Abstract: A method may include applying a first machine learning model trained to perform an open-set detection by at least identifying, based at least on image data indicative of one or more objects present in at least one environment in which one or more vehicles operate, at least one new class of objects. A dataset including a plurality of classes of objects may be updated to include the at least one new class of objects. In some cases, the dataset may be further updated to include a label associated with the at least one new class of objects. A second machine learning model may be trained, or in some cases updated, based at least on the updated dataset including the at least one new class of objects. Related systems and computer program products are also provided.

Abstract: Provided are methods, systems, and computer program products for generating an output map indicating a likelihood of individual elements of an image as corresponding to particular road elements, such as lane dividers, road dividers, and road boundaries. An example method may include applying a machine learning architecture to the image, which architecture includes a convolutional neural network and a sub-network capturing global context from feature maps generated by the convolutional neural network.

Abstract: Provided are methods for detecting when a vehicle is encountering an out of operational design domain (ODD) scenario, which can include training a generative adversarial network (GAN) including a generator network and a discriminator network. The generator network may be trained to generate synthesized scenarios. The discriminator network may be trained to distinguish between true scenarios and the synthesized scenarios generated by the generator network. The trained discriminator network may be applied to detect when a vehicle encounters an out of operational design domain (ODD) scenario. Some methods described also include controlling the motion of the vehicle in response to an output of the trained discriminator network indicating that the vehicle is encountering the out of operational design domain (ODD) scenario. Systems and computer program products are also provided.

Abstract: Systems and methods are disclosed for identifying visibility of a physical space using visibility values and indications of uncertainty associated with the visibility values. One method can include capturing an image of a physical space, dividing pixels of the image into presumably well-lit and presumably not well-lit categories based on an intensity threshold, generating an evidential illumination map for the image based at least partly on a comparison between a value of each pixel to the intensity threshold, and projecting the evidential illumination map onto data representing a three-dimensional scan of the physical space. Evidential values can enable an autonomous vehicle to more safely navigate spaces using camera data by enabling programmatic determination of uncertainty for the camera data.