{"id":"https://openalex.org/W7163708653","doi":"https://doi.org/10.1109/access.2026.3700157","title":"Synergistic Pixel- and Object-Level Anomaly Detection for Robust Autonomous Driving","display_name":"Synergistic Pixel- and Object-Level Anomaly Detection for Robust Autonomous Driving","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7163708653","doi":"https://doi.org/10.1109/access.2026.3700157"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3700157","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700157","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3700157","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100964058","display_name":"Chuan-Yuan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chuan-Yuan Huang","raw_affiliation_strings":["Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0009-0001-4136-3356","affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101508336","display_name":"Yuehua Chen","orcid":"https://orcid.org/0000-0002-4646-4017"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-An Chen","raw_affiliation_strings":["Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0009-0003-0730-5982","affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023081878","display_name":"Cheng-Tsung Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cheng-Tsung Chen","raw_affiliation_strings":["Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101426057","display_name":"Kuan\u2010Wen Chen","orcid":"https://orcid.org/0000-0002-4159-201X"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kuan-Wen Chen","raw_affiliation_strings":["Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-4159-201X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, National Yang Ming Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.71384013,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"85682","last_page":"85694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.5019000172615051,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.5019000172615051,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2071000039577484,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.05299999937415123,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.5123000144958496},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4284999966621399},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.34860000014305115},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.30090001225471497},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.2863999903202057},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.28130000829696655}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6510999798774719},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4284999966621399},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.34860000014305115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.30390000343322754},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.28130000829696655},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.271699994802475},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.26190000772476196}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3700157","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700157","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:fc6a81be637b46d6bad57877c433dea4","is_oa":true,"landing_page_url":"https://doaj.org/article/fc6a81be637b46d6bad57877c433dea4","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 85682-85694 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3700157","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3700157","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.41939079761505127,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G3276599278","display_name":null,"funder_award_id":"115-2634-F-A49-014","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"},{"id":"https://openalex.org/G4062347964","display_name":null,"funder_award_id":"114-2221-E-A49-054-MY3","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"},{"id":"https://openalex.org/G46261801","display_name":null,"funder_award_id":"113-2221-E-A49-164-MY3","funder_id":"https://openalex.org/F4320331164","funder_display_name":"National Science and Technology Council"}],"funders":[{"id":"https://openalex.org/F4320322214","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63"},{"id":"https://openalex.org/F4320331164","display_name":"National Science and Technology Council","ror":"https://ror.org/00wnb9798"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Detecting":[0],"unexpected":[1],"obstacles":[2],"is":[3],"a":[4,76,92,136,149,192],"critical":[5],"safety":[6],"requirement":[7],"for":[8,164,210],"autonomous":[9],"driving.":[10],"Pixel-level":[11],"anomaly":[12,89,116,151],"segmentation":[13],"enables":[14],"fine-grained":[15],"localization":[16],"but":[17,31],"often":[18],"leads":[19],"to":[20,61,131,140],"excessive":[21],"false":[22,39,111,193,208],"alarms,":[23],"whereas":[24],"object-level":[25,88],"detection":[26],"yields":[27],"practical":[28],"bounding":[29,156],"boxes":[30],"may":[32],"lack":[33],"sufficient":[34],"spatial":[35],"precision.":[36],"In":[37,96],"practice,":[38],"positives":[40,112],"are":[41],"frequently":[42],"triggered":[43],"by":[44],"visually":[45],"complex":[46],"backgrounds":[47],"(e.g.,":[48],"foliage,":[49],"shadows,":[50],"and":[51,64,87,105,134,153,161,176,179,199],"rough":[52],"textures),":[53],"particularly":[54],"in":[55,113],"off-road":[56],"regions,":[57],"which":[58,84],"can":[59],"lead":[60],"spurious":[62],"warnings":[63],"conservative":[65],"driving":[66],"behaviors.":[67],"To":[68],"address":[69],"the":[70,114,127,173,182],"aforementioned":[71],"limitations,":[72],"this":[73,97],"study":[74],"developed":[75],"framework":[77,120,146,169],"called":[78],"Overestimation-Refined":[79],"Anomalous":[80],"Object":[81],"Detection":[82],"(OR-AOD),":[83],"integrates":[85],"pixel-":[86],"cues":[90,163],"through":[91],"bidirectional":[93],"refinement":[94,138],"loop.":[95],"framework,":[98],"refined":[99,150],"pixel-level":[100],"anomalies":[101],"guide":[102],"object":[103,106,155],"attention,":[104],"predictions":[107],"suppress":[108],"residual":[109],"texture-induced":[110],"final":[115],"map.":[117],"The":[118,167],"OR-AOD":[119],"uses":[121],"an":[122],"overestimation":[123],"map":[124,152],"based":[125],"on":[126],"negative":[128],"LogSumExp":[129],"function":[130],"enhance":[132],"sensitivity":[133],"employs":[135],"lightweight":[137],"module":[139],"regularize":[141],"its":[142],"background":[143],"activation.":[144],"This":[145],"outputs":[147],"both":[148],"anomalous":[154],"boxes,":[157],"providing":[158],"complementary":[159],"dense":[160],"instance-level":[162],"downstream":[165],"decision-making.":[166],"proposed":[168],"was":[170],"tested":[171],"using":[172],"LaF":[174],"NoKnown":[175],"ObstacleTrack":[177],"benchmarks,":[178],"it":[180],"achieved":[181],"Area":[183],"Under":[184],"Precision-Recall":[185],"Curve":[186],"(AUPRC)":[187],"values":[188],"of":[189,197],"86.9%":[190],"(with":[191],"positive":[194],"rate,":[195],"FPR95,":[196],"0.9%)":[198],"90.2%,":[200],"respectively,":[201],"supporting":[202],"reliable":[203],"hazard":[204],"perception":[205],"with":[206],"reduced":[207],"alarms":[209],"safety-critical":[211],"deployment.":[212]},"counts_by_year":[],"updated_date":"2026-06-12T06:20:11.936012","created_date":"2026-06-06T00:00:00"}