相关论文: Learning to Identify Out-of-Distribution Objects f…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Anomaly segmentation aims to identify Out-of-Distribution (OoD) anomalous objects within images. Existing pixel-wise methods typically assign anomaly scores individually and employ a global thresholding strategy to segment anomalies.…

Detecting out-of-distribution examples is important for safety-critical machine learning applications such as detecting novel biological phenomena and self-driving cars. However, existing research mainly focuses on simple small-scale…

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…

The ability to detect objects that are not prevalent in the training set is a critical capability in many 3D applications, including autonomous driving. Machine learning methods for object recognition often assume that all object categories…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

Precise segmentation of out-of-distribution (OoD) objects, herein referred to as anomalies, is crucial for the reliable deployment of semantic segmentation models in open-set, safety-critical applications, such as autonomous driving.…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed set of classes, and fail when facing novel elements, also…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

The key to out-of-distribution detection is density estimation of the in-distribution data or of its feature representations. This is particularly challenging for dense anomaly detection in domains where the in-distribution data has a…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

Machine learning models often encounter samples that are diverged from the training distribution. Failure to recognize an out-of-distribution (OOD) sample, and consequently assign that sample to an in-class label significantly compromises…

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…