基于BEV的transformer方案今年量产的主要方案,transformer结构和CNN相比,特征提取能力更强,但需要较多的算力,这也是为什么许多车上都是1~2颗orin芯片支持。所以如何轻量化基于Transformer的BEV方案,成为各大自动驾驶公司后面优化的重点,地平线的最新工作,将Transformer+BVE轻量化,保持了性能领先和速度领先。 关注知乎@擎天...
地平线的创新成果,WidthFormer,提出了一种轻量级的Transformer+BVE方法,它通过单层Transformer解码器计算BEV表示,同时引入参考位置编码(RefPE)提升3D对象检测的性能。在nuScenes数据集上,RefPE显著改善了稀疏目标检测,并在不同3D检测架构中表现出色,如在NVIDIA 3090 GPU和J5芯片上分别实现1.5毫秒和2....
NARROW-WIDTH TRANSFORMERPROBLEM TO BE SOLVED: To reduce the height of a narrow-width, low-height transformer independently of the thickness of bases which support its cores.FUSHIMI TADAYUKI伏見 忠行
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The ratio of height (H) to width (B) is determined by application of conventional numerical methods, such that monomodality in the wave guide and optimal field overlaps are guaranteed. Said field width transformer many be monolithically integrated with one or several further field transformers of ...
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WidthFormer: Toward Efficient Transformer-based BEV View Transformation. Chenhongyi Yang, Tianwei Lin, Lichao Huang, Elliot J. Crowley, Arxiv 2401.03836 Usage Environment Setup Our codebase is built upon the BEVDet (v1) and StreamPETR codebases. Please refer to their original repos for instracti...
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WidthFormer是一种专为实时自动驾驶应用量身定制的基于transform的鸟瞰 (BEV) 3D 检测方法。WidthFormer 计算高效、稳健,不需要任何特殊的工程工作即可部署。 主要工作: 提出了一种新颖的 3D 位置编码机制,能够准确封装 3D 几何信息,这使得模型能够仅使用单个 Transformer 解码器层生成高质量的 BEV 表示。这种机制对于...