{"id":89482,"date":"2026-08-03T05:33:27","date_gmt":"2026-08-02T21:33:27","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/89482.html"},"modified":"2026-08-03T05:33:27","modified_gmt":"2026-08-02T21:33:27","slug":"asumot%ef%bc%9a%e5%9f%ba%e4%ba%8e%e8%bf%90%e5%8a%a8%e4%b8%80%e8%87%b4%e6%80%a7%e7%9a%84%e4%ba%8b%e4%bb%b6%e7%9b%b8%e6%9c%ba%e5%bc%82%e6%ad%a5%e6%97%a0%e4%ba%ba%e6%9c%ba%e6%a3%80%e6%b5%8b%e4%b8%8e","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/89482.html","title":{"rendered":"ASUMOT\uff1a\u57fa\u4e8e\u8fd0\u52a8\u4e00\u81f4\u6027\u7684\u4e8b\u4ef6\u76f8\u673a\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a"},"content":{"rendered":"<p>\u5927\u5bb6\u8bfb\u5b8c\u89c9\u5f97\u6709\u5e2e\u52a9\u8bb0\u5f97\u5173\u6ce8\u548c\u70b9\u8d5e&#xff01;&#xff01;&#xff01;<\/p>\n<p>\u6458\u8981<\/p>\n<p>\u4e8b\u4ef6\u76f8\u673a\u4e3a\u4f4e\u7a7a\u65e0\u4eba\u673a\u611f\u77e5\u63d0\u4f9b\u4e86\u5fae\u79d2\u7ea7\u7684\u65f6\u95f4\u5206\u8fa8\u7387\u548c\u5bbd\u52a8\u6001\u8303\u56f4\u3002\u7136\u800c&#xff0c;\u8fdc\u8ddd\u79bb\u65e0\u4eba\u673a\u901a\u5e38\u4ea7\u751f\u7a00\u758f\u3001\u788e\u7247\u5316\u4e14\u53d7\u566a\u58f0\u6c61\u67d3\u7684\u4e8b\u4ef6\u54cd\u5e94&#xff0c;\u4e00\u4e2a\u8bed\u4e49\u76ee\u6807\u53ef\u80fd\u8868\u73b0\u4e3a\u591a\u4e2a\u7a7a\u95f4\u5206\u79bb\u7684\u56e2\u5757\u3002\u56e0\u6b64&#xff0c;\u76f4\u63a5\u7684\u56e2\u5757\u7ea7\u5f02\u6b65\u8ddf\u8e2a\u4f1a\u906d\u53d7\u8f68\u8ff9\u91cd\u590d\u548c\u8eab\u4efd\u4e0d\u7a33\u5b9a\u7684\u56f0\u6270\u3002\u6211\u4eec\u63d0\u51faASUMOT&#xff0c;\u4e00\u79cd\u76f4\u63a5\u5728\u539f\u59cb\u4e8b\u4ef6\u4e0a\u8fd0\u884c\u7684\u3001\u57fa\u4e8e\u8fd0\u52a8\u4e00\u81f4\u6027\u7684\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u6846\u67b6\u3002ASUMOT\u5c06\u6bcf\u4e2a\u65e0\u4eba\u673a\u5efa\u6a21\u4e3a\u4e00\u7ec4\u8fd0\u52a8\u4e00\u81f4\u7684\u4e8b\u4ef6\u56e2\u5757\u3002\u5c40\u90e8\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u5668\u89e6\u53d1\u53ef\u9760\u5019\u9009&#xff0c;\u8f7b\u91cf\u7ea7\u591a\u4efb\u52a1\u9a8c\u8bc1\u5668\u63d0\u4f9b\u65e0\u4eba\u673a\u7f6e\u4fe1\u5ea6\u548c\u8fd0\u52a8\u65b9\u5411\u7ebf\u7d22&#xff0c;\u8fd0\u52a8\u4e00\u81f4\u6027\u805a\u7c7b\u5c06\u788e\u7247\u5316\u56e2\u5757\u805a\u5408\u6210\u8eab\u4efd\u4e00\u81f4\u7684\u65e0\u4eba\u673a\u822a\u8ff9\u3002\u6211\u4eec\u8fd8\u5f15\u5165\u4e86ES-UAV&#xff0c;\u4e00\u4e2a\u5e26\u6709\u5bc6\u96c6\u8bed\u4e49\u6807\u6ce8\u7684\u9ad8\u6e05\u4e8b\u4ef6\u7ea7\u65e0\u4eba\u673a\u57fa\u51c6\u6570\u636e\u96c6\u3002\u5728\u516c\u5f00\u65e0\u4eba\u673a\u8ddf\u8e2a\u6570\u636e\u548cES-UAV\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e&#xff0c;ASUMOT\u5728\u4fdd\u6301\u5f02\u6b65\u4e8b\u4ef6\u5904\u7406\u7684\u540c\u65f6&#xff0c;\u4f18\u5316\u4e86\u7cbe\u5ea6\u4e0e\u6548\u7387\u7684\u6743\u8861\u3002\u4ee3\u7801\u4e0e\u6570\u636e\u96c6\u5c06\u5f00\u6e90\u3002<\/p>\n<p>\u5f15\u8a00<\/p>\n<p>\u65e0\u4eba\u9a7e\u9a76\u98de\u884c\u5668&#xff08;\u65e0\u4eba\u673a&#xff09;\u7684\u5feb\u901f\u666e\u53ca\u52a0\u5267\u4e86\u5bf9\u53ef\u9760\u4f4e\u7a7a\u76d1\u89c6\u7684\u9700\u6c42\u3002\u5728\u53cd\u65e0\u4eba\u673a\u573a\u666f\u4e2d&#xff0c;\u8fdc\u8ddd\u79bb\u76ee\u6807\u901a\u5e38\u4f53\u79ef\u5c0f\u3001\u901f\u5ea6\u5feb\u4e14\u89c6\u89c9\u7279\u5f81\u6a21\u7cca&#xff0c;\u4f7f\u5f97\u5728\u6742\u4e71\u80cc\u666f\u4e0b\u5b9e\u73b0\u5b9e\u65f6\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u6781\u5177\u6311\u6218\u6027\u3002\u57fa\u4e8e\u5e27\u7684\u65b9\u6cd5[Li et al. 2021; Gong et al. 2021; Huang et al. 2023; Sun et al. 2024]\u5728\u52a8\u6001\u73af\u5883\u4e2d\u6613\u53d7\u8fd0\u52a8\u6a21\u7cca\u3001\u5149\u7167\u53d8\u5316\u548c\u5927\u5e45\u5e27\u95f4\u4f4d\u79fb\u7684\u5f71\u54cd\u3002<\/p>\n<p>\u4e8b\u4ef6\u76f8\u673a\u63d0\u4f9b\u5fae\u79d2\u7ea7\u65f6\u95f4\u5206\u8fa8\u7387\u548c\u5bbd\u52a8\u6001\u8303\u56f4[Gallego et al. 2020]\u3002\u540c\u6b65\u4e8b\u4ef6\u65b9\u6cd5\u5c06\u4e8b\u4ef6\u8f6c\u6362\u4e3a\u5e27\u3001\u4f53\u7d20\u7f51\u683c\u6216\u7a20\u5bc6\u8868\u793a[Peng et al. 2024b; Chen et al. 2025; Gehrig and Scaramuzza 2023; Wang et al. 2025]&#xff0c;\u4f46\u8fd9\u5f15\u5165\u4e86\u5ef6\u8fdf-\u7cbe\u5ea6\u6743\u8861&#xff0c;\u5e76\u4e22\u5f03\u4e86\u7cbe\u7ec6\u7684\u65f6\u95f4\u4fe1\u606f\u3002\u5168\u5f02\u6b65\u8ddf\u8e2a\u5668[Apps et al. 2025]\u4fdd\u7559\u4e86\u4e8b\u4ef6\u7ea7\u65f6\u5e8f&#xff0c;\u4f46\u901a\u5e38\u5c06\u6bcf\u4e2a\u663e\u8457\u56e2\u5757\u63d0\u5347\u4e3a\u4e00\u4e2a\u72ec\u7acb\u5bf9\u8c61\u3002\u8fd9\u79cd\u56e2\u5757\u7ea7\u5047\u8bbe\u5bf9\u65e0\u4eba\u673a\u800c\u8a00\u8fc7\u4e8e\u5c40\u9650&#xff1a;\u4e00\u4e2a\u8bed\u4e49\u65e0\u4eba\u673a\u53ef\u80fd\u4ea7\u751f\u591a\u4e2a\u788e\u7247\u5316\u3001\u95f4\u6b47\u4e14\u7a7a\u95f4\u5206\u79bb\u7684\u4e8b\u4ef6\u56e2\u5757&#xff0c;\u5bfc\u81f4\u91cd\u590d\u8f68\u8ff9\u3001\u76ee\u6807\u4e22\u5931\u548c\u8eab\u4efd\u4e0d\u7a33\u5b9a\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213318-6a6fb79e78072.png\" \/><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213318-6a6fb79ebc9aa.png\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u56fe1&#xff1a;\u8fdc\u8ddd\u79bb\u65e0\u4eba\u673a\u4ea7\u751f\u788e\u7247\u5316\u56e2\u5757&#xff0c;\u5bfc\u81f4\u91cd\u590d\/\u4e0d\u7a33\u5b9a\u7684\u56e2\u5757\u7ea7\u8ddf\u8e2a\u3002ASUMOT\u805a\u5408\u8fd0\u52a8\u4e00\u81f4\u7684\u56e2\u5757\u4ee5\u5b9e\u73b0\u7a33\u5b9a\u7684\u8eab\u4efd\u8ddf\u8e2a\u3002<\/p>\n<p>\u6211\u4eec\u63d0\u51faASUMOT&#xff0c;\u4e00\u4e2a\u76f4\u63a5\u5728\u539f\u59cb\u4e8b\u4ef6\u4e0a\u8fd0\u884c\u7684\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u6846\u67b6\u3002\u5176\u6838\u5fc3\u601d\u60f3\u662f\u5c06\u5e95\u5c42\u4e8b\u4ef6\u56e2\u5757\u5047\u8bbe\u4e0e\u9ad8\u5c42\u65e0\u4eba\u673a\u8eab\u4efd\u89e3\u8026\u3002ASUMOT\u4e0d\u5047\u8bbe\u4e00\u4e2a\u4e8b\u4ef6\u56e2\u5757\u5bf9\u5e94\u4e00\u4e2a\u7269\u7406\u76ee\u6807\u3002\u76f8\u53cd&#xff0c;\u6bcf\u4e2a\u65e0\u4eba\u673a\u88ab\u8868\u793a\u4e3a\u4e00\u7ec4\u968f\u65f6\u95f4\u53d8\u5316\u7684\u8fd0\u52a8\u4e00\u81f4\u4e8b\u4ef6\u56e2\u5757\u3002\u5e95\u5c42\u56e2\u5757\u5047\u8bbe\u5f02\u6b65\u751f\u6210\u548c\u66f4\u65b0&#xff0c;\u800c\u9ad8\u5c42\u65e0\u4eba\u673a\u8eab\u4efd\u5219\u901a\u8fc7\u805a\u5408\u788e\u7247\u5316\u4f46\u8fd0\u52a8\u4e00\u81f4\u7684\u56e2\u5757\u89c2\u6d4b\u6765\u7ef4\u6301\u3002<\/p>\n<p>\u6211\u4eec\u8fd8\u6784\u5efa\u4e86ES-UAV&#xff0c;\u4e00\u4e2a\u9ad8\u6e05\u4e8b\u4ef6\u7ea7\u65e0\u4eba\u673a\u57fa\u51c6\u6570\u636e\u96c6\u3002\u5176\u201c\u56e2\u5757\u5230\u4e8b\u4ef6\u201d\u7684\u6807\u6ce8\u7b56\u7565\u51cf\u5c11\u4e86\u80cc\u666f\u8bef\u6807&#xff0c;\u540c\u65f6\u4fdd\u7559\u4e86\u76ee\u6807\u8f6e\u5ed3\u548c\u8fd0\u52a8\u8