{"id":69990,"date":"2026-02-01T10:05:01","date_gmt":"2026-02-01T02:05:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/69990.html"},"modified":"2026-02-01T10:05:01","modified_gmt":"2026-02-01T02:05:01","slug":"%e5%a4%9a%e4%bc%a0%e6%84%9f%e5%99%a8%e8%9e%8d%e5%90%88%e5%8d%81%e5%b9%b4%e6%bc%94%e8%bf%9b%ef%bc%882015-2025%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/69990.html","title":{"rendered":"\u591a\u4f20\u611f\u5668\u878d\u5408\u5341\u5e74\u6f14\u8fdb\uff082015\u20132025\uff09"},"content":{"rendered":"

\u591a\u4f20\u611f\u5668\u878d\u5408\u5341\u5e74\u6f14\u8fdb（2015\u20132025）<\/h4>\n

\u4e00\u53e5\u8bdd\u603b\u8bba：
\n2015\u5e74\u591a\u4f20\u611f\u5668\u878d\u5408\u8fd8\u662f\u201c\u5361\u5c14\u66fc\u6ee4\u6ce2+\u624b\u5de5\u6743\u91cd+\u4f4e\u9891\u677e\u8026\u5408\u201d\u7684\u89c4\u5219\u65f6\u4ee3，2025\u5e74\u5df2\u8fdb\u5316\u6210\u201c\u7aef\u5230\u7aefVLA\u591a\u6a21\u6001\u5927\u6a21\u578b+\u4e8b\u4ef6\/4D\u96f7\u8fbe\/\u91cf\u5b50\u8f85\u52a9+\u5b9e\u65f6\u81ea\u6108\u81ea\u8fdb\u5316\u201d\u7684\u5177\u8eab\u667a\u80fd\u878d\u5408\u6838\u5fc3，\u4e2d\u56fd\u4ece\u8ddf\u968fMobileye\/Bosch\u8dc3\u5347\u5168\u7403\u9886\u8dd1\u8005（\u534e\u4e3a\u3001\u5c0f\u9e4f\u3001\u6bd4\u4e9a\u8fea\u3001\u5730\u5e73\u7ebf\u3001Momenta\u7b49\u4e3b\u5bfc），\u878d\u5408\u7cbe\u5ea6\u4ece\u7c73\u7ea7\u98d9\u5347\u81f3<2cm\u5168\u52a8\u6001\u573a\u666f，\u9c81\u68d2\u6027\u4ece\u6674\u5929\u53ef\u7528\u5230\u6781\u7aef\u5929\u6c1499.99%，\u63a8\u52a8\u667a\u9a7e\/\u673a\u5668\u4eba\u4ece\u201c\u591a\u4f20\u611f\u5668\u5806\u53e0\u201d\u5230\u201c\u50cf\u4eba\u4e00\u6837\u591a\u611f\u5b98\u7edf\u4e00\u7406\u89e3\u4e16\u754c\u201d\u7684\u6587\u660e\u8dc3\u8fc1\u3002<\/p>\n

\u5341\u5e74\u6f14\u8fdb\u65f6\u95f4\u7ebf\u603b\u7ed3<\/h5>\n\n\u5e74\u4efd\u6838\u5fc3\u8303\u5f0f\u8dc3\u8fc1\u4ee3\u8868\u7b97\u6cd5\/\u6a21\u578b\u878d\u5408\u7cbe\u5ea6\/\u9c81\u68d2\u6027\u4e3b\u8981\u4f20\u611f\u5668\u7ec4\u5408\u4e2d\u56fd\u8d21\u732e\/\u91cc\u7a0b\u7891<\/tr>\n\n\n\n\n\n\n\n
2015<\/td>\n\u5361\u5c14\u66fc\u6ee4\u6ce2\u677e\u8026\u5408<\/td>\nEKF\/UKF + \u624b\u5de5\u6743\u91cd<\/td>\n\u7c73\u7ea7 \/ \u6674\u5929\u7ed3\u6784\u5316<\/td>\n\u6444\u50cf\u5934+\u6beb\u7c73\u6ce2+GPS<\/td>\nMobileye EyeQ3\u521d\u4ee3\u878d\u5408，\u4e2d\u56fd\u51e0\u4e4e\u65e0\u81ea\u4e3b<\/td>\n<\/tr>\n
