ALOOD:利用语言表征进行基于激光雷达的分布外目标检测 / ALOOD: Exploiting Language Representations for LiDAR-based Out-of-Distribution Object Detection
1️⃣ 一句话总结
这篇论文提出了一种名为ALOOD的新方法,通过将激光雷达目标检测器的特征与视觉语言模型的语义特征对齐,将未知类别物体的检测问题转化为零样本分类任务,从而提升了自动驾驶系统在遇到训练数据中未见过物体时的安全性和可靠性。
LiDAR-based 3D object detection plays a critical role for reliable and safe autonomous driving systems. However, existing detectors often produce overly confident predictions for objects not belonging to known categories, posing significant safety risks. This is caused by so-called out-of-distribution (OOD) objects, which were not part of the training data, resulting in incorrect predictions. To address this challenge, we propose ALOOD (Aligned LiDAR representations for Out-Of-Distribution Detection), a novel approach that incorporates language representations from a vision-language model (VLM). By aligning the object features from the object detector to the feature space of the VLM, we can treat the detection of OOD objects as a zero-shot classification task. We demonstrate competitive performance on the nuScenes OOD benchmark, establishing a novel approach to OOD object detection in LiDAR using language representations. The source code is available at this https URL.
ALOOD:利用语言表征进行基于激光雷达的分布外目标检测 / ALOOD: Exploiting Language Representations for LiDAR-based Out-of-Distribution Object Detection
这篇论文提出了一种名为ALOOD的新方法,通过将激光雷达目标检测器的特征与视觉语言模型的语义特征对齐,将未知类别物体的检测问题转化为零样本分类任务,从而提升了自动驾驶系统在遇到训练数据中未见过物体时的安全性和可靠性。
源自 arXiv: 2603.08180