f68\u8ff9&#xff0c;\u652f\u6301\u7ec6\u7c92\u5ea6\u7684\u4e8b\u4ef6\u57df\u8bc4\u4f30\u3002\u5728\u516c\u5f00\u65e0\u4eba\u673a\u8ddf\u8e2a\u6570\u636e\u548cES-UAV\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e&#xff0c;ASUMOT\u5b9e\u73b0\u4e86\u826f\u597d\u7684\u7cbe\u5ea6-\u6548\u7387\u6743\u8861\u548c\u5b9e\u7528\u7684\u8fb9\u7f18\u8bbe\u5907\u5ef6\u8fdf\u3002\u6211\u4eec\u7684\u8d21\u732e\u5982\u4e0b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u6211\u4eec\u63d0\u51faASUMOT&#xff0c;\u4e00\u4e2a\u539f\u59cb\u4e8b\u4ef6\u5f02\u6b65\u6846\u67b6&#xff0c;\u5c06\u6bcf\u4e2a\u65e0\u4eba\u673a\u5efa\u6a21\u4e3a\u4e00\u7ec4\u8fd0\u52a8\u4e00\u81f4\u4e8b\u4ef6\u56e2\u5757&#xff0c;\u800c\u975e\u5355\u4e00\u7684\u56e2\u5757\u7ea7\u822a\u8ff9\u3002<\/p>\n<\/li>\n<li>\n<p>\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u8fd0\u52a8\u4e00\u81f4\u6027\u9a71\u52a8\u7684\u5173\u8054\u4e0e\u805a\u7c7b\u673a\u5236&#xff0c;\u5c06\u788e\u7247\u5316\u7684\u56e2\u5757\u89c2\u6d4b\u805a\u5408\u6210\u7a33\u5b9a\u7684\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9&#xff0c;\u51cf\u5c11\u4e86\u91cd\u590d\u8f68\u8ff9\u548c\u8eab\u4efd\u788e\u7247\u5316\u3002<\/p>\n<\/li>\n<li>\n<p>\u6211\u4eec\u6784\u5efa\u4e86ES-UAV&#xff0c;\u4e00\u4e2a\u5e26\u6709\u201c\u56e2\u5757\u5230\u4e8b\u4ef6\u201d\u6807\u6ce8\u7684\u9ad8\u6e05\u4e8b\u4ef6\u7ea7\u65e0\u4eba\u673a\u57fa\u51c6\u6570\u636e\u96c6&#xff0c;\u5e76\u901a\u8fc7\u7efc\u5408\u5b9e\u9a8c\u548c\u8fb9\u7f18\u90e8\u7f72\u9a8c\u8bc1\u4e86ASUMOT\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u88681&#xff1a;\u73b0\u6709\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u68c0\u6d4b\u6570\u636e\u96c6\u5bf9\u6bd4\u3002ES-UAV\u4e3a\u65e0\u4eba\u673a\u68c0\u6d4b\u8bc4\u4f30\u63d0\u4f9b\u4e86\u9ad8\u6e05\u4e8b\u4ef6\u7ea7\u8bed\u4e49\u6807\u6ce8\u3002<\/p>\n<table>\n<tr>\n<p>\u6570\u636e\u96c6<\/p>\n<p>\u6807\u6ce8\u7c7b\u578b<\/p>\n<p>\u5206\u8fa8\u7387<\/p>\n<p>\u65f6\u95f4\u7c92\u5ea6<\/p>\n<p>\u591a\u573a\u666f<\/p>\n<p>\u4e8b\u4ef6\u6807\u6ce8\u683c\u5f0f<\/p>\n<\/tr>\n<tbody>\n<tr>\n<td>\n<p>Event-VOT [Wang et al. 2024a]<\/p>\n<\/td>\n<td>\n<p>\u8fb9\u754c\u6846<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)<\/p>\n<\/td>\n<td>\n<p>\u5e27\u7ea7<\/p>\n<\/td>\n<td>\n<p>\u2713<\/p>\n<\/td>\n<td>\n<p>\u00d7<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>F-UAV-D [Mandula et al. 2024]<\/p>\n<\/td>\n<td>\n<p>\u8fb9\u754c\u6846<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)<\/p>\n<\/td>\n<td>\n<p>\u5e27\u7ea7<\/p>\n<\/td>\n<td>\n<p>\u00d7<\/p>\n<\/td>\n<td>\n<p>\u00d7<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>NeRDD [Magrini et al. 2024]<\/p>\n<\/td>\n<td>\n<p>\u8fb9\u754c\u6846<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)<\/p>\n<\/td>\n<td>\n<p>\u5e27\u7ea7<\/p>\n<\/td>\n<td>\n<p>\u2713<\/p>\n<\/td>\n<td>\n<p>\u00d7<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>FRED [Magrini et al. 2025c]<\/p>\n<\/td>\n<td>\n<p>\u8fb9\u754c\u6846<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)<\/p>\n<\/td>\n<td>\n<p>\u5e27\u7ea7<\/p>\n<\/td>\n<td>\n<p>\u2713<\/p>\n<\/td>\n<td>\n<p>\u00d7<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>EV-UAV [Chen et al. 2025]<\/p>\n<\/td>\n<td>\n<p>\u5206\u5272<\/p>\n<\/td>\n<td>\n<p>346\u00d7260<\/p>\n<\/td>\n<td>\n<p>\u6beb\u79d2\u7ea7\u7a00\u758f<\/p>\n<\/td>\n<td>\n<p>\u2713<\/p>\n<\/td>\n<td>\n<p>\u5e27\u6295\u5f71<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>M2E-UAV [Yan et al. 2026]<\/p>\n<\/td>\n<td>\n<p>\u5206\u5272<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u7ea7<\/p>\n<\/td>\n<td>\n<p>\u2713<\/p>\n<\/td>\n<td>\n<p>\u5e27\u6295\u5f71<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>Ours (ES-UAV)\u200b<\/p>\n<\/td>\n<td>\n<p>\u5206\u5272\u200b<\/p>\n<\/td>\n<td>\n<p>1280\u00d7720 (HD)\u200b<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u7ea7\u200b<\/p>\n<\/td>\n<td>\n<p>\u2713\u200b<\/p>\n<\/td>\n<td>\n<p>\u56e2\u5757\u6295\u5f71\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u76f8\u5173\u5de5\u4f5c<\/p>\n<p>\u57fa\u4e8e\u8868\u793a\u7684\u4e8b\u4ef6\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u3002<\/p>\n<p>\u57fa\u4e8e\u4e8b\u4ef6\u7684\u611f\u77e5\u7684\u4e00\u4e2a\u5e38\u89c1\u65b9\u6cd5\u662f\u5c06\u5f02\u6b65\u4e8b\u4ef6\u8f6c\u6362\u4e3a\u7a20\u5bc6\u8868\u793a&#xff0c;\u5982\u4e8b\u4ef6\u5e27\u3001\u4f53\u7d20\u7f51\u683c\u6216\u65f6\u95f4\u8868\u9762&#xff0c;\u7136\u540e\u5e94\u7528\u4f20\u7edf\u7684\u68c0\u6d4b\u6216\u8ddf\u8e2a\u67b6\u6784[Chen 2018; Iacono et al. 2018; Jiang et al. 2019; Hu et al. 2020; Messikommer et al. 2020]\u3002\u8fd1\u671f\u65b9\u6cd5\u901a\u8fc7\u81ea\u9002\u5e94\u7d2f\u79ef[Li et al. 2022; Wang et al. 2024b]\u3001\u5faa\u73af\u7f51\u7edc[Gehrig and Scaramuzza 2023]\u3001Transformer\u6216\u72b6\u6001\u7a7a\u95f4\u6a21\u578b[Peng et al. 2024b; Yang et al. 2025; Xu et al. 2025]\u3001\u56fe\u795e\u7ecf\u7f51\u7edc[Mitrokhin et al. 2020; Schaefer et al. 2022]\u548c\u8109\u51b2\u795e\u7ecf\u7f51\u7edc[Cordone et al. 2022; Paredes-Vall\u00e9s et al. 2019; Shrestha and Orchard 2018; Neftci et al. 2019; Aitsam et al. 2025]\u8fdb\u4e00\u6b65\u6539\u8fdb\u4e8b\u4ef6\u8868\u793a\u3002\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u5229\u7528\u6210\u719f\u7684\u57fa\u4e8e\u56fe\u50cf\u7684\u67b6\u6784&#xff0c;\u4f46\u5176\u6027\u80fd\u4e25\u91cd\u4f9d\u8d56\u4e8e\u65f6\u95f4\u7d2f\u79ef\u3002\u5bf9\u4e8e\u4e8b\u4ef6\u7a00\u758f\u4e14\u95f4\u6b47\u7684\u8fdc\u8ddd\u79bb\u65e0\u4eba\u673a&#xff0c;\u4e0d\u6070\u5f53\u7684\u7d2f\u79ef\u53ef\u80fd\u5bfc\u81f4\u76ee\u6807\u7ed3\u6784\u6a21\u7cca\u3001\u76ee\u6807\u4e8b\u4ef6\u4e0e\u80cc\u666f\u6d3b\u52a8\u6df7\u5408\u6216\u5f15\u5165\u989d\u5916\u5ef6\u8fdf\u3002<\/p>\n<p>\u5f02\u6b65\u4e8b\u4ef6\u8ddf\u8e2a\u3002<\/p>\n<p>\u5f02\u6b65\u8ddf\u8e2a\u5668\u5728\u4e8b\u4ef6\u5230\u8fbe\u65f6\u76f4\u63a5\u66f4\u65b0\u76ee\u6807\u72b6\u6001&#xff0c;\u907f\u514d\u4e86\u7a20\u5bc6\u4e8b\u4ef6\u7d2f\u79ef&#xff0c;\u5e76\u4fdd\u7559\u4e86\u4e8b\u4ef6\u76f8\u673a\u7684\u539f\u751f\u65f6\u95f4\u5206\u8fa8\u7387[Chen et al. 2019; Messikommer et al. 2023; Apps et al. 2025]\u3002AEB\u98ce\u683c\u7684\u6a21\u578b\u7528\u6982\u7387\u7a7a\u95f4\u5206\u5e03\u63cf\u8ff0\u4e8b\u4ef6\u56e2\u5757&#xff0c;\u5e76\u5229\u7528\u4f20\u5165\u4e8b\u4ef6\u66f4\u65b0\u5176\u72b6\u6001&#xff0c;\u800cAEMOT [Apps et al. 