2017<\/td>\n\u7d27\u8026\u5408+\u591a\u72b6\u6001\u4f30\u8ba1\u521d\u63a2<\/td>\nVINS-Mono + MSCKF<\/td>\n\u4e9a\u7c73\u7ea7 \/ \u5ba4\u5185\u5916\u521d\u6b65<\/td>\n\u6444\u50cf\u5934+IMU+\u6fc0\u5149<\/td>\n\u534e\u4e3a\/\u5c0f\u9e4f\u89c6\u89c9-\u60ef\u5bfc\u7d27\u8026\u5408\u521d\u63a2<\/td>\n<\/tr>\n
2019<\/td>\n\u591a\u6a21\u6001\u6df1\u5ea6\u878d\u5408+\u6fc0\u5149\u4e3b\u5bfc<\/td>\nDeepFusion + LIO-SAM<\/td>\n\u5206\u7c73\u7ea7 \/ \u96e8\u96fe\u6539\u5584<\/td>\n\u6fc0\u5149+\u6444\u50cf\u5934+\u6beb\u7c73\u6ce2+IMU<\/td>\nMomenta\/\u5730\u5e73\u7ebf\u591a\u6a21\u6001\u878d\u5408，\u79be\u8d5b\u6fc0\u5149\u91cf\u4ea7\u52a9\u529b<\/td>\n<\/tr>\n
2021<\/td>\nBEV\u591a\u89c6\u56fe+Transformer\u878d\u5408<\/td>\nBEVFormer + TransFusion<\/td>\n<10cm \/ \u52a8\u6001\u573a\u666f<\/td>\n\u591a\u76f8\u673a+\u6fc0\u5149+\u6beb\u7c73\u6ce2+\u96f7\u8fbe<\/td>\n\u5c0f\u9e4fNGP + \u534e\u4e3aADS 2.0 BEV\u878d\u5408<\/td>\n<\/tr>\n
2023<\/td>\n\u7aef\u5230\u7aef\u591a\u6a21\u6001+VLA\u878d\u5408\u5143\u5e74<\/td>\nUniAD + Occ-BEV + VLA<\/td>\n<5cm \/ \u6781\u7aef\u5929\u6c14<\/td>\n\u4e8b\u4ef6\u76f8\u673a+4D\u96f7\u8fbe+\u591a\u6a21\u6001<\/td>\n\u5c0f\u9e4fXNGP + \u534e\u4e3aADS 3.0\u7aef\u5230\u7aefVLA\u878d\u5408<\/td>\n<\/tr>\n
2025<\/td>\n\u91cf\u5b50\u8f85\u52a9+\u81ea\u8fdb\u5316\u5168\u6a21\u6001\u878d\u5408\u7ec8\u6781\u5f62\u6001<\/td>\nGrok-4 Fusion + Uni-NaVid<\/td>\n<2cm \/ \u91cf\u5b50\u9c81\u68d299.99%<\/td>\n\u4e8b\u4ef6+4D+\u91cf\u5b50+\u5168\u4f20\u611f\u5668<\/td>\n\u534e\u4e3aADS 4.0 + \u5c0f\u9e4f\u7b2c\u4e8c\u4ee3VLA + \u6bd4\u4e9a\u8fea\u5929\u795e\u4e4b\u773c\u878d\u5408<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
1. 2015\u20132018：\u5361\u5c14\u66fc\u6ee4\u6ce2\u677e\u8026\u5408\u89c4\u5219\u65f6\u4ee3<\/h5>\n
    \n
  • \u6838\u5fc3\u7279\u5f81：EKF\/UKF\u677e\u8026\u5408+\u624b\u5de5\u6743\u91cd\u5206\u914d，\u6444\u50cf\u5934\/\u6beb\u7c73\u6ce2\/GPS\u521d\u6b65\u878d\u5408，\u7cbe\u5ea6\u7c73\u7ea7，\u9c81\u68d2\u6027\u4f9d\u8d56\u6674\u5929\u7ed3\u6784\u5316\u3002<\/li>\n
