A Two-Stage Framework for Ego-Centric Key Object Identification via Object State Prediction

2026-09-07

AI Summary

本文提出一种两阶段框架，通过物体状态预测提高自动驾驶中关键物体识别的准确性，结合虚拟自车表示和模块化物体状态预测器，并利用时空推理优化识别。

Abstract

This paper presents a novel framework designed to enhance key object identification in autonomous driving. Existing methods primarily focus on either detecting objects independently or leveraging visual relationships, but they do not explicitly consider the ego vehicle's perspective in determining object importance. To address this gap, we propose a structured approach that integrates a virtual ego-vehicle representation and a modular object state predictor, enabling a more accurate estimation of object behaviors relative to the ego-vehicle. Subsequently, our framework employs spatial-temporal reasoning to refine key object identification, prioritizing objects based on their states and relative spatial information rather than relying solely on visual relationships. Experimental results on real-world driving datasets demonstrate the effectiveness of our approach in accurately detecting critical objects in complex traffic environments.

Problem

• ego-vehicle
• object identification
• autonomous driving

Innovation

• ego-vehicle representation
• object state prediction
• spatial-temporal reasoning