2025]\u5219\u4ee5\u5168\u5f02\u6b65\u65b9\u5f0f\u68c0\u6d4b\u548c\u9a8c\u8bc1\u663e\u8457\u56e2\u5757\u3002\u8fd9\u4e9b\u65b9\u6cd5\u9ad8\u6548\u4e14\u9002\u7528\u4e8e\u4e8b\u4ef6\u7ea7\u5904\u7406\u3002\u7136\u800c&#xff0c;\u5b83\u4eec\u901a\u5e38\u5c06\u6bcf\u4e2a\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u89c6\u4e3a\u4e00\u4e2a\u72ec\u7acb\u5bf9\u8c61\u3002\u8fd9\u79cd\u201c\u4e00\u56e2\u5757\u4e00\u5bf9\u8c61\u201d\u7684\u5047\u8bbe\u5bf9\u4e8e\u8fdc\u8ddd\u79bb\u65e0\u4eba\u673a\u5b58\u5728\u95ee\u9898&#xff0c;\u56e0\u4e3a\u4e00\u4e2a\u7269\u7406\u76ee\u6807\u53ef\u80fd\u4ea7\u751f\u591a\u4e2a\u788e\u7247\u5316\u4e8b\u4ef6\u56e2\u5757\u3002ASUMOT\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e&#xff0c;\u5b83\u5c06\u56e2\u5757\u7ea7\u4e8b\u4ef6\u8ddf\u8e2a\u4e0e\u65e0\u4eba\u673a\u7ea7\u8eab\u4efd\u7ef4\u62a4\u89e3\u8026&#xff0c;\u5141\u8bb8\u591a\u4e2a\u8fd0\u52a8\u4e00\u81f4\u7684\u56e2\u5757\u5171\u540c\u8868\u793a\u4e00\u4e2a\u8bed\u4e49\u65e0\u4eba\u673a\u3002<\/p>\n<p>\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u611f\u77e5\u4e0e\u6570\u636e\u96c6\u3002<\/p>\n<p>\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u611f\u77e5\u65e5\u76ca\u53d7\u5230\u5173\u6ce8&#xff0c;\u56e0\u4e3a\u4e8b\u4ef6\u76f8\u673a\u5929\u7136\u9002\u7528\u4e8e\u9ad8\u901f\u548c\u9ad8\u52a8\u6001\u8303\u56f4\u573a\u666f[Magrini et al. 2025b]\u3002\u73b0\u6709\u7814\u7a76\u5229\u7528\u65e0\u4eba\u673a\u7279\u6709\u7ebf\u7d22&#xff0c;\u5982\u87ba\u65cb\u6868\u8fd0\u52a8\u3001\u9ad8\u9891\u4e8b\u4ef6\u7279\u5f81\u548c\u8f7b\u91cf\u7ea7\u4e8b\u4ef6\u57df\u68c0\u6d4b\u5668&#xff0c;\u4ee5\u652f\u6301\u5d4c\u5165\u5f0f\u90e8\u7f72[Sanket et al. 2021; Zhang et al. 2025; Murray and Nowzari 2025; Eldeborg Lundin et al. 2024; Mandula et al. 2024; Chen et al. 2025; Magrini et al. 2025a]\u3002\u540c\u65f6&#xff0c;\u4e5f\u63d0\u51fa\u4e86\u591a\u4e2a\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u6570\u636e\u96c6[Mandula et al. 2024; Magrini et al. 2024, 2025c; Chen et al. 2025]\u3002\u7136\u800c&#xff0c;\u5176\u4e2d\u8bb8\u591a\u63d0\u4f9b\u7684\u662f\u5e27\u7ea7\u8fb9\u754c\u6846\u3001\u7a00\u758f\u6807\u6ce8\u3001\u4f4e\u5206\u8fa8\u7387\u8bb0\u5f55\u6216\u77ed\u89c6\u9891\u7247\u6bb5\u3002\u7528\u4e8e\u957f\u5e8f\u5217\u65e0\u4eba\u673a\u68c0\u6d4b\u548c\u76ee\u6807\u51c6\u786e\u8bc4\u4f30\u7684\u9ad8\u6e05\u4e8b\u4ef6\u7ea7\u6807\u6ce8\u4ecd\u7136\u6709\u9650\u3002ES-UAV\u65e8\u5728\u901a\u8fc7\u63d0\u4f9b\u7a20\u5bc6\u4e8b\u4ef6\u7ea7\u8bed\u4e49\u6807\u7b7e\u548c\u957f\u8fde\u7eed\u5e8f\u5217&#xff0c;\u586b\u8865\u8fd9\u4e00\u7a7a\u767d&#xff0c;\u4ee5\u652f\u6301\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u8bc4\u4f30\u3002<\/p>\n<p>ES-UAV&#xff1a;\u4e8b\u4ef6\u5206\u5272\u65e0\u4eba\u673a\u6570\u636e\u96c6<\/p>\n<p>\u6211\u4eec\u63a8\u51faES-UAV&#xff0c;\u4e00\u4e2a\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u8bc4\u4f30\u6570\u636e\u96c6\u3002\u6570\u636e\u4f7f\u7528EVK5\u4e8b\u4ef6\u76f8\u673a\u91c7\u96c6&#xff0c;\u7a7a\u95f4\u5206\u8fa8\u7387\u4e3a1280\u00d7720&#xff0c;\u65f6\u95f4\u5206\u8fa8\u7387\u4e3a\u5fae\u79d2\u7ea7\u3002ES-UAV\u4ee5\u957f\u5e8f\u5217\u5f62\u5f0f\u83b7\u53d6&#xff0c;\u91c7\u96c6\u4e8e\u5305\u542b\u884c\u4eba\u3001\u8f66\u8f86\u3001\u5efa\u7b51\u7269\u548c\u690d\u88ab\u7684\u590d\u6742\u57ce\u5e02\u573a\u666f\u4e2d\u3002\u65e0\u4eba\u673a\u8fd0\u52a8\u5305\u62ec\u60ac\u505c\u3001\u6025\u8f6c\u3001\u8fdb\u51fa\u89c6\u573a\u548c\u590d\u5408\u673a\u52a8\u3002ES-UAV\u603b\u5171\u5305\u542b\u8d85\u8fc760\u4ebf\u4e2a\u4e8b\u4ef6&#xff0c;\u5176\u4e2d3600\u4e07\u4e2a\u4e8b\u4ef6\u5728\u4e8b\u4ef6\u7ea7\u8fdb\u884c\u4e86\u7a20\u5bc6\u6807\u6ce8\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213318-6a6fb79eef7d7.png\" \/><\/p>\n<p>\u56fe2&#xff1a;\u6807\u6ce8\u7b56\u7565\u5bf9\u6bd4\u3002\u5e27\u5230\u4e8b\u4ef6\u6807\u6ce8\u5c06\u7c97\u7cd9\u7684\u5e27\u7ea7\u6807\u7b7e\u6295\u5c04\u56de\u4e8b\u4ef6&#xff0c;\u53ef\u80fd\u5f15\u5165\u80cc\u666f\u566a\u58f0\u3002\u76f8\u6bd4\u4e4b\u4e0b&#xff0c;\u56e2\u5757\u5230\u4e8b\u4ef6\u6807\u6ce8\u4ece\u624b\u52a8\u9009\u62e9\u7684\u79cd\u5b50\u70b9\u521d\u59cb\u5316\u5f02\u6b65\u56e2\u5757\u8ddf\u8e2a\u5668&#xff0c;\u4f7f\u7528\u591a\u4e2a\u56e2\u5757\u8986\u76d6\u788e\u7247\u5316\u7684\u65e0\u4eba\u673a\u54cd\u5e94&#xff0c;\u5e76\u5c06\u8bed\u4e49\u6807\u7b7e\u5206\u914d\u7ed9\u76f8\u5e94\u7684\u539f\u59cb\u4e8b\u4ef6\u3002<\/p>\n<p>\u56e2\u5757\u5230\u4e8b\u4ef6\u6807\u6ce8\u3002<\/p>\n<p>\u5728\u539f\u59cb\u4e8b\u4ef6\u6d41\u4e2d\u6807\u6ce8\u65e0\u4eba\u673a\u5341\u5206\u56f0\u96be&#xff0c;\u56e0\u4e3a\u4e8b\u4ef6\u54cd\u5e94\u7a00\u758f\u3001\u5f02\u6b65\u4e14\u6613\u4e0e\u80cc\u666f\u6d3b\u52a8\u6df7\u5408\u3002\u4f20\u7edf\u7684\u5e27\u7ea7\u6807\u6ce8\u9996\u5148\u5c06\u4e8b\u4ef6\u7d2f\u79ef\u6210\u50cf\u7d20\u56fe\u50cf\u822c\u7684\u5e27&#xff0c;\u7136\u540e\u5728\u7d2f\u79ef\u8868\u793a\u4e0a\u6807\u6ce8\u76ee\u6807\u3002\u5c3d\u7ba1\u6b64\u7b56\u7565\u9ad8\u6548&#xff0c;\u4f46\u5f53\u5e27\u7ea7\u6807\u7b7e\u6295\u5c04\u56de\u539f\u59cb\u6d41\u65f6&#xff0c;\u53ef\u80fd\u6a21\u7cca\u5c0f\u578b\u65e0\u4eba\u673a\u7ed3\u6784\u5e76\u5f15\u5165\u80cc\u666f\u4e8b\u4ef6\u3002\u4e3a\u83b7\u5f97\u7ec6\u7c92\u5ea6\u7684\u4e8b\u4ef6\u7ea7\u6807\u7b7e&#xff0c;ES-UAV\u91c7\u7528\u534a\u81ea\u52a8\u7684\u201c\u56e2\u5757\u5230\u4e8b\u4ef6\u201d\u6807\u6ce8\u7b56\u7565\u3002\u6807\u6ce8\u5458\u9996\u5148\u5728\u65e0\u4eba\u673a\u4e8b\u4ef6\u54cd\u5e94\u4e0a\u624b\u52a8\u9009\u62e9\u79cd\u5b50\u70b9&#xff0c;\u7136\u540e\u4ece\u8fd9\u4e9b\u79cd\u5b50\u70b9\u521d\u59cb\u5316\u5f02\u6b65\u56e2\u5757\u8ddf\u8e2a\u5668&#xff0c;\u76f4\u63a5\u5728\u539f\u59cb\u6d41\u4e2d\u8ddf\u968f\u76f8\u5e94\u7684\u4e8b\u4ef6\u56e2\u5757\u3002\u5bf9\u4e8e\u5177\u6709\u788e\u7247\u5316\u6216\u7a7a\u95f4\u5206\u79bb\u54cd\u5e94\u7684\u590d\u6742\u65e0\u4eba\u673a\u76ee\u6807&#xff0c;\u8054\u5408\u4f7f\u7528\u591a\u4e2a\u56e2\u5757\u8ddf\u8e2a\u5668\u4ee5\u8986\u76d6\u76ee\u6807\u7684\u4e0d\u540c\u90e8\u5206\u3002\u6807\u6ce8\u671f\u95f4&#xff0c;\u6807\u6ce8\u5458\u53ef\u4ee5\u6dfb\u52a0\u6216\u5220\u9664\u8ddf\u8e2a\u70b9\u4ee5\u6821\u6b63\u6f02\u79fb\u3001\u906e\u6321\u3001\u76ee\u6807\u5f62\u53d8\u548c\u95f4\u6b47\u6027\u4e8b\u4ef6\u54cd\u5e94\u3002\u6700\u7ec8&#xff0c;\u8ddf\u8e2a\u7684\u56e2\u5757\u88ab\u6295\u5c04\u56de\u539f\u59cb\u4e8b\u4ef6\u6d41&#xff0c;\u4e3a\u6709\u6548\u65e0\u4eba\u673a\u56e2\u5757\u8986\u76d6\u7684\u539f\u59cb\u4e8b\u4ef6\u5206\u914d\u8bed\u4e49\u6807\u7b7e&#xff0c;\u5982\u56fe2\u6240\u793a\u3002<\/p>\n<p>\u5f62\u5f0f\u4e0a&#xff0c;\u7ed9\u5b9a\u4e00\u7ec4\u6807\u6ce8\u7684\u65e0\u4eba\u673a\u56e2\u5757\u8f68\u8ff9 {Br\u200b}r&#061;1R\u200b&#xff0c;\u6bcf\u4e2a\u539f\u59cb\u4e8b\u4ef6 ek\u200b&#061;(\u03bek\u200b,\u03c3k\u200b,tk\u200b)\u88ab\u5206\u914d\u4e00\u4e2a\u4e8c\u5143\u8bed\u4e49\u6807\u7b7e&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79f324c5.png\" \/><\/p>\n<p>\u8fd9\u91cc&#xff0c;Br\u200b\u8868\u793a\u7b2c