# C-DiffDet+: Fusing Global Scene Context with Generative Denoising for High-Fidelity Car Damage Detection

arXiv: https://arxiv.org/abs/2509.00578 · HTML: https://mlsanity.com/paper/2509.00578/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 39 references that are in the map.
- First posted on arXiv 30 Aug 2025.

## Builds on (most cited first, 26 of 26)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [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)
- [Generative Modeling by Estimating Gradients of the Data Distribution](https://mlsanity.com/paper/1907.05600/) (2019)
- [Improved Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2102.09672/) (2021)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (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)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [Deformable Convolutional Networks](https://mlsanity.com/paper/1703.06211/) (2017)
- [Adversarial Discriminative Domain Adaptation](https://mlsanity.com/paper/1702.05464/) (2017)
- [Objects as Points](https://mlsanity.com/paper/1904.07850/) (2019)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [CornerNet: Detecting Objects as Paired Keypoints](https://mlsanity.com/paper/1808.01244/) (2018)
- [Sparse R-CNN: End-to-End Object Detection with Learnable Proposals](https://mlsanity.com/paper/2011.12450/) (2020)
- [Cascade R-CNN: High Quality Object Detection and Instance Segmentation](https://mlsanity.com/paper/1906.09756/) (2019)
- [DiffusionDet: Diffusion Model for Object Detection](https://mlsanity.com/paper/2211.09788/) (2022)
- [GCNet: Non-local Networks Meet Squeeze-Excitation Networks and Beyond](https://mlsanity.com/paper/1904.11492/) (2019)
- [DSSD : Deconvolutional Single Shot Detector](https://mlsanity.com/paper/1701.06659/) (2017)
- [A Survey of Unsupervised Domain Adaptation for Visual Recognition](https://mlsanity.com/paper/2112.06745/) (2021)
- [CarDD: A New Dataset for Vision-based Car Damage Detection](https://mlsanity.com/paper/2211.00945/) (2022)
- [LoLA-SpecViT: Local Attention SwiGLU Vision Transformer with LoRA for Hyperspectral Imaging](https://mlsanity.com/paper/2506.17759/) (2025)

## Abstract (arXiv)

Fine-grained object detection in challenging visual domains, such as vehicle damage assessment, presents a formidable challenge even for human experts to resolve reliably. While DiffusionDet has advanced the state-of-the-art through conditional denoising diffusion, its performance remains limited by local feature conditioning in context-dependent scenarios. We address this fundamental limitation by introducing Context-Aware Fusion (CAF), which leverages cross-attention mechanisms to integrate global scene context with local proposal features directly. The global context is generated using a separate dedicated encoder that captures comprehensive environmental information, enabling each object proposal to attend to scene-level understanding. Our framework significantly enhances the generative detection paradigm by enabling each object proposal to attend to comprehensive environmental information. Experimental results demonstrate an improvement over state-of-the-art models on the CarDD benchmark, establishing new performance benchmarks for context-aware object detection in fine-grained domains