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## Chapter06-占据网络部署小试

0. 模型量化部署

![QAT、PTQ简介](https://developer.horizon.ai/api/v1/fileData/horizon_j5_open_explorer_v1_1_33_cn_doc/_images/qat_ptq_contrast.png)

- 训练后量化(PTQ) [地平线J5](https://developer.horizon.ai/api/v1/fileData/horizon_j5_open_explorer_v1_1_33_cn_doc/oe_mapper/source/ptq/ptq.html)[英伟达Orin]()
- 量化感知训练(QAT) [地平线J5](https://developer.horizon.ai/api/v1/fileData/horizon_j5_open_explorer_v1_1_33_cn_doc/plugin/source/index.html)[英伟达Orin]()


BEV部署:https://developer.horizon.cc/api/v1/fileData/horizon_j5_reference_package_release/index.html 2.BEV算法

1. BEVFormer->VoxFormer 部署

https://github.com/fundamentalvision/BEVFormer
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+ OpenOccupancy: A Large Scale Benchmark for Surrounding Semantic Occupancy Perception [[paper](https://arxiv.org/abs/2303.03991)] [[Github](https://github.com/JeffWang987/OpenOccupancy)]
+ OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction [[paper](https://arxiv.org/abs/2304.05316)] [[Github](https://github.com/zhangyp15/OccFormer)]
+ BEVDet for occupancy: [[Github](https://github.com/HuangJunJie2017/BEVDet/tree/dev2.1/configs/bevdet_occ)]
+ SimpleOccupancy: A Simple Attempt for 3D Occupancy Estimation in Autonomous Driving [[paper](https://arxiv.org/abs/2303.10076)] [[Github](https://github.com/GANWANSHUI/SimpleOccupancy)]
+ OVO: Open-Vocabulary Occupancy [[paper](https://arxiv.org/abs/2305.16133)] [[Github](https://github.com/dzcgaara/OVO-Open-Vocabulary-Occupancy)]
+ SimpleOccupancy: A Simple Attempt for 3D Occupancy Estimation in Autonomous Driving [[paper](https://arxiv.org/abs/2303.10076)] [[Github](https://github.com/GANWANSHUI/SimpleOccupancy)] [[解读](https://zhuanlan.zhihu.com/p/625016558)]
+ OVO: Open-Vocabulary Occupancy [[paper](https://arxiv.org/abs/2305.16133)] [[Github](https://github.com/dzcgaara/OVO-Open-Vocabulary-Occupancy)]
+ FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformation[[paper](https://arxiv.org/abs/2307.01492)] [[Github](https://github.com/NVlabs/FB-BEV)]
+ UniOcc: Unifying Vision-Centric 3D Occupancy Prediction with Geometric and Semantic Rendering [[paper](https://arxiv.org/abs/2306.09117)]
+ FlashOCC: https://github.com/Yzichen/FlashOCC
+ Occworld:自动驾驶的3D占用世界模型(清华大学) https://zhuanlan.zhihu.com/p/670101123
+ BEV-IO:Enhancing Bird's-Eye-View 3D Detection with Instance Occupancy [[解读](https://zhuanlan.zhihu.com/p/635722162)]
+ 轻量级占用网络要来了!FlashOcc:主打实时性,高精度快速高效内存 [[解读](https://zhuanlan.zhihu.com/p/669159835)]
+ CVPR2023 Occupancy Prediction比赛方案总结 https://mp.weixin.qq.com/s/dJXvkX-b6qiYe7dzB43FMQ

#### Occupancy Datasets
+ Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Driving [[paper](https://arxiv.org/abs/2304.14365)] [[Github](https://github.com/Tsinghua-MARS-Lab/Occ3D)]
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