r\u4e2a\u6807\u6ce8\u65e0\u4eba\u673a\u56e2\u5757\u8f68\u8ff9\u7684\u65f6\u7a7a\u652f\u6491\u57df\u3002\u5f53\u76ee\u6807\u54cd\u5e94\u788e\u7247\u5316\u65f6&#xff0c;\u591a\u4e2a\u56e2\u5757\u8f68\u8ff9\u53ef\u80fd\u5bf9\u5e94\u4e8e\u540c\u4e00\u4e2a\u65e0\u4eba\u673a\u76ee\u6807\u3002\u8fd9\u79cd\u534a\u81ea\u52a8\u7b56\u7565\u4fdd\u7559\u4e86\u7cbe\u7ec6\u7684\u65e0\u4eba\u673a\u8f6e\u5ed3\u548c\u8fd0\u52a8\u8f68\u8ff9&#xff0c;\u540c\u65f6\u76f8\u6bd4\u9010\u4e8b\u4ef6\u6807\u6ce8\u663e\u8457\u51cf\u5c11\u4e86\u4eba\u5de5\u5de5\u4f5c\u91cf\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79f3c9a6.png\" \/><\/p>\n<p>\u56fe3&#xff1a;ES-UAV\u7684\u7edf\u8ba1\u4fe1\u606f\u4e0e\u793a\u4f8b\u3002<\/p>\n<p>\u8bc4\u4f30\u534f\u8bae\u3002<\/p>\n<p>ES-UAV\u8bbe\u8ba1\u4e3a\u7eaf\u6d4b\u8bd5\u57fa\u51c6\u3002ES-UAV\u7684\u6807\u7b7e\u4e0d\u7528\u4e8e\u8bad\u7ec3\u9a8c\u8bc1\u5668\u3001\u9009\u62e9\u8d85\u53c2\u6570\u6216\u8c03\u6574\u9608\u503c\u3002\u57fa\u4e8e\u5b66\u4e60\u7684\u7ec4\u4ef6\u548c\u57fa\u7ebf\u5728\u76f8\u540c\u534f\u8bae\u4e0b\u4f7f\u7528\u516c\u5f00\u4e8b\u4ef6\u6570\u636e\u96c6\u8bad\u7ec3&#xff0c;\u800cES-UAV\u4e13\u95e8\u7528\u4e8e\u8bc4\u4f30\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\u3002\u5982\u56fe3\u6240\u793a&#xff0c;\u65e0\u4eba\u673a\u51fa\u73b0\u5728\u591a\u6837\u5316\u7684\u590d\u6742\u73af\u5883\u4e2d&#xff0c;\u5927\u591a\u6570\u76ee\u6807\u5c0f\u4e8e32\u00d732\u50cf\u7d20&#xff0c;\u53cd\u6620\u4e86\u53cd\u65e0\u4eba\u673a\u611f\u77e5\u4e2d\u5178\u578b\u7684\u8fdc\u8ddd\u79bb\u5c0f\u76ee\u6807\u8bbe\u5b9a\u3002\u957f\u8fde\u7eed\u5e8f\u5217\u8fdb\u4e00\u6b65\u652f\u6301\u5bf9\u65f6\u95f4\u9c81\u68d2\u6027\u3001\u8eab\u4efd\u4e00\u81f4\u6027\u3001\u91cd\u590d\u822a\u8ff9\u6291\u5236\u548c\u9ad8\u6e05\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u7684\u8bc4\u4f30\u3002<\/p>\n<p>\u65b9\u6cd5<\/p>\n<p>\u95ee\u9898\u5b9a\u4e49<\/p>\n<p>\u6211\u4eec\u5c06\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u8868\u8ff0\u4e3a\u5728\u539f\u59cb\u5f02\u6b65\u4e8b\u4ef6\u6d41\u4e0a\u7684\u5728\u7ebf\u6982\u7387\u72b6\u6001\u4f30\u8ba1\u95ee\u9898\u3002\u9075\u5faaAEMOT [Apps et al. 2025]\u548cAEB\u8ddf\u8e2a\u5668[Wang et al. 2024c]&#xff0c;\u4e00\u4e2a\u4e8b\u4ef6\u6d41\u8868\u793a\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79f863b7.png\" \/><\/p>\n<p>\u5176\u4e2d \u03bek\u200b&#061;(xk\u200b,yk\u200b)\u22a4\u2208R2\u662f\u50cf\u7d20\u4f4d\u7f6e&#xff0c;\u03c3k\u200b\u2208{\u22121,&#043;1}\u662f\u6781\u6027&#xff0c;tk\u200b\u662f\u65f6\u95f4\u6233\u3002<\/p>\n<p>\u7b2c i\u4e2a\u4e8b\u4ef6\u56e2\u5757\u5728\u65f6\u95f4 t\u7684\u72b6\u6001\u8868\u793a\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79f8f75d.png\" \/><\/p>\n<p>\u5176\u4e2d pi\u200b&#061;(px,i\u200b,py,i\u200b)\u22a4\u8868\u793a\u56e2\u5757\u4e2d\u5fc3&#xff0c;vi\u200b&#061;(vx,i\u200b,vy,i\u200b)\u22a4\u8868\u793a\u5e73\u79fb\u901f\u5ea6&#xff0c;\u03b8i\u200b\u548c qi\u200b\u8868\u5f81\u65b9\u5411\u548c\u89d2\u901f\u5ea6&#xff0c;\u03bbi\u200b&#061;(\u03bbi,1\u200b,\u03bbi,2\u200b)\u6307\u5b9a\u4e3b\u8f74\u7a7a\u95f4\u5c3a\u5ea6&#xff0c;\u0394i\u200b\u8868\u793a\u6b63\u8d1f\u4e8b\u4ef6\u54cd\u5e94\u4e4b\u95f4\u7684\u6781\u6027\u504f\u79fb\u3002<\/p>\n<p>\u9075\u5faaAEB\u4e8b\u4ef6\u4f3c\u7136\u6a21\u578b&#xff0c;\u7ed9\u5b9a\u56e2\u5757\u72b6\u6001 \u03b6i\u200b(tk\u200b)&#xff0c;\u4f20\u5165\u4e8b\u4ef6 ek\u200b\u7684\u6982\u7387\u5199\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79f98c73.png\" \/><\/p>\n<p>\u5176\u4e2d<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79fa3292.png\" \/><\/p>\n<p>\u4e14<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79faced0.png\" \/><\/p>\n<p>\u8fd9\u91cc&#xff0c;\u039bi\u200b(t)\u2208R2\u00d72\u662f\u56e2\u5757\u5f62\u72b6\u5c3a\u5ea6\u77e9\u9635&#xff0c;\u039bi\u200b(t)\u22122\u9075\u5faaAEB\u60ef\u4f8b&#xff0c;\u7528\u4e8e\u8bc4\u4f30\u4e8b\u4ef6\u5230\u56e2\u5757\u5206\u5e03\u7684\u5f52\u4e00\u5316\u7a7a\u95f4\u8ddd\u79bb\u3002\u4f20\u5165\u4e8b\u4ef6\u901a\u8fc7\u8bc4\u4f30\u6b64\u4f3c\u7136\u4e0e\u73b0\u6709\u56e2\u5757\u5047\u8bbe\u5173\u8054\u3002<\/p>\n<p>\u5c3d\u7ba1\u8fd9\u79cd\u56e2\u5757\u7ea7\u516c\u5f0f\u652f\u6301\u5f02\u6b65\u4e8b\u4ef6\u5206\u914d\u548c\u72b6\u6001\u66f4\u65b0&#xff0c;\u4f46\u5bf9\u4e8e\u8fdc\u8ddd\u79bb\u65e0\u4eba\u673a\u611f\u77e5\u4ecd\u663e\u4e0d\u8db3\u3002\u5728\u6742\u4e71\u7684\u53cd\u65e0\u4eba\u673a\u573a\u666f\u4e2d&#xff0c;\u7531\u4e8e\u76ee\u6807\u5c3a\u5bf8\u5c0f\u3001\u87ba\u65cb\u6868\u8bf1\u5bfc\u54cd\u5e94\u3001\u89c6\u89d2\u53d8\u5316\u548c\u80cc\u666f\u5e72\u6270&#xff0c;\u5355\u4e2a\u65e0\u4eba\u673a\u53ef\u80fd\u4ea7\u751f\u591a\u4e2a\u788e\u7247\u5316\u4e14\u7a7a\u95f4\u5206\u79bb\u7684\u4e8b\u4ef6\u56e2\u5757\u3002\u56e0\u6b64&#xff0c;\u76f4\u63a5\u5c06\u6bcf\u4e2a\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u63d0\u5347\u4e3a\u72ec\u7acb\u7684\u5bf9\u8c61\u822a\u8ff9\u4f1a\u5bfc\u81f4\u91cd\u590d\u8f68\u8ff9\u548c\u4e0d\u7a33\u5b9a\u8eab\u4efd\u3002<\/p>\n<p>\u4e3a\u89e3\u51b3\u6b64\u95ee\u9898&#xff0c;\u6211\u4eec\u5c06\u7b2c m\u4e2a\u65e0\u4eba\u673a\u76ee\u6807\u8868\u793a\u4e3a\u4e00\u7ec4\u968f\u65f6\u95f4\u53d8\u5316\u7684\u8fd0\u52a8\u4e00\u81f4\u4e8b\u4ef6\u56e2\u5757&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79fb6f19.png\" \/><\/p>\n<p>\u5176\u4e2d Im\u200b(t)\u8868\u793a\u5206\u914d\u7ed9\u7b2c m\u4e2a\u65e0\u4eba\u673a\u7684\u4e8b\u4ef6\u56e2\u5757\u7d22\u5f15\u96c6\u3002ASUMOT\u7684\u76ee\u6807\u662f\u968f\u7740\u4e8b\u4ef6\u5230\u8fbe&#xff0c;\u5728\u7ebf\u66f4\u65b0\u56e2\u5757\u7ea7\u5047\u8bbe\u548c\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9&#xff0c;\u540c\u65f6\u4fdd\u7559\u4e8b\u4ef6\u6d41\u7684\u5fae\u79d2\u7ea7\u65f6\u95f4\u5206\u8fa8\u7387\u3002<\/p>\n<p>\u6982\u8ff0<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213319-6a6fb79fc01a9.png\" \/><\/p>\n<p>\u56fe4&#xff1a;\u63d0\u51fa\u7684\u5f02\u6b65\u65e0\u4eba\u673a\u68c0\u6d4b\u4e0e\u8ddf\u8e2a\u6846\u67b6\u6982\u89c8\u3002ASUMOT\u76f4\u63a5\u5728\u539f\u59cb\u4e8b\u4ef6\u6d41\u4e0a\u8fd0\u884c&#xff0c;\u7531\u4e8b\u4ef6\u7ea7\u5173\u8054\u3001\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u3001\u5019\u9009\u9a8c\u8bc1\u3001\u52a8\u6001\u521d\u59cb\u5316\u548c\u65e0\u4eba\u673a\u7ea7\u8fd0\u52a8\u4e00\u81f4\u6027\u805a\u7c7b\u7ec4\u6210\u3002<\/p>\n<p>ASUMOT\u7684\u6574\u4f53\u6d41\u7a0b\u5982\u56fe4\u6240\u793a\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u4f20\u5165\u4e8b\u4ef6&#xff0c;ASUMOT\u9996\u5148\u8bc4\u4f30\u8be5\u4e8b\u4ef6\u662f\u5426\u80fd\u4e0e\u73b0\u6709\u7684\u6709\u6548\u6216\u5019\u9009\u56e2\u5757\u822a\u8ff9\u5173\u8054\u3002\u672a\u5173\u8054\u7684\u4e8b\u4ef6\u7528\u4e8e\u66f4\u65b0\u6d3b\u8dc3\u4e8b\u4ef6\u8868\u9762&#xff08;SAE&#xff09;[Benosman et al. 