{"id":"https://openalex.org/W4405622618","doi":"https://doi.org/10.48550/arxiv.2408.12322","title":"Zero-shot 3D General Obstacle Detection via Multimodal Foundation Models and Geometry","display_name":"Zero-shot 3D General Obstacle Detection via Multimodal Foundation Models and Geometry","publication_year":2024,"publication_date":"2024-08-22","ids":{"openalex":"https://openalex.org/W4405622618","doi":"https://doi.org/10.48550/arxiv.2408.12322"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2408.12322","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.12322","pdf_url":"https://arxiv.org/pdf/2408.12322","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2408.12322","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078101606","display_name":"Tam\u00e1s Matuszka","orcid":"https://orcid.org/0009-0001-8827-2275"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matuszka, Tam\u00e1s","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009952397","display_name":"P\u00e9ter Hajas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hajas, P\u00e9ter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5065391101","display_name":"D\u00e1vid Szeghy","orcid":"https://orcid.org/0000-0002-2934-7732"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Szeghy, D\u00e1vid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9821000099182129,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.957099974155426,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9502000212669373,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/obstacle","display_name":"Obstacle","score":0.7397515773773193},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5940534472465515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4855179786682129},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1630786955356598},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.06559604406356812}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7397515773773193},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5940534472465515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4855179786682129},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1630786955356598},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.06559604406356812}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2408.12322","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.12322","pdf_url":"https://arxiv.org/pdf/2408.12322","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:arXiv.org:2408.12322","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2408.12322","pdf_url":"https://arxiv.org/pdf/2408.12322","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2408.12322","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2408.12322","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2408.12322","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.12322","pdf_url":"https://arxiv.org/pdf/2408.12322","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4405622618.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W4245435724","https://openalex.org/W2055301889","https://openalex.org/W4400979532"],"abstract_inverted_index":{"Detecting":[0],"general":[1],"obstacles":[2,50],"is":[3,47],"critical":[4],"for":[5,40],"autonomous":[6],"driving,":[7],"especially":[8],"in":[9,58,62,71],"long-tail":[10],"scenarios":[11],"with":[12,37],"rare":[13],"or":[14,22],"unseen":[15],"objects.":[16],"Existing":[17],"methods":[18],"rely":[19],"on":[20],"supervision":[21],"predefined":[23],"categories,":[24],"limiting":[25],"generalization.":[26],"We":[27],"propose":[28],"a":[29,72],"training-free":[30],"approach":[31],"that":[32],"combines":[33],"multimodal":[34],"foundation":[35,91],"models":[36],"geometric":[38],"reasoning":[39],"3D":[41,63],"obstacle":[42],"detection.":[43],"Our":[44],"key":[45],"idea":[46],"to":[48,83],"detect":[49],"as":[51],"deviations":[52],"from":[53,90],"the":[54],"road":[55],"surface,":[56],"segmented":[57],"2D":[59],"and":[60,86],"localized":[61],"via":[64],"temporal":[65],"LiDAR":[66],"aggregation.":[67],"The":[68],"pipeline":[69],"operates":[70],"zero-shot":[73],"manner":[74],"without":[75],"task-specific":[76],"training.":[77],"Experiments":[78],"show":[79],"accurate":[80],"localization":[81],"up":[82],"100":[84],"meters":[85],"10-25%":[87],"recall":[88],"gains":[89],"model":[92],"priors,":[93],"while":[94],"enabling":[95],"scalable":[96],"autolabeling.":[97]},"counts_by_year":[],"updated_date":"2026-07-14T05:46:48.188703","created_date":"2024-12-20T00:00:00"}