Segmenting Objectiveness and Task-awareness Unknown Region for Autonomous Driving

摘要

With the emergence of transformer-based architectures and large language models (LLMs), the accuracy of road scene perception has substantially advanced. Nonetheless, current road scene segmentation approaches are predominantly trained on closed-set data, resulting in insufficient detection capabilities for out-of-distribution (OOD) objects. To overcome this limitation, road anomaly detection methods have been proposed. However, existing methods primarily depend on image inpainting and OOD distribution detection techniques, facing two critical issues: (1) inadequate consideration of the objectiveness attributes of anomalous regions, causing incomplete segmentation when anomalous objects share similarities with known classes, and (2) insufficient attention to environmental constraints, leading to the detection of anomalies irrelevant to autonomous driving tasks. In this paper, we propose a novel framework termed Segmenting Objectiveness and Task-Awareness (SOTA) for autonomous driving scenes. Specifically, SOTA enhances the segmentation of objectiveness through a Semantic Fusion Block (SFB) and filters anomalies irrelevant to road navigation tasks using a Scene-understanding Guided Prompt-Context Adaptor (SG-PCA). Extensive empirical evaluations on multiple benchmark datasets, including Fishyscapes Lost and Found, Segment-Me-If-You-Can, and RoadAnomaly, demonstrate that the proposed SOTA consistently improves OOD detection performance across diverse detectors, achieving robust and accurate segmentation outcomes.