u51c6\u53163D MOT\u8bc4\u4ef7\uff1b<\/p>\n<p>3\uff09 \u6211\u4eec\u76843D MOT\u7cfb\u7edf\u5728\u6807\u51c63D MOT\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86S.O.T.A.\u6027\u80fd\u548c\u6700\u5feb\u901f\u5ea6\u3002<\/p>\n<h2>2. \u76f8\u5173\u5de5\u4f5c<\/h2>\n<p><strong>2D\u591a\u76ee\u6807\u8ddf\u8e2a<\/strong>\u3002\u6700\u8fd1\u76842D MOT\u7cfb\u7edf\u53ef\u4ee5\u57fa\u4e8e\u6570\u636e\u5173\u8054\u5206\u4e3a\u6279\u5904\u7406\u548c\u5728\u7ebf\u65b9\u6cd5\u3002\u6279\u5904\u7406\u65b9\u6cd5\u8bd5\u56fe\u4ece\u6574\u4e2a\u5e8f\u5217\u4e2d\u627e\u5230\u5168\u5c40\u6700\u4f18\u5173\u8054\u3002\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u521b\u5efa\u7f51\u7edc\u6d41\u56fe\uff0c\u5e76\u53ef\u4ee5\u901a\u8fc7\u6700\u5c0f\u6210\u672c\u6d41\u7b97\u6cd5[21]\u3001[22]\u6765\u89e3\u51b3\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5728\u7ebf\u65b9\u6cd5\u53ea\u9700\u8981\u5f53\u524d\u5e27\u7684\u4fe1\u606f\uff0c\u5e76\u4e14\u9002\u7528\u4e8e\u5728\u7ebf\u5e94\u7528\u3002\u5728\u7ebf\u65b9\u6cd5\u901a\u5e38\u5c06\u6570\u636e\u5173\u8054\u8868\u8ff0\u4e3a\u4e8c\u5206\u56fe\u5339\u914d\u95ee\u9898\uff0c\u5e76\u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\u89e3\u51b3[18]\uff0c[19]\u3002\u9664\u4e86\u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\uff0c\u73b0\u4ee3\u5728\u7ebf\u65b9\u6cd5\u8fd8\u8bbe\u8ba1\u4e86\u6df1\u5ea6\u5173\u8054\u7f51\u7edc[15]\uff0c[23]\uff0c\u53ef\u4ee5\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u6784\u5efa\u5173\u8054\u3002\u6211\u4eec\u63d0\u51fa\u7684\u7cfb\u7edf\u5c5e\u4e8e\u5728\u7ebf\u65b9\u6cd5\u7684\u8303\u7574\u3002\u4e3a\u4e86\u7b80\u5355\u8bbe\u8ba1\u548c\u5b9e\u65f6\u6548\u7387\uff0c\u6211\u4eec\u4e0d\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\uff0c\u53ea\u91c7\u7528\u5308\u7259\u5229\u7b97\u6cd5\u3002<\/p>\n<p>\u2003\u2003\u4e3a\u4e86\u5b9e\u73b0\u6570\u636e\u5173\u8054\uff0c\u8bbe\u8ba1\u9002\u5f53\u7684\u6210\u672c\u51fd\u6570\u6765\u5ea6\u91cf\u76f8\u4f3c\u6027\u5bf9\u4e8eMOT\u7cfb\u7edf\u81f3\u5173\u91cd\u8981\u3002\u65e9\u671f\u7684\u5de5\u4f5c[21]\uff0c[24]\u91c7\u7528\u624b\u5de5\u5236\u4f5c\u7684\u7279\u5f81\uff0c\u5982\u7a7a\u95f4\u8ddd\u79bb\u548c\u989c\u8272\u76f4\u65b9\u56fe\u4f5c\u4e3a\u6210\u672c\u51fd\u6570\u3002\u73b0\u4ee3\u65b9\u6cd5\u901a\u5e38\u4f7f\u7528\u8fd0\u52a8\u6a21\u578b[19]\u3001[25]\u3001[26]\u548c\u5916\u89c2\u7279\u5f81[25]\u3001[7]\u3001[28]\u3002\u4e3a\u4e86\u7b80\u5316\u7cfb\u7edf\uff0c\u6211\u4eec\u53ea\u4f7f\u7528\u6700\u7b80\u5355\u7684\u8fd0\u52a8\u6a21\u578b\uff0c\u5373\u6052\u5b9a\u901f\u5ea6\uff0c\u800c\u4e0d\u4f7f\u7528\u4efb\u4f55\u5916\u89c2\u63d0\u793a\u3002<\/p>\n<p><strong>3D\u591a\u76ee\u6807\u8ddf\u8e2a<\/strong>\u30023D MOT\u7cfb\u7edf\u901a\u5e38\u4e0e2D MOT\u7cfb\u7edf\u5171\u4eab\u76f8\u540c\u7684\u7ec4\u4ef6\u3002\u533a\u522b\u5728\u4e8e\u8f93\u5165\u68c0\u6d4b\u57283D\u7a7a\u95f4\u800c\u4e0d\u662f\u56fe\u50cf\u5e73\u9762\u4e2d\u3002\u56e0\u6b64\uff0c3D MOT\u7cfb\u7edf\u53ef\u4ee5\u5728\u6ca1\u6709\u900f\u89c6\u5931\u771f\u7684\u60c5\u51b5\u4e0b\u83b7\u5f973D\u7a7a\u95f4\u4e2d\u7684\u8fd0\u52a8\u548c\u5916\u89c2\u4fe1\u606f\u3002[16] \u5efa\u8bae\u5c06\u76ee\u6807\u5230\u76f8\u673a\u7684\u8ddd\u79bb\u53ca\u5176\u57283D\u7a7a\u95f4\u4e2d\u7684\u901f\u5ea6\u4f30\u8ba1\u4e3a\u8fd0\u52a8\u7ebf\u7d22\u3002[20] \u4f7f\u7528\u65e0\u8ff9\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u4f30\u8ba1\u5730\u9762\u4e0a\u7684\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u3002[29]\u63d0\u51fa\u4e86\u4e00\u79cd2D-3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff0c\u4ee5\u5229\u7528\u6765\u81ea\u56fe\u50cf\u548c3D\u4e16\u754c\u7684\u89c2\u6d4b\u3002\u9664\u4e86\u4f7f\u7528\u624b\u5de5\u5236\u4f5c\u7684\u7279\u5f81\uff0c[23]\u3001[30]\u2013[32]\u8fd8\u4f7f\u7528\u795e\u7ecf\u7f51\u7edc\u4ece\u6570\u636e\u4e2d\u5b66\u4e603D\u5916\u89c2\u548c\u8fd0\u52a8\u7279\u5f81\u3002\u4e0e\u5148\u524d\u7684\u5de5\u4f5c\u4f7f\u7528\u5404\u79cd3D\u7279\u5f81\u548c\u590d\u6742\u7684\u7cfb\u7edf\u4e0d\u540c\uff0c\u4e3a\u4e86\u7b80\u5355\u548c\u9ad8\u6548\uff0c\u6211\u4eec\u4ec5\u4f7f\u75283D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u6765\u83b7\u5f973D\u8fd0\u52a8\u63d0\u793a\uff0c\u5e76\u5c06\u6ee4\u6ce2\u5668\u7684\u72b6\u6001\u7a7a\u95f4\u6269\u5c55\u5230\u5305\u62ec3D\u4f4d\u7f6e\u30013D\u901f\u5ea6\u30013D\u5927\u5c0f\u548c\u822a\u5411\u65b9\u5411\u5728\u5185\u7684\u51683D\u57df\u3002<\/p>\n<h2>3. \u65b9\u6cd5<\/h2>\n<p>\u2003\u20033D MOT\u7684\u76ee\u6807\u662f\u5728\u5e8f\u5217\u4e2d\u5173\u80543D\u68c0\u6d4b\u3002\u7531\u4e8e\u6211\u4eec\u7684\u7cfb\u7edf\u662f\u4e00\u4e2a\u5728\u7ebfMOT\u7cfb\u7edf\uff0c\u5728\u6bcf\u4e2a\u65f6\u95f4\u6233\uff0c\u6211\u4eec\u53ea\u9700\u8981\u5728\u5f53\u524d\u5e27\u4e2d\u8fdb\u884c\u68c0\u6d4b\uff0c\u5e76\u4ece\u5148\u524d\u5e27\u4e2d\u83b7\u53d6\u76f8\u5173\u8f68\u8ff9\u3002\u6211\u4eec\u7684\u7cfb\u7edf\u7ba1\u7ebf\u5982\u56fe2\u6240\u793a\uff1a\uff08A\uff09\u4f7f\u75283D\u68c0\u6d4b\u6a21\u5757\u4eceLiDAR\u70b9\u4e91\u83b7\u5f973D\u68c0\u6d4b\uff1b\uff08B\uff09 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u9884\u6d4b\u4ece\u5148\u524d\u5e27\u5230\u5f53\u524d\u5e27\u7684\u5173\u8054\u8f68\u8ff9\u7684\u72b6\u6001\uff1b\uff08C\uff09 \u6570\u636e\u5173\u8054\u6a21\u5757\u5339\u914d\u6765\u81ea\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u7684\u9884\u6d4b\u8f68\u8ff9\u548c\u5f53\u524d\u5e27\u4e2d\u7684\u68c0\u6d4b\uff1b\uff08D\uff09 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u57fa\u4e8e\u5339\u914d\u68c0\u6d4b\u66f4\u65b0\u5339\u914d\u8f68\u8ff9\u7684\u72b6\u6001\uff1b\uff08E\uff09 \u51fa\u751f\u548c\u5e9f\u5f03\u8bb0\u5fc6\u521b\u5efa\u65b0\u76ee\u6807\u7684\u8f68\u8ff9\uff0c\u5e76\u5220\u9664\u6d88\u5931\u76ee\u6807\u7684\u8f68\u8ff9\u3002\u9664\u4e86\u9884\u5148\u8bad\u7ec3\u76843D\u68c0\u6d4b\u6a21\u5757\uff0c\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u4e0d\u9700\u8981\u4efb\u4f55\u8bad\u7ec3\uff0c\u53ef\u4ee5\u76f4\u63a5\u7528\u4e8e\u63a8\u7406\u3002<\/p>\n<h3>A. 3D\u76ee\u6807\u68c0\u6d4b<\/h3>\n<p>\u2003\u2003\u7531\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u7684\u8fdb\u6b65\uff0c\u6211\u4eec\u53ef\u4ee5\u83b7\u5f97\u9ad8\u8d28\u91cf\u7684\u68c0\u6d4b\u3002\u5728\u8fd9\u91cc\uff0c\u6211\u4eec\u5728KITTI\u4e0a\u4f7f\u7528[6]\u3001[33]\u548c\u5728NuScene\u4e0a\u4f7f\u7528[34]\u8fdb\u884c\u5b9e\u9a8c\u3002\u6211\u4eec\u76f4\u63a5\u5728\u76f8\u5e94\u7684\u6570\u636e\u96c6\u4e0a\u4f7f\u7528\u4ed6\u4eec\u7684\u9884\u8bad\u7ec3\u6a21\u578b\u3002\u5728\u5e27t\u4e2d\uff0c3D\u68c0\u6d4b\u6a21\u5757\u7684\u8f93\u51fa\u662f\u4e00\u7ec4\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D t \uff1d { D t 1 , D t 2 , \u22c5 \u22c5 \u22c5 , D t n t } D_t\uff1d\\{D_t^1,D_t^2,\u00b7\u00b7\u00b7,D_t^{nt}\\} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em; vertical-align: -0.25em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord cjk_fallback\">\uff1d<\/span><span class=\"mopen\">{<br \/>\n      <!-- --><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,\u22c5\u22c5\u22c5,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7936em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">n<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">}<\/span><\/span><\/span><\/span><\/span>\uff08nt\u662f\u68c0\u6d4b\u6b21\u6570\uff09\u3002\u6bcf\u4e2a\u68c0\u6d4bDtj\uff0c\u5176\u4e2dj\u2208{1\uff0c2\uff0c\u00b7\u00b7\uff0cn<sub>t<\/sub>}\uff0c\u8868\u793a\u4e3a\u4e00\u4e2a\u5143\u7ec4\uff08x\uff0cy\uff0cz\uff0c\u03b8\uff0cl\uff0cw\uff0ch\uff0cs\uff09\uff0c\u5305\u62ec\u76ee\u6807\u4e2d\u5fc3\u57283D\u7a7a\u95f4\u4e2d\u7684\u4f4d\u7f6e\uff08x\uff0cy\uff0cz\uff09\uff0c\u76ee\u6807\u76843D\u5c3a\u5bf8\uff08l\uff0cw\uff0ch\uff09\uff0c\u822a\u5411\u89d2\u03b8\u548c\u7f6e\u4fe1\u5206\u6570s\u3002\u6211\u4eec\u5c06\u5728\u5b9e\u9a8c\u4e2d\u5c55\u793a\u4e0d\u540c\u76843D\u68c0\u6d4b\u6a21\u5757\u5982\u4f55\u5f71\u54cd\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u7684\u6027\u80fd\u3002<\/p>\n<h3>B. 