2013]&#xff0c;\u5e76\u901a\u8fc7\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u89e6\u53d1\u5019\u9009\u751f\u6210\u3002\u5019\u9009\u56e2\u5757\u968f\u540e\u7531\u8f7b\u91cf\u7ea7\u591a\u4efb\u52a1\u7f51\u7edc\u8fdb\u4e00\u6b65\u9a8c\u8bc1&#xff0c;\u8be5\u7f51\u7edc\u9884\u6d4b\u65e0\u4eba\u673a\u7f6e\u4fe1\u5ea6\u548c\u8fd0\u52a8\u65b9\u5411\u3002\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u901a\u8fc7\u8fd0\u52a8\u4e00\u81f4\u6027\u805a\u7c7b&#xff08;MCC&#xff09;\u805a\u5408\u6210\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9&#xff0c;\u8be5\u805a\u7c7b\u5c06\u788e\u7247\u5316\u4f46\u8fd0\u52a8\u4e00\u81f4\u7684\u4e8b\u4ef6\u56e2\u5757\u5173\u8054\u5230\u540c\u4e00\u8bed\u4e49\u76ee\u6807\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4fdd\u7559\u4e86\u5f02\u6b65\u4e8b\u4ef6\u5904\u7406\u80fd\u529b&#xff0c;\u540c\u65f6\u51cf\u5c11\u4e86\u7531\u788e\u7247\u5316\u65e0\u4eba\u673a\u54cd\u5e94\u5f15\u8d77\u7684\u91cd\u590d\u8ddf\u8e2a\u3002<\/p>\n<p>\u5728\u7ebf\u63a8\u7406\u8fc7\u7a0b\u603b\u7ed3\u4e8e\u7b97\u6cd51\u3002<\/p>\n<p>\u7b97\u6cd51 ASUMOT\u5728\u7ebf\u63a8\u7406<\/p>\n<p>\u8f93\u5165&#xff1a;\u4e8b\u4ef6\u6d41 \u2130&#xff0c;\u56e2\u5757\u5047\u8bbe &#x1d4af;_b&#xff0c;\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9 &#x1d4af;_u<br \/>\n1: for \u6bcf\u4e2a\u4f20\u5165\u4e8b\u4ef6 e_k do<br \/>\n2:     \u9884\u6d4b\u6d3b\u8dc3\u56e2\u5757\u72b6\u6001\u81f3\u65f6\u95f4\u6233 t_k<br \/>\n3:     \u4f7f\u7528\u4e8b\u4ef6\u4f3c\u7136\u5c06 e_k \u4e0e\u5019\u9009\/\u6709\u6548\u56e2\u5757\u5173\u8054<br \/>\n4:     if e_k \u88ab\u552f\u4e00\u5173\u8054 then<br \/>\n5:         \u5f02\u6b65\u66f4\u65b0\u5339\u914d\u7684\u56e2\u5757<br \/>\n6:     else<br \/>\n7:         \u66f4\u65b0SAE\u5e76\u8ba1\u7b97\u5c40\u90e8\u4e00\u81f4\u6027\u5f97\u5206 C_k<br \/>\n8:         if C_k &gt; \u03c4_c then<br \/>\n9:             \u751f\u6210\u4e00\u4e2a\u5019\u9009\u56e2\u5757\u5047\u8bbe<br \/>\n10:        end if<br \/>\n11:    end if<br \/>\n12:    \u4f7f\u7528\u9a8c\u8bc1\u5668\u7f6e\u4fe1\u5ea6\u63d0\u5347\u53ef\u9760\u7684\u5019\u9009\u56e2\u5757<br \/>\n13:    \u4f7f\u7528\u8fd0\u52a8\u4e00\u81f4\u6027\u4eb2\u548c\u5ea6\u5c06\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u5206\u914d\u5230\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9<br \/>\n14:    \u66f4\u65b0\u65e0\u4eba\u673a\u8eab\u4efd&#xff0c;\u79fb\u9664\u9648\u65e7\u56e2\u5757\/\u822a\u8ff9<br \/>\n15: end for<br \/>\n16: return \u65e0\u4eba\u673a\u7ea7\u8f68\u8ff9 &#x1d4af;_u<\/p>\n<p>\u4e8b\u4ef6\u6d41\u7684\u8fd0\u52a8\u4e00\u81f4\u6027\u5efa\u6a21<\/p>\n<p>\u5c40\u90e8\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213322-6a6fb7a26d724.png\" \/><\/p>\n<p>\u56fe5&#xff1a;\u7ebf\u6027\u8fd0\u52a8\u4f30\u8ba1\u4e0e\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u5bf9\u6bd4\u3002\u7ea2\u8272\u533a\u57df\u8868\u793a\u8fd0\u52a8\u54cd\u5e94\u3002\u7ebf\u6027\u8fd0\u52a8\u4f30\u8ba1\u4ea7\u751f\u66f4\u591a\u5206\u6563\u7684\u80cc\u666f\u54cd\u5e94&#xff0c;\u800c\u8fd0\u52a8\u4e00\u81f4\u6027\u4f30\u8ba1\u6291\u5236\u4e86\u566a\u58f0\u54cd\u5e94&#xff0c;\u4fdd\u7559\u4e86\u66f4\u53ef\u9760\u7684\u65e0\u4eba\u673a\u8fd0\u52a8\u7ebf\u7d22\u3002\u5b9a\u91cf\u7edf\u8ba1\u5728\u9009\u5b9a\u6837\u672c\u4e0a\u8ba1\u7b97&#xff0c;\u57fa\u7ebf\u5f52\u4e00\u5316\u4e3a100%\u3002<\/p>\n<p>\u5728\u77ed\u65f6\u95f4\u9694\u5185&#xff0c;\u65e0\u4eba\u673a\u8bf1\u53d1\u7684\u4e8b\u4ef6\u901a\u5e38\u5f62\u6210\u5c40\u90e8\u8fde\u8d2f\u7684\u7ed3\u6784&#xff0c;\u800c\u80cc\u666f\u566a\u58f0\u548c\u5b64\u7acb\u4e8b\u4ef6\u5728\u65f6\u95f4\u4e0a\u4e0d\u7a33\u5b9a\u3002\u6211\u4eec\u6ca1\u6709\u4f30\u8ba1\u7a20\u5bc6\u5149\u6d41&#xff0c;\u800c\u662f\u5229\u7528\u5c40\u90e8\u4e8b\u4ef6\u7ed3\u6784\u65b9\u5411\u7684\u65f6\u5e8f\u4e00\u81f4\u6027\u4f5c\u4e3a\u5019\u9009\u89e6\u53d1\u7684\u8f7b\u91cf\u7ea7\u7ebf\u7d22\u3002\u63d0\u53d6\u7684\u65b9\u5411\u4e0d\u88ab\u89c6\u4e3a\u7269\u7406\u65e0\u4eba\u673a\u8fd0\u52a8\u65b9\u5411&#xff0c;\u800c\u662f\u4f5c\u4e3a\u4e3b\u5bfc\u5c40\u90e8\u4e8b\u4ef6\u7ed3\u6784\u7684\u63cf\u8ff0\u7b26\u3002<\/p>\n<p>\u4ee4 T(\u03be)\u4e3a\u50cf\u7d20 \u03be\u7684\u6700\u65b0\u65f6\u95f4\u6233\u3002\u5bf9\u4e8e\u4f20\u5165\u4e8b\u4ef6 ek\u200b&#xff0c;\u4ece\u4ee5 \u03bek\u200b\u4e3a\u4e2d\u5fc3\u7684SAE\u5757 Pk\u200b\u4e2d\u63d0\u53d6ORB\u5b9a\u5411[Rublee et al. 2011]\u5173\u952e\u70b9\u3002\u6bcf\u4e2a\u6709\u6548\u5173\u952e\u70b9 j\u2208Kk\u200b\u63d0\u4f9b\u4e00\u4e2a\u65b9\u5411 \u03b8j\u200b\u5e76\u88ab\u5206\u914d\u4e00\u4e2a\u65f6\u95f4\u6743\u91cd&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a6027ef.png\" \/><\/p>\n<p>\u5176\u4e2d \u03c1\u662f\u8870\u51cf\u56e0\u5b50\u3002\u5176\u7ed3\u6784\u65b9\u5411\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a60c11b.png\" \/><\/p>\n<p>\u53c2\u8003\u65b9\u5411\u901a\u8fc7\u52a0\u6743\u5706\u5f62\u5e73\u5747\u8ba1\u7b97&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a614fc3.png\" \/><\/p>\n<p>\u5c40\u90e8\u4e00\u81f4\u6027\u5f97\u5206\u5b9a\u4e49\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a61ec40.png\" \/><\/p>\n<p>\u5f53\u6ee1\u8db3\u4ee5\u4e0b\u6761\u4ef6\u65f6\u89e6\u53d1\u5019\u9009\u56e2\u5757&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a628a6a.png\" \/><\/p>\n<p>\u5176\u4e2d \u03c4c\u200b\u662f\u4e00\u81f4\u6027\u9608\u503c&#xff0c;nmin\u200b\u662f\u6700\u5c0f\u6709\u6548\u5173\u952e\u70b9\u6570\u91cf\u3002\u56fe5\u5c55\u793a\u4e86\u5176\u5bf9\u80cc\u666f\u566a\u58f0\u7684\u9c81\u68d2\u6027\u3002\u8fd9\u79cd\u89e6\u53d1\u673a\u5236\u6291\u5236\u4e86\u566a\u58f0\u5019\u9009&#xff0c;\u51cf\u8f7b\u4e86\u540e\u7eed\u9a8c\u8bc1\u548c\u8ddf\u8e2a\u7684\u8d1f\u62c5\u3002<\/p>\n<p>\u8fd0\u52a8\u4e00\u81f4\u6027\u805a\u7c7b\u3002<\/p>\n<p>\u5c40\u90e8\u8fd0\u52a8\u4e00\u81f4\u6027\u89e6\u53d1\u4ea7\u751f\u56e2\u5757\u7ea7\u5047\u8bbe&#xff0c;\u800c\u53cd\u65e0\u4eba\u673a\u611f\u77e5\u9700\u8981\u76ee\u6807\u7ea7\u8eab\u4efd\u3002\u8fd0\u52a8\u4e00\u81f4\u6027\u805a\u7c7b\u901a\u8fc7\u8bc4\u4f30\u788e\u7247\u5316\u56e2\u5757\u5728\u4f4d\u7f6e\u3001\u901f\u5ea6\u3001\u65f6\u95f4\u8fde\u7eed\u6027\u548c\u53ef\u9760\u6027\u4e0a\u662f\u5426\u4e0e\u540c\u4e00\u8bed\u4e49\u65e0\u4eba\u673a\u4e00\u81f4&#xff0c;\u5c06\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u5206\u914d\u5230\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9\u3002<\/p>\n<p>\u5bf9\u4e8e\u66f4\u65b0\u6b65 k\u7684\u6bcf\u4e2a\u9a8c\u8bc1\u56e2\u5757 i&#xff0c;\u6211\u4eec\u5b9a\u4e49&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a6313f4.png\" \/><\/p>\n<p>\u5176\u4e2d pk,i\u200b\u548c