Related papers: LS-VOS: Identifying Outliers in 3D Object Detectio…

Recent success on realistic road driving datasets has increased interest in exploring robust performance in real-world applications. One of the major unsolved problems is to identify image content which can not be reliably recognized with a…

We propose DOPS, a fast single-stage 3D object detection method for LIDAR data. Previous methods often make domain-specific design decisions, for example projecting points into a bird-eye view image in autonomous driving scenarios. In…

Anomaly detection, or outlier detection, is a crucial task in various domains to identify instances that significantly deviate from established patterns or the majority of data. In the context of autonomous driving, the identification of…

Discriminative learning effectively predicts true object class for image classification. However, it often results in false positives for outliers, posing critical concerns in applications like autonomous driving and video surveillance…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

In this paper, we propose a novel approach for outlier detection, called local projections, which is based on concepts of Local Outlier Factor (LOF) (Breunig et al., 2000) and RobPCA (Hubert et al., 2005). By using aspects of both methods,…

We propose a novel self-supervised Video Object Segmentation (VOS) approach that strives to achieve better object-background discriminability for accurate object segmentation. Distinct from previous self-supervised VOS methods, our approach…

LiDAR has become one of the primary 3D object detection sensors in autonomous driving. However, LiDAR's diverging point pattern with increasing distance results in a non-uniform sampled point cloud ill-suited to discretized volumetric…

Outlier detection (OD) is a key machine learning (ML) task for identifying abnormal objects from general samples with numerous high-stake applications including fraud detection and intrusion detection. Due to the lack of ground truth…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

We propose an inlier-based outlier detection method capable of both identifying the outliers and explaining why they are outliers, by identifying the outlier-specific features. Specifically, we employ an inlier-based outlier detection…

Outlier detection aims to identify unusual data instances that deviate from expected patterns. The outlier detection is particularly challenging when outliers are context dependent and when they are defined by unusual combinations of…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Out-of-distribution (OOD) detection, which determines whether a given sample is part of the in-distribution (ID), has recently shown promising results through training with synthetic OOD datasets. Nonetheless, existing methods often produce…

Rare data in a large-scale database are called outliers that reveal significant information in the real world. The subspace-based outlier detection is regarded as a feasible approach in very high dimensional space. However, the outliers…

Rare-object detection remains a challenging task in autonomous driving systems, particularly when relying solely on point cloud data. Although Vision-Language Models (VLMs) exhibit strong capabilities in image understanding, their potential…

Modern neural networks are known to give overconfident prediction for out-of-distribution inputs when deployed in the open world. It is common practice to leverage a surrogate outlier dataset to regularize the model during training, and…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…