相关论文: UOD: Unseen Object Detection in 3D Point Cloud

In addition to accurate scene understanding through precise semantic segmentation of LiDAR point clouds, detecting out-of-distribution (OOD) objects, instances not encountered during training, is essential to prevent the incorrect…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Out-of-Distribution (OoD) detection aims to justify whether a given sample is from the training distribution of the classifier-under-protection, i.e., In-Distribution (InD), or from OoD. Diffusion Models (DMs) are recently utilized in OoD…

Out-of-distribution (OOD) detection is an indispensable aspect of secure AI when deploying machine learning models in real-world applications. Previous paradigms either explore better scoring functions or utilize the knowledge of outliers…

In this paper, we study the problem of 3D object segmentation from raw point clouds. Unlike all existing methods which usually require a large amount of human annotations for full supervision, we propose the first unsupervised method,…

Open-set semi-supervised object detection (OSSOD) task leverages practical open-set unlabeled datasets that comprise both in-distribution (ID) and out-of-distribution (OOD) instances for conducting semi-supervised object detection (SSOD).…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

Safe navigation of self-driving cars and robots requires a precise understanding of their environment. Training data for perception systems cannot cover the wide variety of objects that may appear during deployment. Thus, reliable…

Object detection is a pivotal task in computer vision that has received significant attention in previous years. Nonetheless, the capability of a detector to localise objects out of the training distribution remains unexplored. Whilst…

Out-of-Distribution(OOD) detection, a fundamental machine learning task aimed at identifying abnormal samples, traditionally requires model retraining for different inlier distributions. While recent research demonstrates the applicability…

To achieve reliable and precise scene understanding, autonomous vehicles typically incorporate multiple sensing modalities to capitalize on their complementary attributes. However, existing cross-modal 3D detectors do not fully utilize the…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

Improving the reliability of deployed machine learning systems often involves developing methods to detect out-of-distribution (OOD) inputs. However, existing research often narrowly focuses on samples from classes that are absent from the…

In this work, we consider the safety-oriented performance of 3D object detectors in autonomous driving contexts. Specifically, despite impressive results shown by the mass literature, developers often find it hard to ensure the safe…

Unsupervised out-of-distribution detection (OOD) seeks to identify out-of-domain data by learning only from unlabeled in-domain data. We present a novel approach for this task - Lift, Map, Detect (LMD) - that leverages recent advancement in…

Applying machine learning to increasingly high-dimensional problems with sparse or biased training data increases the risk that a model is used on inputs outside its training domain. For such out-of-distribution (OOD) inputs, the model can…

Open-set object detection (OSOD), a task involving the detection of unknown objects while accurately detecting known objects, has recently gained attention. However, we identify a fundamental issue with the problem formulation employed in…

In autonomous driving, vision-centric 3D detection aims to identify 3D objects from images. However, high data collection costs and diverse real-world scenarios limit the scale of training data. Once distribution shifts occur between…

As 3D object detection on point clouds relies on the geometrical relationships between the points, non-standard object shapes can hinder a method's detection capability. However, in safety-critical settings, robustness to out-of-domain and…

Out-of-Distribution (OOD) detection is critical for the reliable operation of open-world intelligent systems. Despite the emergence of an increasing number of OOD detection methods, the evaluation inconsistencies present challenges for…