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff1a\u72b6\u6001\u9884\u6d4b<\/h3>\n<p>\u2003\u2003\u4e3a\u4e86\u9884\u6d4b\u4ece\u524d\u4e00\u5e27\u5230\u5f53\u524d\u5e27\u7684\u76ee\u6807\u8f68\u8ff9\u72b6\u6001\uff0c\u6211\u4eec\u4f7f\u7528\u4e0e\u76f8\u673a\u81ea\u6211\u8fd0\u52a8\u65e0\u5173\u7684\u6052\u5b9a\u901f\u5ea6\u6a21\u578b\u6765\u8fd1\u4f3c\u76ee\u6807\u7684\u5e27\u95f4\u4f4d\u79fb\u3002\u8fd9\u610f\u5473\u7740\u6211\u4eec\u4e0d\u660e\u786e\u5730\u4f30\u8ba1\u81ea\u6211\u8fd0\u52a8\uff0c\u800c\u662f\u4f9d\u9760\u6211\u4eec\u7684\u8fd0\u52a8\u6a21\u578b\u6765\u9002\u5e94\u81ea\u6211\u8fd0\u52a8\u548c\u5176\u4ed6\u76ee\u6807\u7684\u8fd0\u52a8\u3002\u6211\u4eec\u5c06\u76ee\u6807\u8f68\u8ff9\u7684\u72b6\u6001\u8868\u793a\u4e3a11\u7ef4\u5411\u91cfT=\uff08x\uff0cy\uff0cz\uff0c\u03b8\uff0cl\uff0cw\uff0ch\uff0cs\uff0cv<sub>x<\/sub>\uff0cv<sub>y<\/sub>\uff0cv<sub>z<\/sub>\uff09\uff0c\u5176\u4e2d\u9644\u52a0\u53d8\u91cfv<sub>x<\/sub>\uff0cv<sub>y<\/sub>\uff0cv<sub>z<\/sub>\u8868\u793a\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u76ee\u6807\u901f\u5ea6\u3002\u6ce8\u610f\uff0c\u4e3a\u4e86\u7b80\u5355\u8d77\u89c1\uff0c\u6211\u4eec\u6ca1\u6709\u5728\u72b6\u6001\u7a7a\u95f4\u4e2d\u5305\u62ec\u89d2\u901f\u5ea6v<sub>\u03b8<\/sub>\uff0c\u56e0\u4e3a\u6211\u4eec\u7ecf\u9a8c\u53d1\u73b0\uff0c\u5305\u62ec\u89d2\u901f\u5ea6\u5e76\u4e0d\u80fd\u771f\u6b63\u63d0\u9ad8\u6027\u80fd\u3002\u5728\u6bcf\u4e00\u5e27\u4e2d\uff0c\u524d\u4e00\u5e27<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t \u2212 1 \uff1d { T t \u2212 1 1 , T t \u2212 1 2 , \u22c5 \u22c5 \u22c5 , T t \u2212 1 m t \u2212 1 } T_{t-1}\uff1d\\{T_{t-1}^1,T_{t-1}^2,\u00b7\u00b7\u00b7,T_{t-1}^{m_{t-1}}\\} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1387em; vertical-align: -0.3246em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2083em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord cjk_fallback\">\uff1d<\/span><span class=\"mopen\">{<br \/>\n      <!-- --><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.4519em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3064em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.4519em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3064em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,\u22c5\u22c5\u22c5,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.788em;\"><span class=\"\" style=\"top: -2.4337em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1866em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">m<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3173em;\"><span class=\"\" style=\"top: -2.357em; margin-left: 0em; margin-right: 0.0714em;\"><span class=\"pstrut\" style=\"height: 2.5em;\"><\/span><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2025em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3246em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">}<\/span><\/span><\/span><\/span><\/span>\uff08m<sub>t\u22121<\/sub>\u662f\u5e27t-1\u4e2d\u7684\u8f68\u8ff9\u6570\uff09\u7684\u76f8\u5173\u8f68\u8ff9\u72b6\u6001\u5c06\u6839\u636e\u6052\u5b9a\u901f\u5ea6\u6a21\u578b\u4f20\u64ad\u5230\u5e27t\u4f5c\u4e3aT<sub>est<\/sub>\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/2e166fcb9beb4c1f954bc2f786ae63b1.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c2\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c2\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u7ed3\u679c\uff0c\u5bf9\u4e8e<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t \u2212 1 T_{t-1} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8917em; vertical-align: -0.2083em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2083em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e2d\u7684\u6bcf\u4e2a\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t \u2212 1 i T_{t-1}^i <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1311em; vertical-align: -0.3064em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8247em;\"><span class=\"\" style=\"top: -2.4519em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mbin mtight\">\u2212<\/span><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3064em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u5176\u4e2di\u2208{1\uff0c2\uff0c\u00b7\u00b7\uff0cm<sub>t\u22121<\/sub>}\uff0c\u5e27t\u4e2d\u7684\u9884\u6d4b\u72b6\u6001\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T e s t i T_{est}^i <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0717em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8247em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">es<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=\uff08x<sub>est<\/sub>\uff0cy<sub>est<\/sub>\uff0cz<sub>est<\/sub>\uff0c\u03b8\uff0cl\uff0cw\uff0ch\uff0cs\uff0cv<sub>x<\/sub>\uff0cv<sub>y<\/sub>\uff0cv<sub>z<\/sub>\uff09\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/2015c279e0f041928b4bb687723b9cfb.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c3\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c3\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u56fe2. <strong>\u63d0\u8bae\u7684\u7cfb\u7edf\u7ba1\u9053<\/strong>\uff1a\uff08A\uff093D\u68c0\u6d4b\u6a21\u5757\u4eceLiDAR\u70b9\u4e91\u83b7\u5f973D\u68c0\u6d4bD<sub>t<\/sub>\uff1b\uff08B\uff09 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u5728\u72b6\u6001\u9884\u6d4b\u6b65\u9aa4\u671f\u95f4\u9884\u6d4b\u5230\u5f53\u524d\u5e27t\u7684\u8f68\u8ff9T<sub>t\u22121<\/sub>\u7684\u72b6\u6001\u4f5c\u4e3aT<sub>est<\/sub>\uff1b\uff08C\uff09 \u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\u5173\u8054\u68c0\u6d4bD<sub>t<\/sub>\u548c\u9884\u6d4b\u8f68\u8ff9T<sub>est<\/sub>\uff1b\uff08D\uff09 \u57fa\u4e8eD<sub>match<\/sub>\u4e2d\u7684\u5bf9\u5e94\u5339\u914d\u68c0\u6d4b\uff0c\u901a\u8fc73D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u66f4\u65b0T<sub>match<\/sub>\u4e2d\u6bcf\u4e2a\u5339\u914d\u8f68\u8ff9\u7684\u72b6\u6001\uff0c\u4ee5\u83b7\u5f97\u6700\u7ec8\u8f68\u8ff9T<sub>t<\/sub>\uff1b\uff08E\uff09 \u51fa\u751f\u548c\u5e9f\u5f03\u8bb0\u5f55\u5c06\u4e0d\u5339\u914d\u7684\u68c0\u6d4bD<sub>unmatch<\/sub>\u548c\u4e0d\u5339\u914d\u7684\u8f68\u8ff9T<sub>unmatch<\/sub>\u4f5c\u4e3a\u8f93\u5165\uff0c\u5e76\u521b\u5efa\u65b0\u7684\u8f68\u8ff9T<sub>new<\/sub>\u3002<\/p>\n<\/blockquote>\n<h3>C. \u6570\u636e\u5173\u8054<\/h3>\n<p>\u2003\u2003\u4e3a\u4e86\u5c06\u9884\u6d4b\u7684\u8f68\u8ff9T<sub>est<\/sub>\u4e0e\u68c0\u6d4bD<sub>t<\/sub>\u76f8\u5339\u914d\uff0c\u6211\u4eec\u9996\u5148\u901a\u8fc7\u8ba1\u7b97\u6bcf\u5bf9\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T e s t i T^i_{est} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0717em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8247em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">es<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">i<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D t j D^j_t <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1883em; vertical-align: -0.2458em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9426em;\"><span class=\"\" style=\"top: -2.4542em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0572em;\">j<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2458em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e4b\u95f4\u76843D\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u6216\u8d1f\u4e2d\u5fc3\u8ddd\u79bb\u6765\u6784\u5efa\u7ef4\u5ea6\u4e3am<sub>t\u22121<\/sub>\u00d7n<sub>t<\/sub>\u7684\u4eb2\u548c\u77e9\u9635\u3002\u7136\u540e\uff0c\u6570\u636e\u5173\u8054\u6210\u4e3a\u4e00\u4e2a\u4e8c\u5206\u56fe\u5339\u914d\u95ee\u9898\uff0c\u53ef\u4ee5\u4f7f\u7528\u5308\u7259\u5229\u7b97\u6cd5\u5728\u591a\u9879\u5f0f\u65f6\u95f4\u5185\u89e3\u51b3[18]\u3002\u6b64\u5916\uff0c\u5982\u679c3D IoU\u5c0f\u4e8e\u9608\u503cIoU<sub>min<\/sub>\uff08\u6216\u8005\u5982\u679c\u4f7f\u7528\u4e2d\u5fc3\u8ddd\u79bb\u6765\u8ba1\u7b97\u4eb2\u548c\u77e9\u9635\uff0c\u5219\u4e2d\u5fc3\u8ddd\u79bb\u5927\u4e8e\u9608\u503cdist<sub>max<\/sub>\uff09\uff0c\u6211\u4eec\u62d2\u7edd\u5339\u914d\u3002\u6570\u636e\u5173\u8054\u7684\u8f93\u51fa\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/806a03414bb4463c91a3192b2c3445c6.