# On the Potential of Open-Vocabulary Models for Object Detection in Unusual Street Scenes

arXiv: https://arxiv.org/abs/2408.11221 · HTML: https://mlsanity.com/paper/2408.11221/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 43 of its 47 references that are in the map.
- First posted on arXiv 20 Aug 2024.

## Builds on (most cited first, 30 of 43)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [On the Opportunities and Risks of Foundation Models](https://mlsanity.com/paper/2108.07258/) (2021)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [A Baseline for Detecting Misclassified and Out-of-Distribution Examples in Neural Networks](https://mlsanity.com/paper/1610.02136/) (2016)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [A Simple Unified Framework for Detecting Out-of-Distribution Samples and Adversarial Attacks](https://mlsanity.com/paper/1807.03888/) (2018)
- [Enhancing The Reliability of Out-of-distribution Image Detection in Neural Networks](https://mlsanity.com/paper/1706.02690/) (2017)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [Energy-based Out-of-distribution Detection](https://mlsanity.com/paper/2010.03759/) (2020)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Deep Anomaly Detection with Outlier Exposure](https://mlsanity.com/paper/1812.04606/) (2018)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [On the Importance of Gradients for Detecting Distributional Shifts in the Wild](https://mlsanity.com/paper/2110.00218/) (2021)
- [VOS: Learning What You Don't Know by Virtual Outlier Synthesis](https://mlsanity.com/paper/2202.01197/) (2022)
- [Trustworthy AI: From Principles to Practices](https://mlsanity.com/paper/2110.01167/) (2021)
- [AnomalyGPT: Detecting Industrial Anomalies Using Large Vision-Language Models](https://mlsanity.com/paper/2308.15366/) (2023)
- [Zero-Shot Out-of-Distribution Detection Based on the Pre-trained Model CLIP](https://mlsanity.com/paper/2109.02748/) (2021)
- [SegmentMeIfYouCan: A Benchmark for Anomaly Segmentation](https://mlsanity.com/paper/2104.14812/) (2021)
- [Evaluating Bayesian Deep Learning Methods for Semantic Segmentation](https://mlsanity.com/paper/1811.12709/) (2018)
- [Detecting the Unexpected via Image Resynthesis](https://mlsanity.com/paper/1904.07595/) (2019)
- [Entropy Maximization and Meta Classification for Out-Of-Distribution Detection in Semantic Segmentation](https://mlsanity.com/paper/2012.06575/) (2020)
- [CLIPN for Zero-Shot OOD Detection: Teaching CLIP to Say No](https://mlsanity.com/paper/2308.12213/) (2023)
- [Lost and Found: Detecting Small Road Hazards for Self-Driving Vehicles](https://mlsanity.com/paper/1609.04653/) (2016)

## Built on by (most cited first, 5 of 5)

- [Benchmarking Vision Foundation Models for Input Monitoring in Autonomous Driving](https://mlsanity.com/paper/2501.08083/) (2025)
- [Can We Challenge Open-Vocabulary Object Detectors with Generated Content in Street Scenes?](https://mlsanity.com/paper/2506.23751/) (2025)
- [CoT-Segmenter: Enhancing OOD Detection in Dense Road Scenes via Chain-of-Thought Reasoning](https://mlsanity.com/paper/2507.03984/) (2025)
- [Out-of-Distribution Object Detection in Street Scenes via Synthetic Outlier Exposure and Transfer Learning](https://mlsanity.com/paper/2603.16122/) (2026)
- [DSAA: Dual-Stage Attribute Activation for Fine-grained Open Vocabulary Detection](https://mlsanity.com/paper/2605.18023/) (2026)

## Abstract (arXiv)

Out-of-distribution (OOD) object detection is a critical task focused on detecting objects that originate from a data distribution different from that of the training data. In this study, we investigate to what extent state-of-the-art open-vocabulary object detectors can detect unusual objects in street scenes, which are considered as OOD or rare scenarios with respect to common street scene datasets. Specifically, we evaluate their performance on the OoDIS Benchmark, which extends RoadAnomaly21 and RoadObstacle21 from SegmentMeIfYouCan, as well as LostAndFound, which was recently extended to object level annotations. The objective of our study is to uncover short-comings of contemporary object detectors in challenging real-world, and particularly in open-world scenarios. Our experiments reveal that open vocabulary models are promising for OOD object detection scenarios, however far from perfect. Substantial improvements are required before they can be reliably deployed in real-world applications. We benchmark four state-of-the-art open-vocabulary object detection models on three different datasets. Noteworthily, Grounding DINO achieves the best results on RoadObstacle21 and LostAndFound in our study with an AP of 48.3% and 25.4% respectively. YOLO-World excels on RoadAnomaly21 with an AP of 21.2%.