# Multimodal Scenario Similarity Search for Autonomous Driving

arXiv: https://arxiv.org/abs/2607.09428 · HTML: https://mlsanity.com/paper/2607.09428/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 9 references that are in the map.
- First posted on arXiv 10 Jul 2026.

## Builds on (most cited first, 5 of 5)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [ViViT: A Video Vision Transformer](https://mlsanity.com/paper/2103.15691/) (2021)
- [A Transformer-Based Siamese Network for Change Detection](https://mlsanity.com/paper/2201.01293/) (2022)
- [Qwen3-VL-Embedding and Qwen3-VL-Reranker: A Unified Framework for State-of-the-Art Multimodal Retrieval and Ranking](https://mlsanity.com/paper/2601.04720/) (2026)
- [aiMotive Dataset: A Multimodal Dataset for Robust Autonomous Driving with Long-Range Perception](https://mlsanity.com/paper/2211.09445/) (2022)

## Abstract (arXiv)

Large-scale autonomous-driving datasets contain vast numbers of recorded scenarios, creating a need for efficient retrieval methods that can identify situations similar to a given query. Existing approaches typically rely on either visual representations or motion-based descriptions, making it difficult to understand their relative strengths and limitations for scenario retrieval. In this work, we present a multimodal framework for autonomous-driving scenario retrieval that combines visual and trajectory-based representations within a unified retrieval pipeline. We investigate two trajectory-based approaches: Exo-Trajectory, an explicit matching method based on surrounding-agent motion, and ScenarioFormer, a transformer-based representation learned from object trajectories using contrastive learning. We compare these approaches against strong vision-based baselines and analyze their behavior across a diverse set of driving scenarios. Experimental results show that trajectory representations provide strong retrieval performance for motion-centric events such as cut-ins, turning maneuvers, and traffic queueing, while visual embeddings excel when appearance cues are informative. Most importantly, combining visual and trajectory information consistently improves retrieval quality, yielding the best overall performance. These findings demonstrate that appearance and motion capture are complementary notions of scenario similarity and motivate multimodal retrieval systems for autonomous-driving data mining, dataset curation, and scenario-based validation.