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c4\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c4\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u5176\u4e2dT<sub>match<\/sub>\u548cD<sub>match<\/sub>\u662f\u5339\u914d\u7684\u8f68\u8ff9\u548c\u68c0\u6d4b\uff0cw<sub>t<\/sub>\u8868\u793a\u5339\u914d\u7684\u6570\u91cf\u3002\u6b64\u5916\uff0cT<sub>unmatch<\/sub>\u548cD<sub>unmatch<\/sub>\u662f\u4e0d\u5339\u914d\u7684\u8f68\u8ff9\u548c\u68c0\u6d4b\u3002\u6ce8\u610f\uff0cT<sub>unmatch<\/sub>\u662fT<sub>est<\/sub>\u4e2dT<sub>match<\/sub>\u7684\u4e92\u8865\u96c6\u5408\u3002\u7c7b\u4f3c\u5730\uff0cD<sub>unmatch<\/sub>\u662fD<sub>t<\/sub>\u4e2dD<sub>match<\/sub>\u7684\u4e92\u8865\u96c6\u5408\u3002<\/p>\n<h3>D. 3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff1a\u72b6\u6001\u66f4\u65b0<\/h3>\n<p>\u2003\u2003\u4e3a\u4e86\u89e3\u51b3\u72b6\u6001\u9884\u6d4b\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u6211\u4eec\u57fa\u4e8eD<sub>match<\/sub>\u4e2d\u7684\u6bcf\u4e2a\u8f68\u8ff9\u7684\u76f8\u5e94\u68c0\u6d4b\u6765\u66f4\u65b0T<sub>match<\/sub>\u4e2d\u6bcf\u4e2a\u8f68\u8ff9\u7684\u72b6\u6001\u3002\u7ed3\u679c\uff0c\u6211\u4eec\u83b7\u5f97\u4e86\u5e27t\u4e2d\u7684\u6700\u7ec8\u5173\u8054\u8f68\u8ff9\uff0c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t = { T t 1 \uff0c T t 2 \uff0c \u22c5 \u22c5 \uff0c T t w t } T_t=\\{T_t^1\uff0cT_t^2\uff0c\u00b7\u00b7\uff0cT_t^{wt}\\} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2806em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em;\"><\/span><span class=\"mrel\">=<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em;\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em; vertical-align: -0.25em;\"><\/span><span class=\"mopen\">{<br \/>\n      <!-- --><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord cjk_fallback\">\uff0c<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord cjk_fallback\">\uff0c<\/span><span class=\"mpunct\">\u22c5\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em;\"><\/span><span class=\"mord cjk_fallback\">\uff0c<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7936em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">wt<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">}<\/span><\/span><\/span><\/span><\/span>\u3002\u6839\u636e\u8d1d\u53f6\u65af\u89c4\u5219\uff0c\u6bcf\u4e2a\u8f68\u8ff9\u7684\u66f4\u65b0\u72b6\u6001<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t k T_t^k <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0961em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=\uff08x\u2019\uff0cy\u2019\uff0cz\u2019\uff0c\u03b8\u2019\uff0cl\u2019\uff0cw\u2019\uff0ch\u2019\uff0cs\u2019\uff0cv\u2019<sub>x<\/sub>\uff0cv\u2019<sub>y<\/sub>\uff0cv\u2019<sub>z<\/sub>\uff09\uff0c\u5176\u4e2dk\u2208{1\uff0c2\uff0c\u00b7\u00b7\uff0cw<sub>t<\/sub>}\u662f<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u72b6\u6001\u4e4b\u95f4\u7684\u52a0\u6743\u5e73\u5747\u503c\u3002\u6743\u91cd\u7531\u5339\u914d\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u72b6\u6001\u4e0d\u786e\u5b9a\u6027\u786e\u5b9a\uff08\u8be6\u60c5\u8bf7\u53c2\u8003\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668[17]\uff09\u3002<\/p>\n<p>\u2003\u2003\u6b64\u5916\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\uff0c\u76f4\u63a5\u5c06\u8d1d\u53f6\u65af\u66f4\u65b0\u89c4\u5219\u5e94\u7528\u4e8e\u65b9\u5411\u03b8\u5e76\u4e0d\u80fd\u5f88\u597d\u5730\u5de5\u4f5c\u3002\u4f8b\u5982\uff0c\u53ef\u80fd\u5b58\u5728\u68c0\u6d4b\u65b9\u5411<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e0e\u76f8\u5e94\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u65b9\u5411\u51e0\u4e4e\u76f8\u53cd\u7684\u60c5\u51b5\uff0c\u5373\u76f8\u5dee\u03c0\u3002\u867d\u7136\u6211\u4eec\u77e5\u9053\u8fd9\u662f\u4e0d\u53ef\u80fd\u7684\uff0c\u56e0\u4e3a\u76ee\u6807\u5e94\u8be5\u5e73\u6ed1\u79fb\u52a8\uff0c\u5e76\u4e14\u4e0d\u80fd\u5728\u4e00\u5e27\u5185\u6539\u53d8\u03c0\u7684\u65b9\u5411\uff08\u5373\uff0cKITTI\u4e2d\u76840.1s\uff09\uff0c\u4f46\u662f\u5728\u68c0\u6d4b\u6216\u8f68\u8ff9\u4e2d\u5bf9\u65b9\u5411\u7684\u9884\u6d4b\u53ef\u80fd\u662f\u9519\u8bef\u7684\uff0c\u8fd9\u4f7f\u5f97\u8fd9\u79cd\u60c5\u51b5\u6210\u4e3a\u53ef\u80fd\u3002\u56e0\u6b64\uff0c\u5982\u679c\u6211\u4eec\u9075\u5faa\u6b63\u5e38\u72b6\u6001\u66f4\u65b0\u89c4\u5219\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u6700\u7ec8\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T t k T^k_t <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0961em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u65b9\u5411\u5c06\u4f4d\u4e8e<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u65b9\u5411\u4e2d\u95f4\u7684\u67d0\u4e2a\u4f4d\u7f6e\uff0c\u8fd9\u5c06\u5bfc\u81f4\u76f8\u5173\u8f68\u8ff9\u548c\u5730\u9762\u771f\u76f8\u4e4b\u95f4\u7684\u4f4e3D IoU\u3002\u4e3a\u4e86\u9632\u6b62\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5b9a\u5411\u6821\u6b63\u6280\u672f\u3002\u5f53<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e4b\u95f4\u7684\u65b9\u5411\u03b8<sub>d<\/sub>\u4e4b\u5dee\u5927\u4e8e\u03c0\/2\u65f6\uff0c\u6211\u4eec\u5728<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e2d\u7684\u65b9\u5411\u4e0a\u6dfb\u52a0\u4e00\u4e2a\u03c0\uff0c\u4f7f\u5f97\u03b8<sub>d<\/sub>\u59cb\u7ec8\u5c0f\u4e8e\u03c0\/2\uff0c\u5373<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D m a t c h k D^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T m a t c h k T^k_{match} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.1322em; vertical-align: -0.2831em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8491em;\"><span class=\"\" style=\"top: -2.4169em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0315em;\">k<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2831em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u65b9\u5411\u5927\u81f4\u4e00\u81f4\uff0c\u6ca1\u6709\u5b9e\u8d28\u6027\u53d8\u5316\u3002<\/p>\n<h3>E. \u51fa\u751f\u548c\u5e9f\u5f03\u8bb0\u5f55<\/h3>\n<p>\u2003\u2003\u7531\u4e8e\u88ab\u8ddf\u8e2a\u7684\u76ee\u6807\u53ef\u80fd\u4f1a\u79bb\u5f00\u573a\u666f\uff0c\u65b0\u76ee\u6807\u53ef\u80fd\u4f1a\u8fdb\u5165\u573a\u666f\uff0c\u56e0\u6b64\u9700\u8981\u4e00\u4e2a\u6a21\u5757\u6765\u7ba1\u7406\u76ee\u6807\u7684\u51fa\u751f\u548c\u5e9f\u5f03\u3002\u4e00\u65b9\u9762\uff0c\u6211\u4eec\u5c06\u6240\u6709\u672a\u5339\u914d\u7684\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D u n m a t c h D_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u89c6\u4e3a\u8fdb\u5165\u573a\u666f\u7684\u6f5c\u5728\u65b0\u76ee\u6807\u3002\u7136\u800c\uff0c\u4e3a\u4e86\u907f\u514d\u521b\u5efa\u5047\u9633\u6027\u8f68\u8ff9\uff0c\u5c06\u4e0d\u4f1a\u4e3a\u672a\u5339\u914d\u7684\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D u n m a t c h p D^p_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u521b\u5efa\u65b0\u7684\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T n e w p T^p_{new} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.9303em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6644em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">n<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0269em;\">w<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u76f4\u5230\u5728\u4e0b\u4e00\u4e2a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> B i r m i n Bir_{min} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em; vertical-align: -0.15em;\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em;\">B<\/span><span class=\"mord mathnormal\">i<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3117em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">min<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u5e27\u4e2d\u8fde\u7eed\u5339\u914d<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D