vk,i\u200b\u662f\u56e2\u5757\u4e2d\u5fc3\u548c\u901f\u5ea6&#xff0c;y^\u200bk,i\u200b\u662f\u9a8c\u8bc1\u5668\u7f6e\u4fe1\u5ea6&#xff0c;Ck,i\u200b\u662f\u5c40\u90e8\u4e00\u81f4\u6027\u5f97\u5206\u3002\u53ef\u9760\u6027\u6743\u91cd \u03b7k,i\u200b\u6291\u5236\u77ac\u65f6\u6742\u6ce2\u548c\u4e0d\u786e\u5b9a\u56e2\u5757\u3002<\/p>\n<p>\u56e2\u5757 i\u4e0e\u9884\u6d4b\u7684\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9 m\u4e4b\u95f4\u7684\u4eb2\u548c\u5ea6\u5b9a\u4e49\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260802213326-6a6fb7a63a219.png\" \/><\/p>\n<p>\u5176\u4e2d pk,m\u2212\u200b\u548c vk,m\u2212\u200b\u662f\u9884\u6d4b\u7684\u65e0\u4eba\u673a\u7ea7\u4f4d\u7f6e\u548c\u901f\u5ea6&#xff0c;\u0394ti,m\u200b\u662f\u81ea\u822a\u8ff9 m\u4e0a\u6b21\u66f4\u65b0\u4ee5\u6765\u7684\u65f6\u95f4\u3002\u5982\u679c Ai,m\u200b&gt;\u03c4a\u200b&#xff0c;\u5219\u5c06\u56e2\u5757\u5206\u914d\u7ed9\u5177\u6709\u6700\u9ad8\u4eb2\u548c\u5ea6\u7684\u822a\u8ff9\u3002\u6bcf\u4e2a\u56e2\u5757\u6700\u591a\u53ef\u5206\u914d\u7ed9\u4e00\u4e2a\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9&#xff0c;\u800c\u6bcf\u4e2a\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9\u53ef\u6536\u96c6\u591a\u4e2a\u9a8c\u8bc1\u540e\u7684\u56e2\u5757\u3002<\/p>\n<p>\u5bf9\u4e8e\u7b2c m\u4e2a\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9&#xff0c;\u4ee4 Ik,m\u200b\u8868\u793a\u5176\u5206\u914d\u7684\u56e2\u5757\u96c6\u3002\u805a\u5408\u7684\u76ee\u6807\u7ea7\u6d4b\u91cf\u503c\u548c\u7a33\u5b9a\u6027\u6743\u91cd\u8ba1\u7b97\u4e3a&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"2026-08-034qwibtiigm3.png\" \/><\/p>\n<p>\u4ec5\u7a33\u5b9a\u7684\u76ee\u6807\u7ea7\u6d4b\u91cf\u7528\u4e8e\u65e0\u4eba\u673a\u7ea7\u66f4\u65b0&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"2026-08-03vns1nap31ec.png\" \/><\/p>\n<p>\u7136\u540e&#xff0c;\u76ee\u6807\u7ea7\u6d4b\u91cf\u88ab\u4f20\u9012\u5230\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u591a\u76ee\u6807\u6ee4\u6ce2\u540e\u7aef\u3002\u5728\u6211\u4eec\u7684\u5b9e\u73b0\u4e2d&#xff0c;\u6211\u4eec\u4f7f\u7528\u52a0\u6743GM-PHD[Vo and Ma 2006]\u6ee4\u6ce2\u5668&#xff0c;\u5176\u4e2d \u03c9k,m\u200b\u8c03\u8282\u6d4b\u91cf\u4f3c\u7136&#xff0c;\u8eab\u4efd\u901a\u8fc7\u52a0\u6743\u9a6c\u6c0f\u8ddd\u79bb\u5173\u8054\u7ef4\u62a4\u3002\u8be6\u7ec6\u7684\u6ee4\u6ce2\u3001\u526a\u679d\u3001\u5408\u5e76\u548c\u8eab\u4efd\u5206\u914d\u5c06\u5728\u8865\u5145\u6750\u6599\u4e2d\u63d0\u4f9b\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u4e3b\u7b97\u6cd5\u96c6\u4e2d\u4e8e\u56e2\u5757\u5230\u65e0\u4eba\u673a\u7684\u805a\u5408&#xff0c;\u540c\u65f6\u5141\u8bb8\u6ee4\u6ce2\u540e\u7aef\u88ab\u5176\u4ed6\u5728\u7ebf\u591a\u76ee\u6807\u6ee4\u6ce2\u5668\u66ff\u6362\u3002<\/p>\n<p>\u57fa\u4e8e\u5b66\u4e60\u7684\u9a8c\u8bc1\u4e0e\u52a8\u6001\u521d\u59cb\u5316<\/p>\n<p>![\u56fe6&#xff1a;\u591a\u4efb\u52a1\u9a8c\u8bc1\u5668\u7684\u8bad\u7ec3\u6837\u672c\u6765\u81eaFRED\u8bad\u7ec3\u96c6\u3002(a) \u4e0d\u540c\u89c6\u89d2\u548c\u5c3a\u5ea6\u7684\u65e0\u4eba\u673a\u5019\u9009&#xff0c;\u53ef\u89c6\u5316\u4e86\u8fd0\u52a8\u65b9\u5411\u3002(b) \u6765\u81ea\u590d\u6742\u57ce\u5e02\u73af\u5883\u7684\u975e\u65e0\u4eba\u673a\u5019\u9009\u3002]<\/p>\n<p>\u57fa\u4e8eEKF\u7684\u56e2\u5757\u8ddf\u8e2a\u5668\u5728\u7a81\u53d1\u673a\u52a8\u548c\u95f4\u6b47\u6027\u4e8b\u4ef6\u4e0b\u5bf9\u521d\u59cb\u5316\u654f\u611f\u3002\u56e0\u6b64&#xff0c;\u6211\u4eec\u4f7f\u7528\u4e00\u4e2a\u8f7b\u91cf\u7ea7\u591a\u4efb\u52a1\u7f51\u7edc\u8fdb\u884c\u5019\u9009\u9a8c\u8bc1\u548c\u52a8\u6001\u8fd0\u52a8\u521d\u59cb\u5316\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u5019\u9009\u56e2\u5757&#xff0c;\u5728\u5c40\u90e8\u8ddf\u8e2a\u5750\u6807\u7cfb\u4e2d\u4ee5\u6307\u6570\u65f6\u95f4\u8870\u51cf\u7d2f\u79ef\u4e00\u4e2a\u4e8b\u4ef6\u5f3a\u5ea6\u5757 Ii\u200b\u2208R128\u00d7128\u3002\u7f51\u7edc f\u03d5\u200b\u9884\u6d4b\u65e0\u4eba\u673a\u7f6e\u4fe1\u5ea6\u548c\u8fd0\u52a8\u65b9\u5411&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"2026-08-03yezz1i5vbqe.png\" \/><\/p>\n<p>\u5176\u4e2d y^\u200bi\u200b\u2208[0,1]\u8868\u793a\u5019\u9009\u5bf9\u5e94\u65e0\u4eba\u673a\u7684\u6982\u7387&#xff0c;\u03c6^\u200bi\u200b\u8868\u793a\u4f30\u8ba1\u7684\u8fd0\u52a8\u65b9\u5411\u3002<\/p>\n<p>\u5b83\u901a\u8fc7\u8054\u5408\u5206\u7c7b\u548c\u65b9\u5411\u4f30\u8ba1\u76ee\u6807\u8fdb\u884c\u8bad\u7ec3&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"2026-08-03jes5idlbpg0.png\" \/><\/p>\n<p>\u5176\u4e2d Lcls\u200b\u662f\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931&#xff0c;yi\u200b\u2208{0,1}\u662f\u65e0\u4eba\u673a\u6807\u7b7e&#xff0c;\u03c6i\u200b\u662f\u771f\u5b9e\u8fd0\u52a8\u65b9\u5411&#xff0c;\u03bbdir\u200b\u5e73\u8861\u4e24\u9879\u4efb\u52a1\u3002\u65b9\u5411\u635f\u5931\u4ec5\u5e94\u7528\u4e8e\u6b63\u65e0\u4eba\u673a\u6837\u672c\u3002<\/p>\n<p>\u5728\u63a8\u7406\u8fc7\u7a0b\u4e2d&#xff0c;\u5f53\u4e00\u4e2a\u5019\u9009\u5728\u77ed\u65f6\u95f4\u5185 y^\u200bi\u200b&gt;\u03c4y\u200b\u65f6\u88ab\u63d0\u5347\u3002\u4f30\u8ba1\u7684\u65b9\u5411\u7528\u4e8e\u521d\u59cb\u5316\u6216\u6821\u6b63\u56e2\u5757\u901f\u5ea6&#xff1a;<\/p>\n<p><img decoding=\"async\" src=\"2026-08-03swvwvefypgt.png\" \/><\/p>\n<p>\u5176\u4e2d si\u200b\u662f\u7531\u5c40\u90e8\u8fd0\u52a8\u4e00\u81f4\u6027\u6a21\u5757\u4f30\u8ba1\u6216\u4ece\u5f53\u524d\u8ddf\u8e2a\u5668\u72b6\u6001\u7ee7\u627f\u7684\u8fd0\u52a8\u5e45\u5ea6\u3002\u7f6e\u4fe1\u5ea6\u6301\u7eed\u8f83\u4f4e\u7684\u5019\u9009\u88ab\u5220\u9664&#xff0c;\u51cf\u5c11\u4e86\u5bf9\u624b\u5de5\u521d\u59cb\u5316\u7684\u4f9d\u8d56\u5e76\u63d0\u9ad8\u4e86\u7a33\u5b9a\u6027\u3002<\/p>\n<p>\u9a8c\u8bc1\u5668\u91c7\u7528\u7d27\u51d1\u7684\u6b8b\u5deeCNN&#xff0c;\u5177\u6709\u591a\u5934\u8f93\u51fa&#xff0c;\u5e76\u5728\u6765\u81ea\u516c\u5f00\u4e8b\u4ef6\u6570\u636e\u96c6\u7684\u5e73\u8861\u65e0\u4eba\u673a\/\u975e\u65e0\u4eba\u673a\u6837\u672c\u4e0a\u8bad\u7ec3&#xff08;\u56fe6&#xff09;\u3002\u7531\u4e8e\u5176\u4ec5\u5728\u5019\u9009\u5757\u4e0a\u8fd0\u884c&#xff0c;\u5728\u5d4c\u5165\u5f0f\u90e8\u7f72\u4e2d\u5f00\u9500\u4fdd\u6301\u8f83\u4f4e\u3002\u8be6\u7ec6\u7684\u7f51\u7edc\u67b6\u6784\u548cFLOPs\u8ba1\u7b97\u5c06\u5728\u8865\u5145\u6750\u6599\u4e2d\u63d0\u4f9b\u3002<\/p>\n<p>\u822a\u8ff9\u7ba1\u7406<\/p>\n<p>ASUMOT\u7ef4\u62a4\u5019\u9009\u548c\u6709\u6548\u56e2\u5757\u822a\u8ff9\u3002\u5019\u9009\u56e2\u5757\u7531\u8fd0\u52a8\u4e00\u81f4\u6027\u89e6\u53d1\u751f\u6210&#xff0c;\u5e76\u5728\u9a8c\u8bc1\u540e\u63d0\u5347&#xff1b;\u6709\u6548\u56e2\u5757\u53c2\u4e0e\u57fa\u4e8eMCC\u7684\u65e0\u4eba\u673a\u7ea7\u5173\u8054\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u4e8b\u4ef6&#xff0c;\u9996\u5148\u4f7f\u7528 