The detection of unknown traffic obstacles is vital to ensure safe autonomous driving. The standard object-detection methods cannot identify unknown objects that are not included under predefined categories. This is because object-detection methods are trained to assign a background label to pixels corresponding to the presence of unknown objects. To address this problem, the pixel-wise anomaly-detection approach has attracted increased research attention. Anomaly-detection techniques, such as uncertainty estimation and perceptual difference from reconstructed images, make it possible to identify pixels of unknown objects as out-of-distribution (OoD) samples. However, when applied to images with many unknowns and complex components, such as driving scenes, these methods often exhibit unstable performance. The purpose of this study is to achieve stable performance for detecting unknown objects by incorporating the object-detection fashions into the pixel-wise anomaly detection methods. To achieve this goal, we adopt a semantic-segmentation network with a sigmoid head that simultaneously provides pixel-wise anomaly scores and objectness scores. Our experimental results show that the objectness scores play an important role in improving the detection performance. Based on these results, we propose a novel anomaly score by integrating these two scores, which we term as unknown objectness score. Quantitative evaluations show that the proposed method outperforms state-of-the-art methods when applied to the publicly available datasets.

通过将物体检测方法与像素级异常检测方法相结合，实现了对未知物体的稳定性检测，并通过整合物体性分数和未知物体性分数提出了一种新的异常分数，称为未知物体性分数。当应用于公开可用的数据集时，定量评估结果表明该方法优于现有方法。

基于未知客体得分的道路障碍物检测