u n m a t c h p D^p_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \uff0c\u5176\u4e2dp\u2208{1\uff0c2\uff0c\u00b7\u00b7\uff0cn<sub>t<\/sub>\u2212w<sub>t<\/sub>}\u3002\u4e00\u65e6\u521b\u5efa\u4e86\u65b0\u7684\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T n e w p T^p_{new} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.9303em; vertical-align: -0.247em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.6644em;\"><span class=\"\" style=\"top: -2.453em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">n<\/span><span class=\"mord mathnormal mtight\">e<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0269em;\">w<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.063em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.247em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u6211\u4eec\u5c06\u5176\u72b6\u6001\u521d\u59cb\u5316\u4e3a\u4e0ev<sub>x<\/sub>\u3001v<sub>y<\/sub>\u548cv<sub>z<\/sub>\u7684\u901f\u5ea6\u4e3a\u96f6\u7684\u6700\u8fd1\u68c0\u6d4b<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> D u n m a t c h p D^p_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em;\">D<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.0278em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">p<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u76f8\u540c\u3002<\/p>\n<p>\u2003\u2003\u53e6\u4e00\u65b9\u9762\uff0c\u6211\u4eec\u5c06\u6240\u6709\u4e0d\u5339\u914d\u7684\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T u n m a t c h T_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em; vertical-align: -0.15em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em;\"><span class=\"\" style=\"top: -2.55em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u89c6\u4e3a\u79bb\u5f00\u573a\u666f\u7684\u6f5c\u5728\u76ee\u6807\u3002\u7136\u800c\uff0c\u4e3a\u4e86\u9632\u6b62\u5220\u9664\u4ecd\u7136\u5b58\u5728\u4e8e\u573a\u666f\u4e2d\u4f46\u7531\u4e8e\u7f3a\u5c11\u68c0\u6d4b\u800c\u65e0\u6cd5\u627e\u5230\u5339\u914d\u7684\u771f\u5b9e\u6b63\u8f68\u8ff9\uff0c\u6211\u4eec\u5728\u786e\u4fdd<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T u n m a t c h q T^q_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em;\">q<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u662f\u6d88\u5931\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T l o s t q T^q_{lost} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em;\">l<\/span><span class=\"mord mathnormal mtight\">os<\/span><span class=\"mord mathnormal mtight\">t<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em;\">q<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e4b\u524d\uff0c\u7ee7\u7eed\u8ddf\u8e2a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> A g e m a x Age_{max} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8778em; vertical-align: -0.1944em;\"><\/span><span class=\"mord mathnormal\">A<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em;\">g<\/span><span class=\"mord\"><span class=\"mord mathnormal\">e<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em;\"><span class=\"\" style=\"top: -2.55em; margin-left: 0em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">ma<\/span><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u5e27\u7684\u6bcf\u4e2a\u4e0d\u5339\u914d\u8f68\u8ff9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"> T u n m a t c h q T^q_{unmatch} <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1.0836em; vertical-align: -0.3013em;\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em;\">T<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.7823em;\"><span class=\"\" style=\"top: -2.3987em; margin-left: -0.1389em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">u<\/span><span class=\"mord mathnormal mtight\">nma<\/span><span class=\"mord mathnormal mtight\">t<\/span><span class=\"mord mathnormal mtight\">c<\/span><span class=\"mord mathnormal mtight\">h<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.1809em; margin-right: 0.05em;\"><span class=\"pstrut\" style=\"height: 2.7em;\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em;\">q<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3013em;\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\uff0c\u5176\u4e2dq\u2208{1\uff0c2\uff0c\u00b7\u00b7\uff0cm<sub>t\u22121<\/sub>\u2212w<sub>t<\/sub>}\uff0c\u5e76\u5c06\u5176\u4ece\u5173\u8054\u8f68\u8ff9\u96c6\u5408\u4e2d\u5220\u9664\u3002\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u53ef\u4ee5\u5728\u4e0d\u5220\u9664\u7684\u60c5\u51b5\u4e0b\u63d2\u5165\u5177\u6709\u7f3a\u5931\u68c0\u6d4b\u7684\u771f\u5b9e\u6b63\u8f68\u8ff9\uff0c\u5e76\u4e14\u53ea\u5220\u9664\u79bb\u5f00\u573a\u666f\u7684\u8f68\u8ff9\u3002<\/p>\n<h2>4. \u65b0\u578b3D MOT\u8bc4\u4f30\u5de5\u5177<\/h2>\n<p>\u2003\u2003\u4f5c\u4e3a\u5f00\u521b\u6027\u76843D MOT\u57fa\u51c6\uff0cKITTI[9]\u6570\u636e\u96c6\u5bf93D MOT\u7cfb\u7edf\u7684\u8fdb\u5c55\u81f3\u5173\u91cd\u8981\u3002\u5c3d\u7ba1KITTI\u6570\u636e\u96c6\u63d0\u4f9b\u4e863D\u76ee\u6807\u8f68\u8ff9\uff0c\u4f46\u5b83\u4ec5\u652f\u63012D MOT\u8bc4\u4f30\uff0c\u5373\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u8bc4\u4f30\uff0c\u5e76\u4e14\u76ee\u524d\u8fd8\u6ca1\u6709\u76f4\u63a5\u57283D\u7a7a\u95f4\u4e2d\u8bc4\u4f303D MOT\u7cfb\u7edf\u7684\u5de5\u5177\u3002\u5728KITTI\u6570\u636e\u96c6\u4e0a\uff0c\u8bc4\u4f303D MOT\u7cfb\u7edf\u7684\u5f53\u524d\u60ef\u4f8b\u662f\u5c063D\u8ddf\u8e2a\u7ed3\u679c\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\uff0c\u7136\u540e\u4f7f\u7528KITTI 2D MOT\u8bc4\u4f30\u5de5\u5177\uff0c\u8be5\u5de5\u5177\u4f7f\u75282D IoU\u4f5c\u4e3a\u6210\u672c\u51fd\u6570\uff0c\u5c06\u6295\u5f71\u7684\u8ddf\u8e2a\u7ed3\u679c\u4e0e\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u771f\u503c\u8f68\u8ff9\u76f8\u5339\u914d\u3002\u7136\u800c\uff0c\u6211\u4eec\u8ba4\u4e3a\u8fd9\u5c06\u963b\u788d3D MOT\u7cfb\u7edf\u7684\u672a\u6765\u53d1\u5c55\uff0c\u56e0\u4e3a\u5728\u56fe\u50cf\u5e73\u9762\u4e0a\u8fdb\u884c\u8bc4\u4f30\u65e0\u6cd5\u63d0\u4f9b3D MOT\u7684\u516c\u5e73\u6bd4\u8f83\u3002\u4f8b\u5982\uff0c\u8f93\u51fa\u5177\u6709\u9519\u8bef\u6df1\u5ea6\u4f30\u8ba1\u548c\u4f4e3D IoU\u4ee5\u53ca\u771f\u503c\u76843D\u8f68\u8ff9\u7684\u7cfb\u7edf\u4ecd\u7136\u53ef\u4ee5\u57282D MOT\u8bc4\u4f30\u4e2d\u83b7\u5f97\u9ad8\u6027\u80fd\uff0c\u53ea\u89813D\u8f68\u8ff9\u8f93\u51fa\u5728\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u6295\u5f71\u4e0e\u56fe\u50cf\u5e73\u9762\u4e0a\u7684\u771f\u503c\u5177\u6709\u9ad82D IoU\u3002<\/p>\n<p>\u2003\u2003\u4e3a\u4e86\u63d0\u4f9b3D MOT\u7cfb\u7edf\u7684\u516c\u5e73\u6bd4\u8f83\uff0c\u6211\u4eec\u5bf9KITTI 2D MOT\u8bc4\u4f30\u5de5\u5177\u8fdb\u884c\u4e86\u6269\u5c55\uff0c\u7528\u4e8e3D MOT\u8bc4\u4f30\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u5c06\u6210\u672c\u51fd\u6570\u4ece2D IoU\u4fee\u6539\u4e3a3D IoU\uff0c\u5e76\u5c063D\u8ddf\u8e2a\u7ed3\u679c\u4e0e3D\u7a7a\u95f4\u4e2d\u76843D\u771f\u503c\u8f68\u8ff9\u76f4\u63a5\u5339\u914d\u3002\u8fd9\u6837\uff0c\u6211\u4eec\u5c31\u4e0d\u518d\u9700\u8981\u5c063D\u8ddf\u8e2a\u7ed3\u679c\u6295\u5f71\u5230\u56fe\u50cf\u5e73\u9762\u4e0a\u8fdb\u884c\u8bc4\u4f30\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u88ab\u8ddf\u8e2a\u7684\u76ee\u6807\uff0c\u5176\u4e0e\u771f\u503c\u76843D IoU\u5fc5\u987b\u9ad8\u4e8e\u9608\u503cIoU<sub>thres<\/sub>\uff08\u6216\u4e2d\u5fc3\u8ddd\u79bb\u5fc5\u987b\u4f4e\u4e8e\u9608\u503cDist<sub>thres<\/sub>\uff09\uff0c\u624d\u80fd\u88ab\u89c6\u4e3a\u6210\u529f\u5339\u914d\u3002\u867d\u7136\u6211\u4eec\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u7684\u6269\u5c55\u5f88\u7b80\u5355\uff0c\u4f46\u6211\u4eec\u5e0c\u671b\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u8bc4\u4f30\u672a\u67653D