# Spatio-Temporal Context Modeling for Road Obstacle Detection

arXiv: https://arxiv.org/abs/2301.07921 · HTML: https://mlsanity.com/paper/2301.07921/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 13 of its 26 references that are in the map.
- First posted on arXiv 19 Jan 2023.

## Builds on (most cited first, 13 of 13)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [Deep Feature Flow for Video Recognition](https://mlsanity.com/paper/1611.07715/) (2016)
- [Lost and Found: Detecting Small Road Hazards for Self-Driving Vehicles](https://mlsanity.com/paper/1609.04653/) (2016)
- [T-CNN: Tubelets with Convolutional Neural Networks for Object Detection from Videos](https://mlsanity.com/paper/1604.02532/) (2016)
- [LiDAR guided Small obstacle Segmentation](https://mlsanity.com/paper/2003.05970/) (2020)

## Abstract (arXiv)

Road obstacle detection is an important problem for vehicle driving safety. In this paper, we aim to obtain robust road obstacle detection based on spatio-temporal context modeling. Firstly, a data-driven spatial context model of the driving scene is constructed with the layouts of the training data. Then, obstacles in the input image are detected via the state-of-the-art object detection algorithms, and the results are combined with the generated scene layout. In addition, to further improve the performance and robustness, temporal information in the image sequence is taken into consideration, and the optical flow is obtained in the vicinity of the detected objects to track the obstacles across neighboring frames. Qualitative and quantitative experiments were conducted on the Small Obstacle Detection (SOD) dataset and the Lost and Found dataset. The results indicate that our method with spatio-temporal context modeling is superior to existing methods for road obstacle detection.