# A Machine Learning Perspective on Automated Driving Corner Cases

arXiv: https://arxiv.org/abs/2510.10653 · HTML: https://mlsanity.com/paper/2510.10653/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 40 of its 47 references that are in the map.
- First posted on arXiv 12 Oct 2025.

## Builds on (most cited first, 30 of 40)

- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (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)
- [Energy-based Out-of-distribution Detection](https://mlsanity.com/paper/2010.03759/) (2020)
- [Can You Trust Your Model's Uncertainty? Evaluating Predictive Uncertainty Under Dataset Shift](https://mlsanity.com/paper/1906.02530/) (2019)
- [ReAct: Out-of-distribution Detection With Rectified Activations](https://mlsanity.com/paper/2111.12797/) (2021)
- [Semantic Foggy Scene Understanding with Synthetic Data](https://mlsanity.com/paper/1708.07819/) (2017)
- [Panoptic-DeepLab](https://mlsanity.com/paper/1910.04751/) (2019)
- [OpenOOD: Benchmarking Generalized Out-of-Distribution Detection](https://mlsanity.com/paper/2210.07242/) (2022)
- [A2D2: Audi Autonomous Driving Dataset](https://mlsanity.com/paper/2004.06320/) (2020)
- [DICE: Leveraging Sparsification for Out-of-Distribution Detection](https://mlsanity.com/paper/2111.09805/) (2021)
- [IDD: A Dataset for Exploring Problems of Autonomous Navigation in Unconstrained Environments](https://mlsanity.com/paper/1811.10200/) (2018)
- [Lost and Found: Detecting Small Road Hazards for Self-Driving Vehicles](https://mlsanity.com/paper/1609.04653/) (2016)
- [Scaling for Training Time and Post-hoc Out-of-distribution Detection Enhancement](https://mlsanity.com/paper/2310.00227/) (2023)
- [RbA: Segmenting Unknown Regions Rejected by All](https://mlsanity.com/paper/2211.14293/) (2022)
- [A Systematic Review of Robustness in Deep Learning for Computer Vision: Mind the gap?](https://mlsanity.com/paper/2112.00639/) (2021)
- [Unmasking Anomalies in Road-Scene Segmentation](https://mlsanity.com/paper/2307.13316/) (2023)
- [On Advantages of Mask-level Recognition for Outlier-aware Segmentation](https://mlsanity.com/paper/2301.03407/) (2023)
- [Towards Corner Case Detection for Autonomous Driving](https://mlsanity.com/paper/1902.09184/) (2019)
- [Exemplar-Based Open-Set Panoptic Segmentation Network](https://mlsanity.com/paper/2105.08336/) (2021)
- [Description of Corner Cases in Automated Driving: Goals and Challenges](https://mlsanity.com/paper/2109.09607/) (2021)
- [Second-Order Uncertainty Quantification: A Distance-Based Approach](https://mlsanity.com/paper/2312.00995/) (2023)
- [LINe: Out-of-Distribution Detection by Leveraging Important Neurons](https://mlsanity.com/paper/2303.13995/) (2023)
- [Outlier detection by ensembling uncertainty with negative objectness](https://mlsanity.com/paper/2402.15374/) (2024)
- [An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Driving](https://mlsanity.com/paper/2103.03678/) (2021)
- [Safety Concerns and Mitigation Approaches Regarding the Use of Deep Learning in Safety-Critical Perception Tasks](https://mlsanity.com/paper/2001.08001/) (2020)
- [Density estimation in representation space to predict model uncertainty](https://mlsanity.com/paper/1908.07235/) (2019)

## Abstract (arXiv)

For high-stakes applications, like autonomous driving, a safe operation is necessary to prevent harm, accidents, and failures. Traditionally, difficult scenarios have been categorized into corner cases and addressed individually. However, this example-based categorization is not scalable and lacks a data coverage perspective, neglecting the generalization to training data of machine learning models. In our work, we propose a novel machine learning approach that takes the underlying data distribution into account. Based on our novel perspective, we present a framework for effective corner case recognition for perception on individual samples. In our evaluation, we show that our approach (i) unifies existing scenario-based corner case taxonomies under a distributional perspective, (ii) achieves strong performance on corner case detection tasks across standard benchmarks for which we extend established out-of-distribution detection benchmarks, and (iii) enables analysis of combined corner cases via a newly introduced fog-augmented Lost & Found dataset. These results provide a principled basis for corner case recognition, underlining our manual specification-free definition.