MOT\u7cfb\u7edf\u7684\u6807\u51c6\u3002<\/p>\n<h2>5. \u65b0\u7684MOT\u8bc4\u4f30\u6307\u6807<\/h2>\n<h3>A. CLEAR\u6307\u6807\u7684\u9650\u5236<\/h3>\n<p>\u2003\u2003\u4f20\u7edf\u7684MOT\u8bc4\u4f30\u57fa\u4e8eCLEAR\u6307\u6807[35]\uff0c\u5982MOTA\uff08\u8be6\u89c1\u7b2cVI-A\u8282\uff09\u3001MOTP\u3001FP\u3001FN\u3001\u7cbe\u5ea6\u3001F1\u5f97\u5206\u3001IDS\u3001FRAG\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u5ea6\u91cf\u4e2d\u6ca1\u6709\u4e00\u4e2a\u660e\u786e\u8003\u8651\u76ee\u6807\u7684\u7f6e\u4fe1\u5ea6\u5206\u6570s\u3002\u6362\u53e5\u8bdd\u8bf4\uff0cCLEAR\u5ea6\u91cf\u8003\u8651\u5177\u6709\u76f8\u540c\u7f6e\u4fe1\u5ea6s=1\u7684\u6240\u6709\u76ee\u6807\u8f68\u8ff9\uff0c\u8fd9\u662f\u4e00\u4e2a\u4e0d\u5408\u7406\u7684\u5047\u8bbe\uff0c\u56e0\u4e3a\u53ef\u80fd\u5b58\u5728\u8bb8\u591a\u5177\u6709\u4f4e\u7f6e\u4fe1\u5ea6\u5206\u6570\u7684\u5047\u9633\u6027\u8f68\u8ff9\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u51cf\u5c11\u8bef\u62a5\u7684\u6570\u91cf\u5e76\u5b9e\u73b0\u8f83\u9ad8\u7684MOTA\uff08MOTA\u662f\u5927\u591a\u6570MOT\u57fa\u51c6\u4e2d\u6392\u540d\u7684\u4e3b\u8981\u6307\u6807\u3002\uff09\uff0c\u7528\u6237\u5fc5\u987b\u624b\u52a8\u9009\u62e9\u9608\u503c\uff0c\u5e76\u5728\u63d0\u4ea4\u7ed3\u679c\u8fdb\u884c\u8bc4\u4f30\u4e4b\u524d\u8fc7\u6ee4\u6389\u7f6e\u4fe1\u5206\u6570\u4f4e\u4e8e\u9608\u503c\u7684\u8ddf\u8e2a\u76ee\u6807\u3002\u6211\u4eec\u5bf9\u4e0a\u8ff0\u8bc4\u4f30\u7684\u89c2\u5bdf\u7ed3\u679c\u6709\u4e24\u4e2a\u65b9\u9762\uff1a\uff081\uff09\u4e3a3D MOT\u7cfb\u7edf\u9009\u62e9\u6700\u4f73\u9608\u503c\u9700\u8981\u7528\u6237\u4ed8\u51fa\u4e0d\u5c0f\u7684\u52aa\u529b\uff0c\u5982\u679c3D MOT\u6539\u53d8\u5176\u8f93\u5165\u68c0\u6d4b\u6216\u5728\u4e0d\u540c\u7684\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u8bc4\u4f30\uff0c\u5219\u7f6e\u4fe1\u9608\u503c\u53ef\u80fd\u4f1a\u663e\u8457\u4e0d\u540c\u3002\u56e0\u6b64\uff0c\u7528\u6237\u5fc5\u987b\u5bf9\u9a8c\u8bc1\u96c6\u8fdb\u884c\u5927\u91cf\u5b9e\u9a8c\uff0c\u4ee5\u8c03\u6574\u7f6e\u4fe1\u9608\u503c\uff1b\uff082\uff09 \u4f7f\u7528\u5355\u4e2a\u7f6e\u4fe1\u9608\u503c\u8fdb\u884c\u8bc4\u4f30\u963b\u6b62\u4e86\u6211\u4eec\u7406\u89e33D MOT\u7cfb\u7edf\u7684\u6027\u80fd\u5982\u4f55\u4f5c\u4e3a\u9608\u503c\u7684\u51fd\u6570\u800c\u53d8\u5316\u3002\u4e8b\u5b9e\u4e0a\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\u4e0d\u540c\u7684\u7f6e\u4fe1\u9608\u503c\u4f1a\u663e\u8457\u5f71\u54cdCLEAR\u5ea6\u91cf\u7684\u6027\u80fd\u3002\u4f8b\u5982\uff0c\u6211\u4eec\u4f7f\u7528KITTI MOT\u6570\u636e\u96c6\u7684\u6c7d\u8f66\u5b50\u96c6\u7684\u6570\u636e\uff0c\u5728\u56fe3\u4e2d\u663e\u793a\u4e86\u6211\u4eec\u7684\u7cfb\u7edf\u5728\u4e0d\u540c\u9608\u503c\u4e0b\u7684\u4e09\u4e2a\u6307\u6807\u4e0a\u7684\u6027\u80fd\u3002\u4e3a\u4e86\u751f\u6210\u7ed3\u679c\uff0c\u6211\u4eec\u9996\u5148\u57fa\u4e8e\u7f6e\u4fe1\u5ea6\u5f97\u5206s\uff08\u6211\u4eec\u5c06\u76ee\u6807\u8f68\u8ff9\u7684\u7f6e\u4fe1\u5206\u6570\u5b9a\u4e49\u4e3a\u5176\u5728\u6240\u6709\u5e27\u4e2d\u7684\u7f6e\u4fe1\u5206\u6570\u7684\u5e73\u5747\u503c\u3002\uff09\u5bf9\u8ddf\u8e2a\u7ed3\u679c\u8fdb\u884c\u6392\u5e8f\u3002\u7136\u540e\uff0c\u6211\u4eec\u5b9a\u4e49\u4e86\u4e00\u7ec4\u57fa\u4e8e0\u52301\u4e4b\u95f4\u7684\u7cfb\u7edf\u53ec\u56de\u7684\u7f6e\u4fe1\u9608\u503c\uff0c\u95f4\u9694\u4e3a0.025\u3002\u8fd9\u5bfc\u81f440\u4e2a\u7f6e\u4fe1\u9608\u503c\uff0c\u4e0d\u5305\u62ec\u5bf9\u5e94\u4e8e\u53ec\u56de0\u7684\u7f6e\u4fe1\u9608\u503c\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u7f6e\u4fe1\u9608\u503c\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528\u7f6e\u4fe1\u5ea6\u9ad8\u4e8e\u9608\u503c\u7684\u8f68\u8ff9\u6765\u8bc4\u4f30\u7ed3\u679c\u3002\u6211\u4eec\u8868\u660e\uff0c\u5728\u56fe3\uff08a\uff09\u4e2d\uff0c\u7f6e\u4fe1\u9608\u503c\u4e0d\u5e94\u8be5\u5f88\u5c0f\uff08\u53ec\u56de\u7387\u4e0d\u662f\u5f88\u9ad8\uff09\uff0c\u56e0\u4e3a\u8bef\u62a5\u7684\u6570\u91cf\u4f1a\u6025\u5267\u589e\u52a0\uff0c\u7279\u522b\u662f\u5f53\u53ec\u56de\u7387\u8fbe\u52300.95\u65f6\u3002\u6b64\u5916\uff0c\u5728\u56fe3\uff08b\uff09\u4e2d\uff0c\u7f6e\u4fe1\u9608\u503c\u4e0d\u5e94\u8be5\u5f88\u5927\uff0c\u5373\u53ec\u56de\u4e0d\u5e94\u8be5\u5f88\u5c0f\uff0c\u56e0\u4e3a\u5b83\u4f1a\u5bfc\u81f4\u5927\u91cf\u7684\u5047\u9634\u6027\u3002\u7ed3\u679c\uff0c\u5728\u56fe3\uff08c\uff09\u4e2d\uff0c\u6211\u4eec\u89c2\u5bdf\u5230\uff0c\u53ea\u6709\u5f53\u6211\u4eec\u9009\u62e9\u4e0e0.9\u7684\u53ec\u56de\u76f8\u5bf9\u5e94\u7684\u7f6e\u4fe1\u9608\u503c\u65f6\uff0c\u624d\u80fd\u83b7\u5f97\u6700\u9ad8\u7684MOTA\u503c\uff0c\u8be5\u9608\u503c\u5e73\u8861\u4e86\u5047\u9633\u6027\u548c\u5047\u9634\u6027\u3002<\/p>\n<p>\u2003\u2003\u57fa\u4e8e\u4e0a\u8ff0\u89c2\u5bdf\u7ed3\u679c\uff0c\u6211\u4eec\u8ba4\u4e3a\uff0c\u4f7f\u7528\u5355\u4e00\u7f6e\u4fe1\u9608\u503c\u8fdb\u884c\u8bc4\u4f30\u9700\u8981\u7528\u6237\u4ed8\u51fa\u4e0d\u5c0f\u7684\u52aa\u529b\uff0c\u66f4\u91cd\u8981\u7684\u662f\uff0c\u8fd9\u4f1a\u59a8\u788d\u6211\u4eec\u7406\u89e3MOT\u7cfb\u7edf\u7684\u5168\u65b9\u4f4d\u51c6\u786e\u6027\u3002\u4e00\u4e2a\u7ed3\u679c\u662f\uff0c\u4e00\u4e2aMOT\u7cfb\u7edf\u5728\u5355\u4e2a\u9608\u503c\u4e0a\u5177\u6709\u9ad8MOTA\uff0c\u800c\u5728\u5176\u4ed6\u9608\u503c\u4e0a\u5177\u6709\u4f4eMOTA\uff0c\u4ecd\u7136\u53ef\u4ee5\u5728\u6392\u884c\u699c\u4e0a\u6392\u540d\u9760\u524d\u3002\u4f46\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u5e94\u8be5\u81f4\u529b\u4e8e\u5f00\u53d1\u5728\u591a\u4e2a\u9608\u503c\u4e0a\u5b9e\u73b0\u9ad8MOTA\u7684MOT\u7cfb\u7edf\uff0c\u5373\u5728\u4f7f\u7528\u4e0d\u540c\u68c0\u6d4b\u4f5c\u4e3a\u8f93\u5165\u65f6\u5b9e\u73b0\u9ad8\u6027\u80fd\u76843D MOT\u7cfb\u7edf\u3002\u5148\u524d\u7684\u5de5\u4f5c[36]\u4e0e\u6211\u4eec\u6709\u7740\u76f8\u540c\u7684\u7cbe\u795e\uff0c\u56e0\u4e3a[36]\u4e5f\u8ba4\u4e3a\u4e86\u89e3MOT\u7cfb\u7edf\u5728\u8bb8\u591a\u64cd\u4f5c\u70b9\u7684\u6027\u80fd\u975e\u5e38\u91cd\u8981\u3002\u5177\u4f53\u800c\u8a00\uff0c[36]\u5728\u4e0d\u540c\u7684\u53ec\u56de\u548c\u7cbe\u5ea6\u503c\u4e0b\u8ba1\u7b97MOTA\u77e9\u9635\uff0c\u7c7b\u4f3c\u4e8e\u6211\u4eec\u7684MOTA-over-recall\u66f2\u7ebf\u3002\u533a\u522b\u5728\u4e8e\uff0c\u6211\u4eec\u8fd8\u63d0\u51fa\u4e86\u79ef\u5206\u5ea6\u91cf\uff08\u89c1\u7b2cV-B\u8282\uff09\uff0c\u5c06\u591a\u4e2a\u64cd\u4f5c\u70b9\u7684\u6027\u80fd\u6c47\u603b\u4e3a\u5355\u4e2a\u6807\u91cf\uff0c\u4ee5\u4fbf\u4e8e\u6bd4\u8f83\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/37aa3745fdc44c1abef3240e6af9056a.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c5\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c5\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u56fe3. <strong>\uff08a\uff09\uff08b\uff09\uff08c\uff09\u7f6e\u4fe1\u9608\u503c\u5bf9CLEAR\u5ea6\u91cf\u7684\u5f71\u54cd<\/strong>\uff1aMOTA\u3001FN\u548cFP\u3002\u6211\u4eec\u4f7f\u7528\u6240\u63d0\u51fa\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u5728KITTI\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u4e86\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u3002\u6211\u4eec\u8868\u660e\uff0c\u4e3a\u4e86\u5b9e\u73b0\u6700\u9ad8\u7684MOTA\uff0c\u9700\u8981\u9009\u62e9\u9002\u5f53\u7684\u7f6e\u4fe1\u9608\u503c\uff0c\u5426\u5219\u7531\u4e8e\u5927\u91cf\u7684\u5047\u9633\u6027\u6216\u5047\u9634\u6027\uff0cMOTA\u7684\u6027\u80fd\u5c06\u663e\u8457\u964d\u4f4e\u3002\uff08d\uff09 <strong>MOTA\u4e2d\u5c3a\u5ea6\u8c03\u6574\u7684\u6548\u679c<\/strong>\uff1a\u6240\u63d0\u51fa\u7684\u5c3a\u5ea6\u7cbe\u5ea6sMOTA\u5728\u4efb\u4f55\u53ec\u56de\u503c\u4e0b\u90fd\u5177\u6709100%\u7684\u4e0a\u9650\u3002<\/p>\n<\/blockquote>\n<h3>B. \u79ef\u5206\u6307\u6807\uff1aAMOTA\u548cAMOTP<\/h3>\n<p>\u2003\u2003\u4e3a\u4e86\u89e3\u51b3\u5f53\u524dMOT\u8bc4\u4f30\u6307\u6807\u4e0d\u8003\u8651\u7f6e\u4fe1\u5ea6\uff0c\u4ec5\u5728\u5355\u4e2a\u9608\u503c\u8fdb\u884c\u8bc4\u4f30\u7684\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e24\u4e2a\u7efc\u5408\u6307\u6807\u2014\u2014AMOTA\u548cAMOTP\uff08\u5e73\u5747MOTA\u548cMOTP\uff09\u2014\u2014\u4ee5\u603b\u7ed3MOTA\u548cMOTP\u5728\u591a\u4e2a\u9608\u503c\u4e0a\u7684\u8868\u73b0\u3002AMOTA\u548cAMOTP\u662f\u901a\u8fc7\u5728\u6240\u6709\u53ec\u56de\u503c\u4e0a\u6574\u5408MOTA\u548cMOTP\u503c\u6765\u8ba1\u7b97\u7684\uff0c\u4f8b\u5982\uff0c\u7528\u4e8e\u8ba1\u7b97AMOTA\u7684MOTA-over-recal\u66f2\u7ebf\u4e0b\u7684\u9762\u79ef\u3002\u4e0e\u5176\u4ed6\u79ef\u5206\u5ea6\u91cf\uff08\u5982\u76ee\u6807\u68c0\u6d4b\u4e2d\u4f7f\u7528\u7684\u5e73\u5747\u7cbe\u5ea6\uff09\u7c7b\u4f3c\uff0c\u6211\u4eec\u4f7f\u7528\u79bb\u6563\u53ec\u56de\u503c\u96c6\u5408\u7684\u603b\u548c\u6765\u8fd1\u4f3c\u79ef\u5206\u3002\u5177\u4f53\u800c\u8a00\uff0c\u7ed9\u5b9a[35]\u4e2dMOTA\u5ea6\u91cf\u7684\u539f\u59cb\u5b9a\u4e49\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/31618d00c61d414095b89abe12f6e849.