mlsanityData to 14 Oct 2026

Out-of-Distribution Object Detection in Street Scenes via Synthetic Outlier Exposure and Transfer Learning

arXiv 2603.16122 ↗First posted 17 Mar 2026cs.CVcited by 0

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Abstract (arXiv)

Out-of-distribution (OOD) objects are often silently overlooked by object detectors, which produce no detection for them, leaving downstream modules with nothing to act on and no indication that anything was missed. A reliable object detector must detect OOD objects by localizing and correctly classifying them as OOD. Existing approaches primarily focus on OOD detection for image classification or rely on auxiliary branches, and typically do not treat in-distribution (ID) and OOD objects in a unified manner. We present SynOE-OD, a Synthetic Outlier-Exposure-based Object Detection method, which uses text-guided inpainting and an open-vocabulary object detector to generate and verify synthetic outliers offline. These are then used to fine-tune an object detector of choice with an added OOD class, which requires no auxiliary branch at inference time. On the OoDIS benchmark, SynOE-OD outperforms the strongest open-vocabulary baseline, reaching AP_50:95 of 57.6%, 29.4% and 39.2% on RoadObstacle, RoadAnomaly and Fishyscapes, against 48.5%, 22.7% and 22.7%. This state-of-the-art performance holds for both fine-tuned closed-set and open-vocabulary detectors while maintaining competitive ID performance in street scenes.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 58 of its 71 references that are in the map. First posted on arXiv 17 Mar 2026.

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58 of 71 references.

References · 58

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38 more
  1. 2018Deep Anomaly Detection with Outlier Exposurecited by 942
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  1. 2024Detecting Out-of-Distribution Objects through Class-Conditioned Inpainting
  2. 2024Diffusion for Out-of-Distribution Detection on Road Scenes and Beyond
  3. 2025Recent Advances in Out-of-Distribution Detection with CLIP-Like Models: A Survey
  4. 2025Dream-Box: Object-wise Outlier Generation for Out-of-Distribution Detection
  5. 2025A Benchmark and Evaluation for Real-World Out-of-Distribution Detection Using Vision-Language Models
  6. 2026PWLR: Pairwise Witness Local Rejection for Boundary-Aware Out-of-Distribution Detection
  7. 2024Non-Linear Outlier Synthesis for Out-of-Distribution Detection
  8. 2024Exploiting Diffusion Prior for Out-of-Distribution Detection