  • \u5173\u952e\u8fdb\u5c55：\n
      \n
    • 2015\u5e74：Mobileye EyeQ3\u6444\u50cf\u5934+\u6beb\u7c73\u6ce2\u521d\u4ee3\u878d\u5408\u3002<\/li>\n
    • 2016\u20132017\u5e74：VINS-Mono\u89c6\u89c9-\u60ef\u5bfc\u7d27\u8026\u5408，MSCKF\u591a\u72b6\u6001\u4f30\u8ba1\u3002<\/li>\n
    • 2018\u5e74：\u534e\u4e3a\/\u5c0f\u9e4f\u521d\u4ee3\u591a\u4f20\u611f\u5668\u878d\u5408，\u6fc0\u5149\u8f85\u52a9\u3002<\/li>\n<\/ul>\n<\/li>\n
    • \u6311\u6218\u4e0e\u8f6c\u6298：\u6743\u91cd\u624b\u5de5\u3001\u52a8\u6001\u5f31；\u6df1\u5ea6\u5b66\u4e60\u591a\u6a21\u6001\u878d\u5408\u5174\u8d77\u3002<\/li>\n
    • \u4ee3\u8868\u6848\u4f8b：Tesla Autopilot\u521d\u4ee3（\u6444\u50cf\u5934+\u6beb\u7c73\u6ce2\u677e\u8026\u5408）\u3002<\/li>\n<\/ul>\n
      2. 2019\u20132022：\u591a\u6a21\u6001\u6df1\u5ea6+BEV\u878d\u5408\u65f6\u4ee3<\/h5>\n
        \n
      • \u6838\u5fc3\u7279\u5f81：\u6fc0\u5149\u4e3b\u5bfc+\u6df1\u5ea6\u5b66\u4e60\u7d27\u8026\u5408，DeepFusion\/LIO-SAM，BEV\u9e1f\u77b0Transformer\u591a\u89c6\u56fe\u7edf\u4e00，\u7cbe\u5ea6<10cm\u3002<\/li>\n
      • \u5173\u952e\u8fdb\u5c55：\n
          \n
        • 2019\u5e74：Momenta\/\u5730\u5e73\u7ebf\u591a\u6a21\u6001\u6df1\u5ea6\u878d\u5408\u3002<\/li>\n
        • 2020\u20132021\u5e74：BEVFormer\/TransFusion\u591a\u76f8\u673a+\u6fc0\u5149BEV\u3002<\/li>\n
        • 2022\u5e74：Occ-BEV\u5360\u7528\u7f51\u683c，\u8f66\u8f7d\u5b9e\u65f6\u5316\u3002<\/li>\n<\/ul>\n<\/li>\n
        • \u6311\u6218\u4e0e\u8f6c\u6298：\u8ba1\u7b97\u91cd\u3001\u6781\u7aef\u5f31；\u4e8b\u4ef6\u76f8\u673a+4D\u96f7\u8fbe+VLA\u5174\u8d77\u3002<\/li>\n
        • \u4ee3\u8868\u6848\u4f8b：\u5c0f\u9e4fNGP + \u534e\u4e3aADS 2.0 BEV\u591a\u6a21\u6001\u878d\u5408\u3002<\/li>\n<\/ul>\n
          3. 2023\u20132025：\u7aef\u5230\u7aefVLA+\u91cf\u5b50\u81ea\u8fdb\u5316\u65f6\u4ee3<\/h5>\n
            \n
          • \u6838\u5fc3\u7279\u5f81：\u4e8b\u4ef6\u76f8\u673a+4D\u96f7\u8fbe+\u591a\u6a21\u6001VLA\u5927\u6a21\u578b\u7aef\u5230\u7aef\u7edf\u4e00，<2cm\u5168\u52a8\u6001\u8bed\u4e49\u878d\u5408，\u91cf\u5b50\u8f85\u52a9\u6297\u5e72\u6270，\u81ea\u8fdb\u5316（\u8d8a\u5f00\u8d8a\u51c6）\u3002<\/li>\n
          • \u5173\u952e\u8fdb\u5c55：\n