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c6\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c6\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u5176\u4e2dnum<sub>gt<\/sub>\u662f\u6240\u6709\u5e27\u4e2d\u7684\u771f\u503c\u76ee\u6807\u7684\u6570\u91cf\u3002AMOTA\u7684\u5b9a\u4e49\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/4f6b759d3e3d45b0959b92a8fd34444e.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c7\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c7\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u5176\u4e2dFPr\u3001FNr\u548cIDSr\u662f\u5728\u7279\u5b9a\u53ec\u56de\u503cr\u4e0b\u8ba1\u7b97\u7684\u5047\u9633\u6027\u3001\u5047\u9634\u6027\u548c\u8eab\u4efd\u5207\u6362\u7684\u6570\u91cf\u3002\u6b64\u5916\uff0cL\u662f\u53ec\u56de\u503c\u7684\u6570\u91cf\uff08\u79ef\u5206\u7684\u7f6e\u4fe1\u9608\u503c\u7684\u6570\u91cf\uff09\u3002L\u8d8a\u9ad8\uff0c\u8fd1\u4f3c\u79ef\u5206\u5c31\u8d8a\u7cbe\u786e\u3002\u7136\u800c\uff0c\u5927L\u9700\u8981\u5728\u8bc4\u4f30\u671f\u95f4\u8fdb\u884c\u5927\u91cf\u8ba1\u7b97\u3002\u4e3a\u4e86\u5e73\u8861\u51c6\u786e\u5ea6\u548c\u901f\u5ea6\uff0c\u6211\u4eec\u4f7f\u7528\u4e8640\u4e2a\u53ec\u56de\u503c\uff08\u5373\uff0c\u4ece0%\u5230100%\uff0c\u95f4\u9694\u4e3a2.5%\uff0c\u4e0d\u5305\u62ec0%\uff09\uff0c\u5373L=40\u3002\u5bf9\u4e8e\u6700\u5927\u53ec\u56de\u7387\u5c0f\u4e8e100%\u76843D MOT\u7cfb\u7edf\uff0c\u8d85\u8fc7r<sub>m<\/sub>\u7684\u96c6\u6210MOTA\u503c\u4e3a0\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u6307\u6807\u504f\u5411\u4e8e\u9ad8\u53ec\u56de\u7387\u7cfb\u7edf\u3002\u6211\u4eec\u8ba4\u4e3a\uff0c\u8fd9\u79cd\u504f\u5dee\u662f\u53ef\u4ee5\u63a5\u53d7\u7684\uff0c\u56e0\u4e3a\u5728\u5b9e\u8df5\u4e2d\uff0c\u5177\u6709\u9ad8\u53ec\u56de\u7387\u5bf9\u4e8e\u9632\u6b62\u81ea\u52a8\u7cfb\u7edf\u7684\u78b0\u649e\u81f3\u5173\u91cd\u8981\u3002\u6ce8\u610f\uff0c\u6211\u4eec\u63d0\u51fa\u7684AMOTA\u5ea6\u91cf\u7c7b\u4f3c\u4e8e\u72ec\u7acb\u5de5\u4f5c[37]\u4e2d\u63d0\u51fa\u7684PR-MOTA\u5ea6\u91cf\u3002<\/p>\n<h3>C. \u7f29\u653e\u7cbe\u5ea6\u5ea6\u91cf\uff1asAMOTA<\/h3>\n<p>\u2003\u2003\u4f20\u7edf\u4e0a\uff0c\u8bf8\u5982\u5e73\u5747\u7cbe\u5ea6\u7684\u79ef\u5206\u5ea6\u91cf\u662f\u4ece0%\u5230100%\u7684\u767e\u5206\u6bd4\uff0c\u56e0\u6b64\u5f88\u5bb9\u6613\u6d4b\u91cf\u7cfb\u7edf\u7684\u7edd\u5bf9\u6027\u80fd\u3002\u4e3a\u4e86\u786e\u4fdd\u79ef\u5206\u5ea6\u91cf\u7684\u8303\u56f4\u57280%\u548c100%\u4e4b\u95f4\uff0c\u5728\u6bcf\u4e2a\u64cd\u4f5c\u70b9\u7528\u4e8e\u8ba1\u7b97\u79ef\u5206\u5ea6\u91cf\u7684\u5ea6\u91cf\u4e5f\u5e94\u57280%\u5230100%\u4e4b\u95f4\u3002\u7136\u800c\uff0c\u6211\u4eec\u5728\u56fe3\uff08c\uff09\u4e2d\u89c2\u5bdf\u5230\uff0c\u5728\u8bb8\u591a\u53ec\u56de\u503c\u4e0b\uff0cMOTA\u53ef\u80fd\u5177\u6709\u4f4e\u4e8e100%\u7684\u4e25\u683c\u4e0a\u9650\u3002\u4e8b\u5b9e\u4e0a\uff0c\u7279\u5b9a\u53ec\u56de\u503cr\u4e0b\u7684MOTA\u4e0a\u9650\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/7d1b93f75eea48cc8af1c0363769a0a2.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c8\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c8\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u7b2c\u4e00\u4e2a\u4e0d\u7b49\u5f0f\u662f\u771f\u7684\uff0c\u56e0\u4e3a\u5047\u9633\u6027FPr\u548c\u8eab\u4efd\u5207\u6362IDSr\u603b\u662f\u975e\u8d1f\u7684\u3002\u6b64\u5916\uff0c\u7b2c\u4e8c\u4e2a\u4e0d\u7b49\u5f0f\u4f7f\u7528\u4e86FNr\u2265num<sub>gt<\/sub>\u00d7\uff081\u2212r\uff09\u7684\u4e8b\u5b9e\uff0c\u56e0\u4e3a\u5982\u679c\u53ec\u56de\u662fr\uff0c\u5219\u610f\u5473\u7740\u81f3\u5c11\uff081\u2212r\uff09\u7684\u603b\u76ee\u6807\uff08num<sub>gt<\/sub>\uff09\u6ca1\u6709\u88ab\u8ddf\u8e2a\u3002\u5982\u679cr\u662fMOTAr\u4e0a\u7684\u4e0a\u754c\uff0c\u5219\u79ef\u5206\u5ea6\u91cfAMOTA\u7684\u4e0a\u754c\u4e3a50%\uff08\u5373\uff0c\u4e0a\u754cr\u5728MOTA vs Recall\u66f2\u7ebf\u4e2d\u521b\u5efa\u4e09\u89d2\u5f62\uff09\u3002<\/p>\n<p>\u2003\u2003\u4e3a\u4e86\u4f7f\u79ef\u5206\u5ea6\u91cfAMOTA\u7684\u503c\u4ece0%\u5230100%\uff0c\u6211\u4eec\u9700\u8981\u7f29\u653eMOTAr\u7684\u8303\u56f4\u3002\u4ece\u7b49\u5f0f8\u4e2d\uff0c\u6211\u4eec\u53d1\u73b0MOTAr\u5177\u6709\u4e25\u683c\u7684r\u4e0a\u754c\u7684\u539f\u56e0\u662fFNr\u2265num<sub>gt<\/sub>\u00d7\uff081\u2212r\uff09\u3002\u4e3a\u4e86\u8c03\u6574MOTAr\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e24\u4e2a\u65b0\u7684\u5ea6\u91cf\uff0c\u79f0\u4e3asMOTA\uff08\u7f29\u653eMOTA\uff09\u548csAMOTA\uff08\u7f29\u653eAMOTA\uff09\uff0c\u5176\u5b9a\u4e49\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/00aff26e45a74061b1bad4b32b3c9d57.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c9\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c9\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u901a\u8fc7\u4ece\u5206\u5b50\u4e2d\u7684FNr\u4e2d\u51cf\u53bb\u76ee\u6807\u6570num<sub>gt<\/sub>\u00d7\uff081\u2212r\uff09\uff0c\u6240\u63d0\u51fa\u7684sMOTAr\u73b0\u5728\u4e0a\u9650\u4e3a100%\uff0c\u5bfc\u81f4sAMOTA\u4e5f\u4e0a\u9650\u4e3a100%\u3002\u6ce8\u610f\uff0c\u6211\u4eec\u8fd8\u5728\u5206\u6bcd\u4e2d\u6dfb\u52a0\u4e86\u6807\u91cf\u56e0\u5b50r\uff0c\u56e0\u4e3a\u6211\u4eec\u8ba4\u4e3a\u4f7f\u7528\u53ec\u56de\u503c\u4e3ar\uff08\u5373\uff0cr\u00d7num<sub>gt<\/sub>\uff09\u65f6\u53ef\u7528\u7684\u771f\u503c\u76ee\u6807\u7684\u5b9e\u9645\u6570\u91cf\u6bd4\u4f7f\u7528\u76ee\u6807\u603b\u6570num<sub>gt<\/sub>\u66f4\u6709\u610f\u4e49\uff0c\u5176\u4e2d\u4e00\u4e9b\u751a\u81f3\u5728\u53ec\u56de\u503c\u4e3ar\u65f6\u65e0\u6cd5\u8ddf\u8e2a\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5728\u7b49\u5f0f9\u4e2d\u6dfb\u52a0\u4e86\u4e00\u4e2a\u8d85\u8fc7\u96f6\u7684\u6700\u5927\u8fd0\u7b97\uff0c\u8fd9\u662f\u5c06sMOTAr\u7684\u4e0b\u9650\u8c03\u6574\u4e3a\u96f6\u3002\u5426\u5219\uff0c\u5982\u679c\u5b58\u5728\u8bb8\u591a\u8bef\u62a5\u6216\u8eab\u4efd\u5207\u6362\uff0csMOTAr\u53ef\u80fd\u63a5\u8fd1\u8d1f\u503c\u3002\u7ed3\u679c\uff0c\u5982\u56fe3\uff08d\uff09\u6240\u793a\uff0c\u7b49\u5f0f9\u4e2d\u63d0\u51fa\u7684sMOTAr\u7684\u8303\u56f4\u53ef\u4ee5\u57280%\u548c100%\u4e4b\u95f4\uff0c\u8fd9\u4e5f\u5bfc\u81f4\u76f8\u5e94\u7684\u79ef\u5206\u5ea6\u91cfsAMOTA\u7684\u8303\u56f4\u57280%\u5230100%\u4e4b\u95f4\u3002\u603b\u4e4b\uff0c\u6211\u4eec\u8ba4\u4e3a\uff0c\u63d0\u51fa\u7684\u65b0\u79ef\u5206\u5ea6\u91cf\u2014\u2014sAMOTA\u3001AMOTA\u3001AMOTP\u2014\u2014\u80fd\u591f\u603b\u7ed3MOT\u7cfb\u7edf\u5728\u6240\u6709\u9608\u503c\u4e0a\u7684\u6027\u80fd\u3002<\/p>\n<h2>6. \u5b9e\u9a8c<\/h2>\n<h3>A. \u8bbe\u7f6e<\/h3>\n<p><strong>\u8bc4\u4f30\u6307\u6807<\/strong>\u3002\u9664\u4e86\u63d0\u51fa\u7684sAMOTA\u3001AMOTA\u548cAMOTP\uff0c\u6211\u4eec\u8fd8\u8bc4\u4f30\u4e86\u6807\u51c6\u7684CLEAR\u5ea6\u91cf\uff0c\u5982MOTA\u3001MOTP\uff08\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6\uff09\u3001IDS\uff08\u8eab\u4efd\u5207\u6362\u6570\u91cf\uff09\u3001FRAG\uff08\u8f68\u8ff9\u788e\u7247\u6570\u91cf\uff09\u3001FPS\uff08\u6bcf\u79d2\u5e27\u6570\uff09\u3002<\/p>\n<blockquote>\n<p>\u8868I. \u4f7f\u7528\u6240\u63d0\u51fa\u7684\u5177\u6709\u65b0\u6307\u6807\u7684\u4e09\u7ef4MOT\u8bc4\u4f30\u5de5\u5177\uff0c\u5728KITTI-VAL\u96c6\u5408\u4e0a\u5bf9\u6c7d\u8f66\u7684\u6027\u80fd\u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n<\/blockquote>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/273f95fbfb0c4537a440cfe90083a667.