mlsanityData to 7 Oct 2026

Salient Sign Detection In Safe Autonomous Driving: AI Which Reasons Over Full Visual Context

arXiv 2301.05804 ↗First posted 14 Jan 2023cs.CV cs.AI cs.LGcited by 14

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Abstract (arXiv)

Detecting road traffic signs and accurately determining how they can affect the driver's future actions is a critical task for safe autonomous driving systems. However, various traffic signs in a driving scene have an unequal impact on the driver's decisions, making detecting the salient traffic signs a more important task. Our research addresses this issue, constructing a traffic sign detection model which emphasizes performance on salient signs, or signs that influence the decisions of a driver. We define a traffic sign salience property and use it to construct the LAVA Salient Signs Dataset, the first traffic sign dataset that includes an annotated salience property. Next, we use a custom salience loss function, Salience-Sensitive Focal Loss, to train a Deformable DETR object detection model in order to emphasize stronger performance on salient signs. Results show that a model trained with Salience-Sensitive Focal Loss outperforms a model trained without, with regards to recall of both salient signs and all signs combined. Further, the performance margin on salient signs compared to all signs is largest for the model trained with Salience-Sensitive Focal Loss.

Key facts. Cited by 14 papers in the map (data through 7 Oct 2026). Builds on 8 of its 26 references that are in the map. First posted on arXiv 14 Jan 2023.

Builds on

8 of 26 references.

References · 8

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2020End-to-End Object Detection with Transformerscited by 7,384
  3. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  4. 2019Looking at the right stuff: Guided semantic-gaze for autonomous drivingcited by 32
  5. 2020Interaction Graphs for Object Importance Estimation in On-road Driving Videoscited by 15
  6. 2021On Salience-Sensitive Sign Classification in Autonomous Vehicle Path Planning: Experimental Explorations with a Novel Datasetcited by 13
  7. 2016Unsupervised Learning of Important Objects from First-Person Videoscited by 9
  8. 2022Pyramid Transformer for Traffic Sign Detectioncited by 5

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 7; 2025: 1; 2026: 1.

14 papers.

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  1. 2024Towards Explainable, Safe Autonomous Driving with Language Embeddings for Novelty Identification and Active Learning: Framework and Experimental Analysis with Real-World Data Setscited by 25
  2. 2024The Why, When, and How to Use Active Learning in Large-Data-Driven 3D Object Detection for Safe Autonomous Driving: An Empirical Explorationcited by 17
  3. 2024ActiveAnno3D -- An Active Learning Framework for Multi-Modal 3D Object Detectioncited by 17
  4. 2024Language-Driven Active Learning for Diverse Open-Set 3D Object Detectioncited by 15
  5. 2023Robust Traffic Light Detection Using Salience-Sensitive Loss: Computational Framework and Evaluationscited by 11
  6. 2023Pedestrian Behavior Maps for Safety Advisories: CHAMP Framework and Real-World Data Analysiscited by 9
  7. 2025Can Vision-Language Models Understand and Interpret Dynamic Gestures from Pedestrians? Pilot Datasets and Exploration Towards Instructive Nonverbal Commands for Cooperative Autonomous Vehiclescited by 9
  8. 2024Evaluating Vision-Language Models for Zero-Shot Detection, Classification, and Association of Motorcycles, Passengers, and Helmetscited by 4
  9. 2023Traffic Light Recognition using Convolutional Neural Networks: A Surveycited by 3
  10. 2024Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Drivingcited by 2
  11. 2024Transfer Learning from Simulated to Real Scenes for Monocular 3D Object Detectioncited by 2
  12. 2026What Do They See? Interpreting Complex Road Scenarios Through the Eyes of Vision-Language-Action Models for Safe and Trustworthy Autonomous Vehicle Learningcited by 1
2 more
  1. 2023Robust Detection, Association, and Localization of Vehicle Lights: A Context-Based Cascaded CNN Approach and Evaluationscited by 0
  2. 2023Real-Time Traffic Sign Detection: A Case Study in a Santa Clara Suburban Neighborhoodcited by 0