              \n
            • 2023\u5e74：Occ-BEV 4D+UniAD\u7aef\u5230\u7aef，\u5c0f\u9e4fXNGP + \u534e\u4e3aADS 3.0 VLA\u878d\u5408\u3002<\/li>\n
            • 2024\u5e74：Uni-NaVid\u591a\u6a21\u6001\u89c6\u9891+\u91cf\u5b50\u9c81\u68d2\u3002<\/li>\n
            • 2025\u5e74：Grok-4 Fusion + \u6bd4\u4e9a\u8fea\u5929\u795e\u4e4b\u773c\/\u534e\u4e3aADS 4.0\/\u5c0f\u9e4f\u7b2c\u4e8c\u4ee3VLA，\u5168\u573a\u666f\u793e\u4ea4\u610f\u56fe\u878d\u5408，\u666e\u60e07\u4e07\u7ea7\u3002<\/li>\n<\/ul>\n<\/li>\n
            • \u6311\u6218\u4e0e\u8f6c\u6298：\u9ed1\u7bb1\/\u6781\u7aef\u73af\u5883；\u91cf\u5b50+\u5927\u6a21\u578b\u81ea\u8fdb\u5316\u6807\u914d\u3002<\/li>\n
            • \u4ee3\u8868\u6848\u4f8b：\u6bd4\u4e9a\u8fea\u5929\u795e\u4e4b\u773c（7\u4e07\u7ea7\u5168\u5929\u6c14\u591a\u6a21\u6001VLA\u878d\u5408），\u5c0f\u9e4f\u7b2c\u4e8c\u4ee3VLA（\u96f6\u6837\u672c\u52a8\u6001\u610f\u56fe\u7406\u89e3）\u3002<\/li>\n<\/ul>\n
              \u4e00\u53e5\u8bdd\u603b\u7ed3<\/h5>\n

              \u4ece2015\u5e74\u5361\u5c14\u66fc\u677e\u8026\u5408\u624b\u5de5\u6743\u91cd\u7684\u201c\u591a\u4f20\u611f\u5668\u5806\u53e0\u201d\u52302025\u5e74VLA\u91cf\u5b50\u81ea\u8fdb\u5316\u7684\u201c\u5168\u6a21\u6001\u8bed\u4e49\u7edf\u4e00\u5927\u8111\u201d，\u5341\u5e74\u95f4\u591a\u4f20\u611f\u5668\u878d\u5408\u7531\u89c4\u5219\u5de5\u7a0b\u8f6c\u5411\u5177\u8eab\u667a\u80fd\u95ed\u73af，\u4e2d\u56fd\u4e3b\u5bfc\u6df1\u5ea6\u878d\u5408+BEV+4D+VLA\u521b\u65b0+\u666e\u60e0\u4e0b\u6c89，\u63a8\u52a8\u667a\u9a7e\/\u673a\u5668\u4eba\u4ece\u201c\u591a\u773c\u770b\u5f97\u89c1\u201d\u5230\u201c\u50cf\u4eba\u4e00\u6837\u591a\u611f\u5b98\u7406\u89e3\u52a8\u6001\u4e16\u754c\u201d\u7684\u6587\u660e\u8dc3\u8fc1，\u9884\u8ba12030\u5e74\u878d\u5408\u9c81\u68d2>99.999%\u5168\u57df\u6c38\u4e0d\u5931\u771f\u3002<\/p>\n

              \u6570\u636e\u6765\u6e90\u4e8earXiv\u7efc\u8ff0\u3001IROS 2025\u53ca\u4e2d\u56fd\u5382\u5546\u6280\u672f\u767d\u76ae\u4e66\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

              \u591a\u4f20\u611f\u5668\u878d\u5408\u5341\u5e74\u6f14\u8fdb（2015\u20132025）
              \n\u4e00\u53e5\u8bdd\u603b\u8bba：
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