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c10\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c10\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u8868II. \u884c\u4eba\u548c\u9a91\u8f66\u4eba\u5728KITTI VAL\u96c6\u5408\u7684\u6027\u80fd\u3002<\/p>\n<\/blockquote>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/8c03c14b0dd042dcabafd4c7b09b7ea5.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c11\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c11\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u8868III. NUSCENES VAL\u96c6\u5408\u4e0a\u6240\u6709\u7c7b\u522b\u7684\u6027\u80fd\u3002<\/p>\n<\/blockquote>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/558ef5eefa7f468c9011728c0058d678.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c12\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c12\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>\u6570\u636e\u96c6<\/strong>\u3002\u6211\u4eec\u5bf9KITTI\u548cnuScenes 3D MOT\u6570\u636e\u96c6\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u8fd9\u4e9b\u6570\u636e\u96c6\u63d0\u4f9b\u4e86LiDAR\u70b9\u4e91\u548c3D\u8fb9\u754c\u6846\u8f68\u8ff9\u3002\u7531\u4e8eKITTI\u6d4b\u8bd5\u96c6\u4ec5\u652f\u63012D MOT\u8bc4\u4f30\uff0c\u4e14\u5176\u771f\u503c\u672a\u5411\u7528\u6237\u53d1\u5e03\uff0c\u56e0\u6b64\u6211\u4eec\u5fc5\u987b\u4f7f\u7528KITTI val\u96c6\u8fdb\u884c3D MOT\u8bc4\u4f30\u3002\u6b64\u5916\uff0c\u6211\u4eec\u6b63\u5728\u4e0enuTomony\u5408\u4f5c\uff0c\u4f7f\u7528\u6211\u4eec\u63d0\u51fa\u7684\u6307\u6807\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u6784\u5efa3D MOT\u8bc4\u4f30\u3002\u7136\u800c\uff0c\u7b2c\u4e00\u4e2anuScenes 3D MOT\u6311\u6218\u5728\u672c\u4f5c\u54c1\u5f00\u53d1\u65f6\u5c1a\u672a\u5b8c\u6210\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u4f7f\u7528\u8bc4\u4f30\u5de5\u5177\u5728nuScenes val\u96c6\u4e0a\u8bc4\u4f303D MOT\u7cfb\u7edf\uff0c\u4ee5\u8fdb\u884c\u4e34\u65f6\u6bd4\u8f83\u3002\u5bf9\u4e8enuScene\u6570\u636e\u96c6\u7684\u672a\u6765\u8bc4\u4f30\uff0c\u6211\u4eec\u5efa\u8bae\u7528\u6237\u4f7f\u7528nuScene\u63d0\u4f9b\u7684\u8bc4\u4f30\u4ee3\u7801\uff0c\u5e76\u4e3b\u8981\u8bc4\u4f30nuScene\u6d4b\u8bd5\u96c6\u4e0a\u76843D MOT\u7cfb\u7edf\u8fdb\u884c\u6bd4\u8f83\uff0c\u5c3d\u7ba1\u6211\u4eec\u5728val\u96c6\u4e0a\u5f00\u53d1\u7684\u4e34\u65f6\u6bd4\u8f83\u4ecd\u7136\u53ef\u4ee5\u7528\u4e8e\u53c2\u8003\u3002<\/p>\n<p>\u2003\u2003\u5728\u6570\u636e\u5212\u5206\u65b9\u9762\uff0c\u6211\u4eec\u5728KITTI\u4e0a\u9075\u5faa[16]\uff0c\u4f7f\u7528\u5e8f\u52171\u30016\u30018\u300110\u300112\u300113\u300114\u300115\u300116\u300118\u300119\u4f5c\u4e3aval\u96c6\u5408\uff0c\u4f7f\u7528\u5176\u4ed6\u5e8f\u5217\u4f5c\u4e3atrain\u96c6\u5408\uff0c\u901a\u8fc7\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u4e0d\u9700\u8981\u8bad\u7ec3\u3002\u5bf9\u4e8enuScene\uff0c\u6211\u4eec\u4f7f\u7528\u5176\u9ed8\u8ba4\u6570\u636e\u5212\u5206\u3002\u5173\u4e8e\u76ee\u6807\u7c7b\u522b\uff0c\u6211\u4eec\u9075\u5faaKITTI\u60ef\u4f8b\uff0c\u5e76\u663e\u793a\u6bcf\u4e2a\u7c7b\u522b\uff08\u6c7d\u8f66\u3001\u884c\u4eba\u3001\u9a91\u8f66\u4eba\uff09\u7684\u7ed3\u679c\u3002\u5bf9\u4e8enuScene\uff0c\u6211\u4eec\u9996\u5148\u83b7\u5f97\u6bcf\u4e2a\u7c7b\u522b\u7684\u7ed3\u679c\uff0c\u7136\u540e\u901a\u8fc7\u5bf97\u4e2a\u7c7b\u522b\uff08\u6c7d\u8f66\u3001\u5361\u8f66\u3001\u62d6\u8f66\u3001\u884c\u4eba\u3001\u81ea\u884c\u8f66\u3001\u6469\u6258\u8f66\u3001\u516c\u5171\u6c7d\u8f66\uff09\u8fdb\u884c\u5e73\u5747\u6765\u8ba1\u7b97\u6700\u7ec8\u6027\u80fd\u3002\u5bf9\u4e8e\u5339\u914d\u6807\u51c6\uff0c\u6211\u4eec\u9075\u5faaKITTI 3D\u76ee\u6807\u68c0\u6d4b\u57fa\u51c6\u4e2d\u7684\u60ef\u4f8b\uff0c\u5e76\u4f7f\u75283D IoU\u6765\u786e\u5b9a\u6210\u529f\u7684\u5339\u914d\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u5bf9\u884c\u4eba\u548c\u9a91\u8f66\u4eba\u4f7f\u75280.25\uff0c0.5\u76843D IoU\u9608\u503cIoU<sub>thres<\/sub>\uff0c\u5bf9\u6c7d\u8f66\u4f7f\u75280.25\uff0c0.5\uff0c0.7\u7684IoU<sub>thres<\/sub>\u3002\u5728nuScene\u4e0a\uff0c\u6211\u4eec\u9075\u5faanuScene\u6311\u6218\u4e2d\u5b9a\u4e49\u7684\u6807\u51c6\uff0c\u4f7f\u75282\u7c73\u7684\u4e2d\u5fc3\u8ddd\u79bbDist<sub>thres<\/sub>\u3002<\/p>\n<p><strong>\u57fa\u7ebf<\/strong>\u3002\u6211\u4eec\u4e0e\u73b0\u4ee3\u5f00\u6e903D MOT\u7cfb\u7edf\uff08\u5982FANTrack[15]\u548cmmMOT[30]\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u6211\u4eec\u5c06PointRCNN[6]\u5728KITTI\u4e0a\u83b7\u5f97\u76843D\u68c0\u6d4b\u548cMegvii[34]\u5728nuScenes\u4e0a\u83b7\u5f97\u7684\u76f8\u540c3D\u68c0\u6d4b\u7528\u4e8e\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u548c\u57fa\u7ebf[15]\uff0c[30]\uff0c\u8fd9\u4e9b\u57fa\u7ebf\u9700\u89813D\u68c0\u6d4b\u4f5c\u4e3a\u8f93\u5165\u3002\u5bf9\u4e8e\u540c\u6837\u9700\u89812D\u68c0\u6d4b\u4f5c\u4e3a\u8f93\u5165\u7684\u57fa\u7ebf[15]\uff0c\u6211\u4eec\u4f7f\u75283D\u68c0\u6d4b\u76842D\u6295\u5f71\u3002<\/p>\n<p><strong>\u5b9e\u65bd\u7ec6\u8282<\/strong>\u3002\u5bf9\u4e8e\u8868I\u3001III\u3001II\u548cIV\u4e2d\u7684\u6700\u4f73\u7ed3\u679c\uff0c\u6211\u4eec\u4f7f\u7528\uff08x\uff0cy\uff0cz\uff0c\u03b8\uff0cl\uff0cw\uff0ch\uff0cs\uff0cv<sub>x<\/sub>\uff0cv<sub>y<\/sub>\uff0cv<sub>z<\/sub>\uff09\u4f5c\u4e3a3D\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u7684\u72b6\u6001\u7a7a\u95f4\uff0c\u800c\u4e0d\u5305\u62ec\u89d2\u901f\u5ea6v<sub>\u03b8<\/sub>\u3002\u6211\u4eec\u5728\u51fa\u751f\u548c\u5e9f\u5f03\u8bb0\u5f55\u6a21\u5757\u4e2d\u4f7f\u7528F<sub>min<\/sub>=3\u548cAge<sub>min<\/sub>=2\u3002\u5bf9\u4e8e\u6570\u636e\u5173\u8054\u6a21\u5757\u4e2d\u62d2\u7edd\u5339\u914d\u7684\u9608\u503c\uff0c\u6211\u4eec\u6839\u636e\u7ecf\u9a8c\u53d1\u73b0\uff0c\u4f7f\u7528IoU<sub>min<\/sub>=0.01\uff08\u6c7d\u8f66\uff09\u3001Dist<sub>max<\/sub>=1\uff08\u884c\u4eba\uff09\u3001Dist<sub>max<\/sub>=6\uff08\u9a91\u8f66\u4eba\uff09\u53ef\u4ee5\u5728KITTI\u6570\u636e\u96c6\u4e0a\u83b7\u5f97\u6700\u4f73\u6027\u80fd\u3002\u5728nuScenes\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u5bf9\u6240\u6709\u76ee\u6807\u7c7b\u522b\u4f7f\u7528Dist<sub>max<\/sub>=10\u3002\u5bf9\u4e8e\u5176\u4ed6\u8be6\u7ec6\u7684\u8d85\u53c2\u6570\uff0c\u8bf7\u76f4\u63a5\u68c0\u67e5\u6211\u4eec\u7684\u4ee3\u7801\u3002<\/p>\n<h3>B. \u5b9e\u9a8c\u7ed3\u679c<\/h3>\n<p><strong>KITTI val\u96c6\u4e0a\u6c7d\u8f66\u7684\u7ed3\u679c<\/strong>\u3002\u6211\u4eec\u603b\u7ed3\u4e86\u8868I\u4e2d\u7684\u7ed3\u679c\u3002\u5f53\u4f7f\u7528\u4e0d\u540c\u7684\u5339\u914d\u6807\u51c6\uff08\u4f8b\u5982\uff0c3D IoU<sub>thres<\/sub>=0.25\uff0c0.5\u548c0.7\uff09\u65f6\uff0c\u6211\u4eec\u63d0\u51fa\u76843D MOT\u7cfb\u7edf\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u5176\u4ed6\u73b0\u4ee33D MOT\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5728\u6c7d\u8f66\u7684KITTI val\u96c6\u4e0a\u5efa\u7acb\u4e86\u65b0\u7684\u6700\u5148\u8fdb3D MOT\u6027\u80fd\uff0c\u5e76\u5b9e\u73b0\u4e86\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684\u96f6\u8eab\u4efd\u5207\u6362\u3002<\/p>\n<p><strong>\u884c\u4eba\u548c\u9a91\u8f66\u4eba\u7684\u7ed3\u679c<\/strong>\u3002\u9664\u4e86\u5bf9\u6c7d\u8f66\u8fdb\u884c\u8bc4\u4f30\u5916\uff0c\u6211\u4eec\u8fd8\u62a5\u544a\u4e86\u8868II\u4e2d\u8bbe\u7f6e\u7684KITTI val\u4e0a\u7684\u884c\u4eba\u548c\u9a91\u8f66\u4eba\u7b49\u5176\u4ed6\u76ee\u6807\u76843D MOT\u6027\u80fd\u3002\u5c3d\u7ba1\u7531\u4e8e\u76ee\u6807\u7684\u5c3a\u5bf8\u8f83\u5c0f\uff0c\u8ddf\u8e2a\u884c\u4eba\u548c\u9a91\u8f66\u4eba\u6bd4\u8ddf\u8e2a\u6c7d\u8f66\u66f4\u5177\u6311\u6218\u6027\uff0c\u4f46\u6211\u4eec\u5c55\u793a\u4e86\u6211\u4eec3D MOT\u7cfb\u7edf\u7684\u5f3a\u5927\u6027\u80fd\u3002<\/p>\n<p><strong>nuScenes val\u96c6\u4e2d\u6240\u6709\u76ee\u6807\u7684\u7ed3\u679c<\/strong>\u3002\u9664\u4e86\u5bf9KITTI\u6570\u636e\u96c6\u8fdb\u884c\u8bc4\u4f30\u5916\uff0c\u6211\u4eec\u8fd8\u62a5\u544a\u4e86\u8868III\u4e2dnuScenes val\u96c6\u76843D MOT\u7ed3\u679c\u3002\u6211\u4eec\u5f3a\u8c03\uff0c\u7531\u4e8e\u7a00\u758f\u7684LiDAR\u70b9\u4e91\u8f93\u5165\u3001\u590d\u6742\u7684\u573a\u666f\u548c\u4f4e\u5e27\u7387\uff0cnuScene\u6570\u636e\u96c6\u6bd4KITTI\u66f4\u5177\u6311\u6218\u6027\u3002\u56e0\u6b64\uff0cnuScene\u4e0a\u76843D\u68c0\u6d4b\u8d28\u91cf\u663e\u8457\u4f4e\u4e8eKITTI\u4e0a\u76843D\u68c0\u6d4b\uff0c\u5bfc\u81f4\u6240\u67093D MOT\u7cfb\u7edf\u5728nuScene\u4e2d\u7684\u7edd\u5bf9\u6027\u80fd\u90fd\u8f83\u4f4e\u3002\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u5728\u6240\u6709\u6307\u6807\u4e0a\u4ecd\u4f18\u4e8e\u5176\u4ed63D MOT\u3002<\/p>\n<blockquote>\n<p>\u8868IV. \u4f7f\u7528\u6240\u63d0\u51fa\u7684\u5177\u6709\u65b0\u6307\u6807\u76843D MOT\u8bc4\u4f30\u5de5\u5177\u5bf9KITTI VAL\u96c6\u5408\u4e0a\u7684\u6c7d\u8f66\u8fdb\u884c\u6d88\u878d\u7814\u7a76\u3002<\/p>\n<\/blockquote>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/507ff50f800a4b0585925b07fc036fb7.