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A Two-Stage Framework for Ego-Centric Key Object Identification via Object State Prediction

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

This paper presents a novel framework designed to enhance key object identification in autonomous driving. Existing methods primarily focus on either detecting objects independently or leveraging visual relationships, but they do not explicitly consider the ego vehicle's perspective in determining object importance. To address this gap, we propose a structured approach that integrates a virtual ego-vehicle representation and a modular object state predictor, enabling a more accurate estimation of object behaviors relative to the ego-vehicle. Subsequently, our framework employs spatial-temporal

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