arXiv subjects

Tamás Matuszka

Publications and source records attributed to Tamás Matuszka.

6 recordsLinked to original sources

arXiv2026

Zero-shot 3D General Obstacle Detection via Multimodal Foundation Models and Geometry

Detecting general obstacles is critical for autonomous driving, especially in long-tail scenarios with rare or unseen objects. Existing methods rely on supervision or predefined categories, limiting generalization. We propose a training-free approach that combines multimodal foundation models with geometric reasoning for 3D obstacle detection. Our key idea is to detect obstacles as deviations from the road surface, segmented in 2D and localized in 3D via temporal LiDAR aggregation. The pipeline operates in a zero-shot manner without task-specific training. Experiments show accurate localization up to 100 meters and 10-25% recall gains from foundation model priors, while enabling scalable autolabeling.

cs.CV↗

arXiv2026

Multimodal Scenario Similarity Search for Autonomous Driving

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.

cs.CV↗

arXiv2025

Hybrid Rendering for Multimodal Autonomous Driving: Merging Neural and Physics-Based Simulation

Neural reconstruction models for autonomous driving simulation have made significant strides in recent years, with dynamic models becoming increasingly prevalent. However, these models are typically limited to handling in-domain objects closely following their original trajectories. We introduce a hybrid approach that combines the strengths of neural reconstruction with physics-based rendering. This method enables the virtual placement of traditional mesh-based dynamic agents at arbitrary locations, adjustments to environmental conditions, and rendering from novel camera viewpoints. Our approach significantly enhances novel view synthesis quality -- especially for road surfaces and lane markings -- while maintaining interactive frame rates through our novel training method, NeRF2GS. This technique leverages the superior generalization capabilities of NeRF-based methods and the real-time rendering speed of 3D Gaussian Splatting (3DGS). We achieve this by training a customized NeRF model on the original images with depth regularization derived from a noisy LiDAR point cloud, then using it as a teacher model for 3DGS training. This process ensures accurate depth, surface normals, and camera appearance modeling as supervision. With our block-based training parallelization, the method can handle large-scale reconstructions (greater than or equal to 100,000 square meters) and predict segmentation masks, surface normals, and depth maps. During simulation, it supports a rasterization-based rendering backend with depth-based composition and multiple camera models for real-time camera simulation, as well as a ray-traced backend for precise LiDAR simulation.

cs.GR↗

arXiv2025

Accurate Automatic 3D Annotation of Traffic Lights and Signs for Autonomous Driving

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects. This paper introduces a novel method for automatically generating accurate and temporally consistent 3D bounding box annotations for traffic lights and signs, effective up to a range of 200 meters. These annotations are suitable for training real-time models used in self-driving cars, which need a large amount of training data. The proposed method relies only on RGB images with 2D bounding boxes of traffic management objects, which can be automatically obtained using an off-the-shelf image-space detector neural network, along with GNSS/INS data, eliminating the need for LiDAR point cloud data.

cs.CV↗

arXiv2024

Compute-Efficient Active Learning

Active learning, a powerful paradigm in machine learning, aims at reducing labeling costs by selecting the most informative samples from an unlabeled dataset. However, the traditional active learning process often demands extensive computational resources, hindering scalability and efficiency. In this paper, we address this critical issue by presenting a novel method designed to alleviate the computational burden associated with active learning on massive datasets. To achieve this goal, we introduce a simple, yet effective method-agnostic framework that outlines how to strategically choose and annotate data points, optimizing the process for efficiency while maintaining model performance. Through case studies, we demonstrate the effectiveness of our proposed method in reducing computational costs while maintaining or, in some cases, even surpassing baseline model outcomes. Code is available at https://github.com/aimotive/Compute-Efficient-Active-Learning.

cs.LG↗

arXiv2023

aiMotive Dataset: A Multimodal Dataset for Robust Autonomous Driving with Long-Range Perception

Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal datasets are accessible, they mainly comprise two sensor modalities (camera, LiDAR) which are not well suited for adverse weather. In addition, they lack far-range annotations, making it harder to train neural networks that are the base of a highway assistant function of an autonomous vehicle. Therefore, we introduce a multimodal dataset for robust autonomous driving with long-range perception. The dataset consists of 176 scenes with synchronized and calibrated LiDAR, camera, and radar sensors covering a 360-degree field of view. The collected data was captured in highway, urban, and suburban areas during daytime, night, and rain and is annotated with 3D bounding boxes with consistent identifiers across frames. Furthermore, we trained unimodal and multimodal baseline models for 3D object detection. Data are available at \url{https://github.com/aimotive/aimotive_dataset}.

cs.CV↗