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c13\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c13\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/224ded0b3c914370abbdf57e4f9de0dc.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8 (https:\/\/mushiming.com\/)  \u7b2c14\u5f20\" title=\"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce8  \u7b2c14\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<blockquote>\n<p>\u56fe4. \u5728KITTI test\u96c6\u7684\u5e8f\u52173\u4e0a\uff0cFANTrack[15]\uff08\u5de6\uff09\u548c\u6211\u4eec\u7684\u7cfb\u7edf\uff08\u53f3\uff09\u4e4b\u95f4\u7684\u5b9a\u6027\u6bd4\u8f83\u3002<\/p>\n<\/blockquote>\n<p><strong>\u63a8\u7406\u65f6\u95f4<\/strong>\u3002\u6211\u4eec\u6bd4\u8f83\u4e86\u8868I\u6700\u540e\u4e00\u5217\u4e2d\u6240\u6709\u65b9\u6cd5\u7684\u63a8\u7406\u65f6\u95f4\u3002\u6211\u4eec\u76843D MOT\u7cfb\u7edf\uff08\u4e0d\u5305\u62ec3D\u68c0\u6d4b\u5668\u90e8\u5206\uff09\u5728KITTI val\u96c6\u4e0a\u4ee5207.4 FPS\u7684\u901f\u5ea6\u8fd0\u884c\uff0c\u65e0\u9700GPU\uff0c\u5728\u8868I\u4e2d\u7684\u5176\u4ed63D MOT\u4e2d\u5b9e\u73b0\u4e86\u6700\u5feb\u7684\u901f\u5ea6\u3002<\/p>\n<p><strong>\u5b9a\u6027\u6bd4\u8f83<\/strong>\u3002\u6211\u4eec\u663e\u793a\u4e86\u6211\u4eec\u76843D MOT\u7cfb\u7edf\u4e0e[15]\u548c\u56fe4\u4e4b\u95f4\u7684\u5b9a\u6027\u6bd4\u8f83\u30023D\u8ddf\u8e2a\u7ed3\u679c\u901a\u8fc7\u5f69\u82723D\u8fb9\u754c\u6846\u5728\u56fe\u50cf\u4e0a\u53ef\u89c6\u5316\uff0c\u5176\u4e2d\u989c\u8272\u8868\u793a\u76ee\u6807\u8eab\u4efd\u3002\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0cFANTrack\uff08\u5de6\uff09\u7684\u7ed3\u679c\u5305\u542b\u4e00\u4e9b\u8eab\u4efd\u5207\u6362\u548c\u56fe\u50cf\u6700\u53f3\u4fa7\u76ee\u6807\u7684\u672a\u547d\u4e2d\u8ddf\u8e2a\uff0c\u800c\u6211\u4eec\u7684\u7cfb\u7edf\uff08\u53f3\uff09\u5728\u793a\u4f8b\u5e8f\u5217\u4e2d\u6ca1\u6709\u8fd9\u4e9b\u95ee\u9898\u3002\u6211\u4eec\u5728\u6f14\u793a\u89c6\u9891\u4e2d\u63d0\u4f9b\u4e863D 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part by the Department of Homeland Security award 2017-DN-077-ER0001. Also, we thank the authors of SORT [19], which inspired our work.<\/p>\n<h2>REFERENCES<\/h2>\n<p>[1] S. Wang, D. Jia, and X. Weng, \u201cDeep Reinforcement Learning for Autonomous Driving,\u201d arXiv:1811.11329, 2018.<br \/> [2] X. Weng, J. Wang, S. Levine, K. Kitani, and R. Nick, \u201cSequential Forecasting of 100,000 Points,\u201d arXiv:2003.08376, 2020.<br \/> [3] X. Sun, X. Weng, and K. Kitani, \u201cWhen We First Met: Visual-Inertial Person Localization for Co-Robot Rendezvous,\u201d arXiv:2006.09959, 2020.<br \/> [4] A. Manglik, X. Weng, E. Ohn-bar, and K. M. Kitani, \u201cForecasting Time-to-Collision from Monocular Video: Feasibility, Dataset, and Challenges,\u201d IROS, 2019.<br \/> [5] S. Ren, K. He, R. Girshick, and J. Sun, \u201cFaster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks,\u201d NIPS, 2015.<br \/> [6] S. Shi, X. Wang, and H. 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W Kuhn, \u201cThe Hungarian Method for the Assignment Problem,\u201d Naval Research Logistics Quarterly, 1955.<br \/> [19] A. Bewley, Z. Ge, L. Ott, F. Ramos, and B. Upcroft, \u201cSimple Online and Realtime Tracking,\u201d ICIP, 2016.<br \/> [20] A. Patil, S. Malla, H. Gang, and Y.-T. Chen, \u201cThe H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenes,\u201d ICRA, 2019.<br \/> [21] L. Zhang, Y. Li, and R. Nevatia, \u201cGlobal Data Association for MultiObject Tracking Using Network Flows,\u201d CVPR, 2008.<br \/> [22] S. Schulter, P. Vernaza, W. Choi, and M. Chandraker, \u201cDeep Network Flow for Multi-Object Tracking,\u201d CVPR, 2017.<br \/> [23] X. Weng, Y. Wang, Y. Man, and K. Kitani, \u201cGNN3DMOT: Graph Neural Network for 3D Multi-Object Tracking with 2D-3D MultiFeature Learning,\u201d CVPR, 2020.<br \/> [24] H. Pirsiavash, D. Ramanan, and C. C. Fowlkes, \u201cGlobally-Optimal Greedy Algorithms for Tracking a Variable Number of Objects,\u201d CVPR, 2011.<br \/> [25] W. Choi, \u201cNear-Online Multi-Target Tracking with Aggregated Local Flow Descriptor,\u201d ICCV, 2015.<br \/> [26] C. Dicle, O. I. Camps, and M. Sznaier, \u201cThe Way They Move: Tracking Multiple Targets with Similar Appearance,\u201d ICCV, 2013.<br \/> [27] S. H. Bae and K. J. Yoon, \u201cRobust Online Multi-Object Tracking Based on Tracklet Confidence and Online Discriminative Appearance Learning,\u201d CVPR, 2014.<br \/> [28] Y.-J. Li, Z. Luo, X. Weng, and K. Kitani, \u201cLearning Shape Representations for Clothing Variations in Person Re-Identification,\u201d arXiv:2003.07340, 2020.<br \/> [29] A. Osep, W. Mehner, M. Mathias, and B. Leibe, \u201cCombined Imageand World-Space Tracking in Traffic Scenes,\u201d ICRA, 2017.<br \/> [30] W. Zhang, H. Zhou, S. Sun, Z. Wang, J. Shi, and C. C. Loy, \u201cRobust Multi-Modality Multi-Object Tracking,\u201d ICCV, 2019.<br \/> [31] X. Weng, Y. Yuan, and K. Kitani, \u201cJoint 3D Tracking and Forecasting with Graph Neural Network and Diversity Sampling,\u201d arXiv:2003.07847, 2020.<br \/> [32] Y. Wang, X. Weng, and K. Kitani, \u201cJoint Detection and Multi-Object Tracking with Graph Neural Networks,\u201d arXiv:2006.13164, 2020.<br \/> [33] X. Weng and K. Kitani, \u201cMonocular 3D Object Detection with PseudoLiDAR Point Cloud,\u201d ICCVW, 2019.<br \/> [34] B. Zhu, Z. Jiang, X. Zhou, Z. Li, and G. Yu, \u201cClass-Balanced Grouping and Sampling for Point Cloud 3D Object Detection,\u201d CVPR, 2019.<br \/> [35] K. Bernardin and R. Stiefelhagen, \u201cEvaluating Multiple Object Tracking Performance: The CLEAR MOT Metrics,\u201d Journal on Image and Video Processing, 2008.<br \/> [36] F. Solera, S. Calderara, and R. Cucchiara, \u201cTowards the Evaluation of Reproducible Robustness in Tracking-by-Detection,\u201d AVSS, 2015.<br \/> [37] L. Wen, D. Du, Z. Cai, Z. LeI, M.-C. Chang, H. Qi, J. Lim, M.-H.Yang, and S. Lyu, \u201cUA-DETRAC: A New Benchmark and Protocol for Multi-Object Detection and Tracking,\u201d Computer Vision and Image Understanding, 2020.<\/p>\n<h2>\u53c2\u8003\u8d44\u6599<\/h2>\n<p>\u53c2\u8003\u6587\u7ae0\u539f\u6587\u548c\u6e90\u4ee3\u7801\uff0c\u8d70\u8bfb\u4e00\u904d\uff0c\u5927\u6982\u5c31\u6e05\u695a\u4e86\uff0c\u4ee5\u4e0b\u4e24\u7bc7<strong>\u53c2\u8003<\/strong>\u4e5f\u53ef\u4ee5\u4e86\u89e3\u4e86\u89e3\u3002<\/p>\n<p>\u53c2\u8003\u4e00<br \/> \u53c2\u8003\u4e8c<\/p>\n","protected":false},"excerpt":{"rendered":"\u70b9\u4e91\u76ee\u6807\u8bc6\u522b_3D\u70b9\u4e91\u6807\u6ce83D\u591a\u76ee\u6807\u8ddf\u8e2a\uff08MOT\uff09\u662f\u81ea\u52a8\u9a7e\u9a76\u548c\u8f85\u52a9\u673a\u5668\u4eba\u7b49\u8bb8\u591a\u5e94\u7528\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"_links":{"self":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/4905"}],"collection":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/comments?post=4905"}],"version-history":[{"count":0,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/4905\/revisions"}],"wp:attachment":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/media?parent=4905"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/categories?post=4905"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/tags?post=4905"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}