p(ek\u200b\u2223\u03b6i\u200b)\u4e0e\u6709\u6548\u56e2\u5757\u5173\u8054&#xff0c;\u7136\u540e\u4e0e\u5019\u9009\u5173\u8054\u3002\u552f\u4e00\u5173\u8054\u7684\u4e8b\u4ef6\u5f02\u6b65\u66f4\u65b0\u72b6\u6001&#xff1b;\u591a\u91cd\u5173\u8054\u7684\u4e8b\u4ef6\u88ab\u89c6\u4e3a\u6a21\u7cca&#xff0c;\u4ec5\u8fdb\u884c\u9884\u6d4b&#xff1b;\u672a\u5339\u914d\u7684\u4e8b\u4ef6\u4f20\u9012\u7ed9MCE\u4ee5\u751f\u6210\u5019\u9009\u3002\u5982\u679c\u56e2\u5757\u79bb\u5f00\u56fe\u50cf\u3001\u4fdd\u6301\u4e0d\u6d3b\u8dc3\u6216\u53cd\u590d\u88ab\u62d2\u7edd&#xff0c;\u5219\u7ec8\u6b62\u5176\u822a\u8ff9\u3002\u5f53\u5728\u9884\u5b9a\u95f4\u9694\u5185\u6ca1\u6709\u8fd0\u52a8\u4e00\u81f4\u7684\u56e2\u5757\u7ec4\u4e0e\u4e4b\u5173\u8054\u65f6&#xff0c;\u7ec8\u6b62\u65e0\u4eba\u673a\u7ea7\u822a\u8ff9\u3002<\/p>\n<p>\u5b9e\u9a8c<\/p>\n<p>\u6570\u636e\u96c6\u4e0e\u8bc4\u4f30\u6307\u6807<\/p>\n<p>\u6211\u4eec\u5728FRED\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u8ddf\u8e2a\u6027\u80fd&#xff0c;\u5728\u63d0\u51fa\u7684ES-UAV\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n<p>FRED\u6570\u636e\u96c6\u3002<\/p>\n<p>FRED\u662f\u4e00\u4e2a\u591a\u6a21\u6001\u65e0\u4eba\u673a\u57fa\u51c6\u6570\u636e\u96c6&#xff0c;\u5305\u542b7\u5c0f\u65f6\u7684\u4e8b\u4ef6\u548cRGB\u8bb0\u5f55&#xff0c;\u6db5\u76d6\u591a\u6837\u573a\u666f\u548c\u5149\u7167\u6761\u4ef6&#xff0c;\u652f\u6301\u68c0\u6d4b\u548c\u8ddf\u8e2a\u8bc4\u4f30\u3002\u4e8b\u4ef6\u5e27\u4ee533.33\u6beb\u79d2\u95f4\u9694\u6807\u6ce8&#xff0c;\u5206\u8fa8\u7387\u4e3a1280\u00d7720\u3002\u9075\u5faa\u5b98\u65b9\u534f\u8bae&#xff0c;\u6211\u4eec\u4ec5\u4f7f\u7528\u4e8b\u4ef6\u6570\u636e\u5728\u6311\u6218\u6027\u5212\u5206&#xff08;147\u4e2a\u8bad\u7ec3\u7247\u6bb5\u548c84\u4e2a\u6d4b\u8bd5\u7247\u6bb5&#xff09;\u4e0a\u8fdb\u884c\u8bc4\u4f30\u3002\u6570\u636e\u96c6\u6269\u5927\u4e86\u8fb9\u754c\u6846\u5c3a\u5bf8\u4ee5\u5b9e\u73b0\u6a21\u6001\u540c\u6b65&#xff1b;\u7136\u800c&#xff0c;\u7531\u4e8e\u5f02\u6b65\u65b9\u6cd5\u4ea7\u751f\u7684\u68c0\u6d4b\u6846\u662f\u4ece\u4e8b\u4ef6\u70b9\u4e91\u8ba1\u7b97\u5f97\u51fa\u7684&#xff0c;\u56e0\u6b64\u4e0e\u653e\u5927\u540e\u7684\u6807\u7b7eIoU\u8f83\u4f4e&#xff0c;\u6211\u4eec\u4ec5\u8bc4\u4f30\u8ddf\u8e2a\u4efb\u52a1\u3002\u5f02\u6b65\u8f93\u51fa\u4e0e\u6570\u636e\u96c6\u91c7\u6837\u7387\u540c\u6b65\u4ee5\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\u3002<\/p>\n<p>ES-UAV\u6570\u636e\u96c6\u3002<\/p>\n<p>ES-UAV\u662f\u4e00\u4e2a\u9ad8\u6e05\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u8bc4\u4f30\u6570\u636e\u96c6&#xff08;1280\u00d7720&#xff0c;\u4e8b\u4ef6\u7ea7\u8bed\u4e49\u6807\u6ce8&#xff09;&#xff0c;\u4e13\u4e3a\u5f02\u6b65\u68c0\u6d4b\u7cbe\u5ea6\u8bc4\u4f30\u8bbe\u8ba1\u3002\u6240\u6709\u65b9\u6cd5\u5747\u5728\u516c\u5f00\u6570\u636e\u96c6&#xff08;FRED\u4e0a\u7684\u5e27\u6570\u636e&#xff0c;EV-UAV\u4e0a\u7684\u70b9\u6570\u636e&#xff09;\u4e0a\u8bad\u7ec3&#xff0c;\u5e76\u4ec5\u5728ES-UAV\u4e0a\u6d4b\u8bd5\u4ee5\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\u3002<\/p>\n<p>\u8bc4\u4f30\u6307\u6807\u3002<\/p>\n<p>\u5bf9\u4e8e\u8ddf\u8e2a&#xff0c;\u6211\u4eec\u62a5\u544a\u591a\u76ee\u6807\u8ddf\u8e2a\u7cbe\u5ea6&#xff08;MOTA&#xff09;\u3001\u8eab\u4efdF1\u5206\u6570&#xff08;IDF1&#xff09;\u3001\u53ec\u56de\u7387&#xff08;Recall&#xff09;\u548c\u7cbe\u786e\u7387&#xff08;Precision&#xff09;&#xff0c;\u5e76\u91c7\u7528\u6b27\u51e0\u91cc\u5f97\u4e00\u81f4\u6027\u51c6\u5219&#xff08;EUC &#061; 100&#xff09;\u4ee5\u51cf\u8f7b\u56fa\u5b9a\u901f\u7387\u8bc4\u4f30\u5f15\u8d77\u7684\u540c\u6b65\u8bef\u5dee\u3002\u5bf9\u4e8e\u68c0\u6d4b&#xff0c;\u6211\u4eec\u9075\u5faa\u5148\u524d\u7684\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u5206\u5272\u5de5\u4f5cEv-SpSegNet[Chen et al. 2025]&#xff0c;\u91c7\u7528\u4ea4\u5e76\u6bd4&#xff08;IoU&#xff09;\u3001\u865a\u8b66\u7387&#xff08;Fa&#xff09;\u3001\u51c6\u786e\u7387&#xff08;Acc&#xff09;\u548c\u68c0\u6d4b\u6982\u7387&#xff08;Pd&#xff09;\u3002<\/p>\n<p>\u5b9e\u73b0\u7ec6\u8282<\/p>\n<p>\u7cfb\u7edf\u5728C&#043;&#043;\u4e2d\u5b9e\u73b0&#xff0c;\u591a\u4efb\u52a1\u7f51\u7edc\u5728PyTorch\u4e2d\u8bad\u7ec3\u5e76\u901a\u8fc7LibTorch\u90e8\u7f72\u3002\u8bad\u7ec3\u6837\u672c\u4f7f\u7528128\u00d7128\u5757\u4eceFRED\u8bad\u7ec3\u96c6\u4e2d\u63d0\u53d6\u3002\u7f51\u7edc\u5728\u5355\u5f20RTX 4090 GPU\u4e0a\u8bad\u7ec365\u4e2a\u5468\u671f&#xff0c;\u5b66\u4e60\u7387\u4e3a5\u00d710\u207b\u2074\u3002\u8fd0\u52a8\u4f30\u8ba1\u572864\u00d764\u5c40\u90e8\u5757\u4e0a\u8fd0\u884c\u3002\u6982\u7387\u5bc6\u5ea6\u4f30\u8ba1\u7528\u591a\u4e2a\u5047\u8bbe\u521d\u59cb\u5316\u6ee4\u6ce2\u5668&#xff0c;\u8ddf\u8e2a\u5668\u9075\u5faaAEB\u8ddf\u8e2a\u5668[Wang et al. 2024c]\u7684\u9ed8\u8ba4\u914d\u7f6e\u3002\u8fb9\u7f18\u90e8\u7f72\u5b9e\u9a8c\u5728NVIDIA Jetson TX2\u4e0a\u8fdb\u884c\u3002<\/p>\n<p>\u4e0e\u5148\u8fdb\u65b9\u6cd5\u7684\u6bd4\u8f83<\/p>\n<p>\u6211\u4eec\u5728\u4e09\u79cd\u8f93\u5165\u8868\u793a\u4e0a\u4e0e\u4ee3\u8868\u6027\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83&#xff1a;\u4e8b\u4ef6\u5e27\u3001\u4f53\u7d20\u7f51\u683c\u548c\u4e8b\u4ef6\u6d41\u3002\u5bf9\u4e8e\u57fa\u4e8e\u5e27\u548c\u4f53\u7684\u65b9\u6cd5&#xff0c;\u9075\u5faa\u5b98\u65b9FRED\u534f\u8bae&#xff0c;\u6211\u4eec\u91c7\u7528ByteTrack[Zhang et al. 2022]\u4f5c\u4e3a\u8ddf\u8e2a\u540e\u7aef\u3002<\/p>\n<p>\u88682&#xff1a;\u5728FRED\u6570\u636e\u96c6\u6311\u6218\u6027\u5212\u5206\u4e0b\u7684\u8bc4\u4f30\u7ed3\u679c&#xff08;MOTA&#064;EUC&#061;100&#xff09;\u3002<\/p>\n<table>\n<tr>\n<p>\u65b9\u6cd5<\/p>\n<p>\u6570\u636e\u683c\u5f0f<\/p>\n<p>IDF1 (%) \u2191<\/p>\n<p>\u53ec\u56de\u7387 (%) \u2191<\/p>\n<p>\u7cbe\u786e\u7387 (%) \u2191<\/p>\n<p>MOTA (%) \u2191<\/p>\n<p>GFLOPs \u2193<\/p>\n<\/tr>\n<tbody>\n<tr>\n<td>\n<p>YOLOv11-n [Khanam and Hussain 2024]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u5e27<\/p>\n<\/td>\n<td>\n<p>13.1<\/p>\n<\/td>\n<td>\n<p>51.0<\/p>\n<\/td>\n<td>\n<p>95.9<\/p>\n<\/td>\n<td>\n<p>48.2<\/p>\n<\/td>\n<td>\n<p>6.5<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>YOLOv11-s [Khanam and Hussain 2024]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u5e27<\/p>\n<\/td>\n<td>\n<p>29.0<\/p>\n<\/td>\n<td>\n<p>54.8<\/p>\n<\/td>\n<td>\n<p>94.8<\/p>\n<\/td>\n<td>\n<p>51.6<\/p>\n<\/td>\n<td>\n<p>21.5<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>MvHeat-DET [Wang et al. 2025]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u5e27<\/p>\n<\/td>\n<td>\n<p>19.5<\/p>\n<\/td>\n<td>\n<p>59.0<\/p>\n<\/td>\n<td>\n<p>94.8<\/p>\n<\/td>\n<td>\n<p>55.1<\/p>\n<\/td>\n<td>\n<p>56.4<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>D-FINE [Peng et al. 2024a]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u5e27<\/p>\n<\/td>\n<td>\n<p>20.0<\/p>\n<\/td>\n<td>\n<p>63.1<\/p>\n<\/td>\n<td>\n<p>94.9<\/p>\n<\/td>\n<td>\n<p>59.2<\/p>\n<\/td>\n<td>\n<p>25.0<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>SMamba [Yang et al. 2025]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u4f53\u7d20<\/p>\n<\/td>\n<td>\n<p>37.6<\/p>\n<\/td>\n<td>\n<p>62.4<\/p>\n<\/td>\n<td>\n<p>94.2<\/p>\n<\/td>\n<td>\n<p>56.9<\/p>\n<\/td>\n<td>\n<p>7.4<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>RVT [Gehrig and Scaramuzza 2023]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u4f53\u7d20<\/p>\n<\/td>\n<td>\n<p>44.6<\/p>\n<\/td>\n<td>\n<p>60.0<\/p>\n<\/td>\n<td>\n<p>96.7<\/p>\n<\/td>\n<td>\n<p>56.5<\/p>\n<\/td>\n<td>\n<p>8.4<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>SAST [Peng et al. 2024b]<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u4f53\u7d20<\/p>\n<\/td>\n<td>\n<p>38.4<\/p>\n<\/td>\n<td>\n<p>61.3<\/p>\n<\/td>\n<td>\n<p>95.4<\/p>\n<\/td>\n<td>\n<p>56.2<\/p>\n<\/td>\n<td>\n<p>6.4<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>Ours\u200b<\/p>\n<\/td>\n<td>\n<p>\u4e8b\u4ef6\u6d41\u200b<\/p>\n<\/td>\n<td>\n<p>44.5\u200b<\/p>\n<\/td>\n<td>\n<p>79.0\u200b<\/p>\n<\/td>\n<td>\n<p>84.6\u200b<\/p>\n<\/td>\n<td>\n<p>64.0\u200b<\/p>\n<\/td>\n<td>\n<p>0.29\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>FRED\u6570\u636e\u96c6\u4e0a\u7684\u7ed3\u679c\u3002<\/p>\n<p>\u88682\u62a5\u544a\u4e86\u6311\u6218\u6027\u5212\u5206\u4e0a\u7684\u7ed3\u679c\u3002ASUMOT\u4ee5\u4ec50.29 GFLOPs\u7684\u8ba1\u7b97\u91cf\u5b9e\u73b0\u4e86\u6700\u9ad8\u7684MOTA 64.0%\u3002\u4e0eD-Fine[Peng et al. 2024a]\u76f8\u6bd4&#xff0c;\u5b83\u5c06MOTA\u4ece59.2%\u63d0\u9ad8\u523064.0%&#xff0c;\u540c\u65f6\u5c06\u8ba1\u7b97\u91cf\u4ece25 GFLOPs\u964d\u4f4e\u52300.29 GFLOPs\u3002\u4e3b\u8981\u589e\u76ca\u6765\u81ea\u53ec\u56de\u7387&#xff1a;ASUMOT\u8fbe\u523079.0%&#xff0c;\u51cf\u5c11\u4e86\u5c0f\u76ee\u6807\u3001\u6742\u4e71\u80cc\u666f\u548c\u5feb\u901f\u8fd0\u52a8\u4e0b\u7684\u76ee\u6807\u4e22\u5931\u3002\u867d\u7136\u7531\u4e8e\u66f4\u6fc0\u8fdb\u7684\u5019\u9009\u4fdd\u7559\u7b56\u7565\u5bfc\u81f4\u7cbe\u786e\u7387\u8f83\u4f4e&#xff0c;\u4f46\u663e\u8457\u7684\u53ec\u56de\u7387\u589e\u76ca\u51cf\u5c11\u4e86\u6f0f\u68c0&#xff0c;\u5e76\u5728\u5feb\u901f\u79fb\u52a8\u7684\u65e0\u4eba\u673a\u573a\u666f\u4e2d\u63d0\u9ad8\u4e86\u6574\u4f53MOTA\u3002<\/p>\n<p>\u56fe1\u5c55\u793a\u4e86\u5b9a\u6027\u6bd4\u8f83\u3002ASUMOT\u5728\u4e0d\u540c\u5c3a\u5ea6\u548c\u6742\u4e71\u80cc\u666f\u4e0b\u5b9a\u4f4d\u65e0\u4eba\u673a&#xff0c;\u540c\u65f6\u4fdd\u6301\u7a33\u5b9a\u7684\u8eab\u4efd\u3002\u7531\u4e8e\u8fb9\u754c\u6846\u662f\u4ece\u4e8b\u4ef6\u70b9\u4e91\u800c\u975e\u7d2f\u79ef\u5e27\u63a8\u65ad\u5f97\u51fa&#xff0c;\u9884\u6d4b\u4e0e\u5c0f\u578b\u76ee\u6807\u7d27\u5bc6\u5bf9\u9f50\u3002\u5728\u4e34\u65f6\u6d88\u5931\u6216\u4e8b\u4ef6\u7a00\u758f\u7684\u60c5\u51b5\u4e0b&#xff0c;\u8fd0\u52a8\u4e00\u81f4\u6027\u72b6\u6001\u4f30\u8ba1\u65e0\u9700\u91cd\u578b\u5faa\u73af\u67b6\u6784\u5373\u53ef\u7ef4\u6301\u822a\u8ff9\u3002<\/p>\n<p>\u88683&#xff1a;ES-UAV\u6570\u636e\u96c6\u4e0a\u7684\u8bc4\u4f30\u7ed3\u679c\u3002<\/p>\n<table>\n<tr>\n<p>\u65b9\u6cd5<\/p>\n<p>Pd (%) \u2191<\/p>\n<p>Fa (10\u207b\u2074) \u2193<\/p>\n<p>Acc. (%) \u2191<\/p>\n<p>IoU (%) \u2191<\/p>\n<\/tr>\n<tbody>\n<tr>\n<td>\n<p>D-FINE<\/p>\n<\/td>\n<td>\n<p>76.0<\/p>\n<\/td>\n<td>\n<p>0.72<\/p>\n<\/td>\n<td>\n<p>57.9<\/p>\n<\/td>\n<td>\n<p>33.5<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>RVT<\/p>\n<\/td>\n<td>\n<p>64.0<\/p>\n<\/td>\n<td>\n<p>1.02<\/p>\n<\/td>\n<td>\n<p>59.0<\/p>\n<\/td>\n<td>\n<p>27.5<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>Ev-SpSegNet<\/p>\n<\/td>\n<td>\n<p>86.0<\/p>\n<\/td>\n<td>\n<p>391.37<\/p>\n<\/td>\n<td>\n<p>32.4<\/p>\n<\/td>\n<td>\n<p>18.4<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>Ours\u200b<\/p>\n<\/td>\n<td>\n<p>89.9\u200b<\/p>\n<\/td>\n<td>\n<p>0.56\u200b<\/p>\n<\/td>\n<td>\n<p>93.3\u200b<\/p>\n<\/td>\n<td>\n<p>42.8\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>ES-UAV\u6570\u636e\u96c6\u4e0a\u7684\u7ed3\u679c\u3002<\/p>\n<p>\u88683\u603b\u7ed3\u4e86\u68c0\u6d4b\u6027\u80fd\u3002\u7531\u4e8e\u65e0\u4eba\u673a\u4e8b\u4ef6\u54cd\u5e94\u7684\u6781\u5ea6\u7a00\u758f\u6027&#xff0c;\u4ec5\u9760IoU\u4e0d\u80fd\u5b8c\u5168\u53cd\u6620\u68c0\u6d4b\u53ef\u9760\u6027&#xff1b;\u56e0\u6b64&#xff0c;\u9700\u8054\u5408\u8003\u8651Acc\u548c\u865a\u8b66\u7387\u3002ASUMOT\u5b9e\u73b0\u4e86\u6700\u9ad8\u7684Pd&#xff08;89.9%&#xff09;\u3001IoU&#xff08;42.8%&#xff09;\u548cAcc&#xff08;93.3%&#xff09;&#xff0c;\u540c\u65f6\u4fdd\u6301\u4e86\u6700\u4f4e\u7684\u865a\u8b66\u7387&#xff08;0.56\u00d710\u207b\u2074&#xff09;\u3002\u57fa\u4e8e\u8868\u793a\u7684\u65b9\u6cd5\u5982D-FINE\u548cRVT\u901a\u8fc7\u5229\u7528\u6210\u719f\u7684\u7a7a\u95f4\u7279\u5f81\u63d0\u53d6\u5b9e\u73b0\u4e86\u6709\u7ade\u4e89\u529b\u7684\u5b9a\u4f4d\u6027\u80fd&#xff0c;\u4f46\u5176\u65f6\u95f4\u7d2f\u79ef\u9650\u5236\u4e86\u5728\u65e0\u4eba\u673a\u5feb\u901f\u8fd0\u52a8\u4e0b\u7684\u7cbe\u786e\u4e8b\u4ef6\u7ea7\u5b9a\u4f4d\u3002\u56e0\u6b64&#xff0c;\u4e0eASUMOT\u76f8\u6bd4&#xff0c;\u5b83\u4eec\u83b7\u5f97\u4e86\u8f83\u4f4e\u7684Acc\u548c\u8f83\u9ad8\u7684\u8bef\u62a5\u54cd\u5e94\u3002Ev-SpSegNet\u5728\u590d\u6742\u80cc\u666f\u548c\u9ad8\u5206\u8fa8\u7387\u6570\u636e\u96c6\u4e0a\u6cdb\u5316\u80fd\u529b\u6709\u9650&#xff0c;\u51f8\u663e\u4e86ES-UAV\u5bf9\u4e8e\u8bc4\u4f30\u57fa\u4e8e\u4e8b\u4ef6\u7684\u65e0\u4eba\u673a\u68c0\u6d4b\u4efb\u52a1\u7684\u91cd\u8981\u6027\u3002<\/p>\n<p>\u4fdd\u7559\u4e8b\u4ef6\u52a8\u6001\u548c\u8fd0\u52a8\u4e00\u81f4\u6027\u662f\u5728\u6742\u4e71\u73af\u5883\u4e2d\u5b9e\u73b0\u53ef\u9760\u65e0\u4eba\u673a\u611f\u77e5\u7684\u5173\u952e\u3002\u56fe1\u5c55\u793a\u4e86ASUMOT\u7684\u5b9a\u6027\u68c0\u6d4b\u7ed3\u679c&#xff0c;\u66f4\u591a\u89c6\u89c9\u5bf9\u6bd4\u5c06\u5728\u8865\u5145\u6750\u6599\u4e2d\u63d0\u4f9b\u3002<\/p>\n<p>\u8fb9\u7f18\u90e8\u7f72\u3002<\/p>\n<p>\u6211\u4eec\u6784\u5efa\u4e86ASUMOT-Tiny&#xff0c;\u91c7\u7528\u95f4\u6b47\u6027\u8fd0\u52a8\u4f30\u8ba1&#xff0c;\u5e76\u5728\u8fb9\u7f18\u8bbe\u5907\u4e0a\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002<\/p>\n<p>\u88684&#xff1a;\u5728TX2\u4e0aFRED\u6570\u636e\u96c6\u6311\u6218\u6027\u5212\u5206\u7684\u8bc4\u4f30\u7ed3\u679c&#xff08;MOTA&#064;EUC&#061;100&#xff09;\u3002<\/p>\n<table>\n<tr>\n<p>\u65b9\u6cd5<\/p>\n<p>MOTA (%) \u2191<\/p>\n<p>\u5ef6\u8fdf (ms) \u2193<\/p>\n<p>GFLOPs \u2193<\/p>\n<\/tr>\n<tbody>\n<tr>\n<td>\n<p>YOLOv11-n<\/p>\n<\/td>\n<td>\n<p>48.2<\/p>\n<\/td>\n<td>\n<p>23.4<\/p>\n<\/td>\n<td>\n<p>6.5<\/p>\n<\/td>\n<\/tr>\n<tr>\n<td>\n<p>ASUMOT-Tiny\u200b<\/p>\n<\/td>\n<td>\n<p>55.0\u200b<\/p>\n<\/td>\n<td>\n<p>29.94\u200b<\/p>\n<\/td>\n<td>\n<p>0.29\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u88684\u663e\u793a&#xff0c;ASUMOT-Tiny\u5728Jetson TX2\u4e0a&#xff0c;\u57281.34\u00d710\u2075 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