arXiv:2607.13361cs.CV2026-07

检测器的置信度反映类别存在而非目标可见性,易误判遮挡。

Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulation

论文配图:Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulation
图 1 · 摘自论文原文
  • 置信度不随目标可见度下降而降低,反而可能上升。
  • 在遮挡情况下仍99%报告目标存在,误检率高。
  • 适合需精准定位的机器人操作场景,不适用于遮挡判断。

将指定物体遮挡至仅剩约八分之一可见时,开放词汇检测器对其存在的置信度几乎不变;随着周围杂乱程度增加,置信度甚至上升。在真实视频中,该检测器在99%的遮挡帧上仍报告同一类别的目标存在。这很重要,因为置信度常被用作可见性信号,用于阈值筛选、评估开放词汇检测器、语言接地、实例检索和主动感知控制。我们通过几何分割真值(geometry-segmentation oracle)验证其是否反映真实可见性:当真实可见度从全场景降至八分之一时,置信度基本不变且与可见性无关,检测器在约九成场景中仍报告目标存在,并误触发同类别干扰项——表明其信号的是类别存在而非具体目标可见。该失效现象在三种检测器(Grounding DINO、OWLv2、SAM3)、九个物体类别、两个不同渲染器的模拟器、人工与自然遮挡及真实视频中均成立。后果为:基于置信度的指标低估解决遮挡价值约十倍(主动感知设置下8分对比88分),且置信度门控恰在目标被隐藏时触发。我们尝试的所有单视角信号(包括可实现的定位检查)均无法有效标记遮挡,因遮挡物位于目标所在位置。我们将其归因于检测器校准偏差与物体幻觉,发布可控基准数据集,并建议采用目标接地信号进行控制与评估。

原文摘要 · Abstract (English)

Occlude a named object until about an eighth of it remains visible, and an open-vocabulary detector's confidence that the object is present barely changes; as the clutter around it grows the confidence can even rise. On real video the detector still reports the object present in 99% of occluded frames, on another instance of the same category. This matters because that confidence is widely read as a visibility signal, used to threshold detections, evaluate open-vocabulary detectors, ground language, retrieve instances, and gate active perception. We audit whether it reflects occlusion by pairing every view with a geometry-segmentation oracle that gives detector-free ground-truth visibility. As true visibility falls from every scene to one in eight, the confidence stays nearly constant and uncorrelated with visibility, and the detector reports the target present in about nine of ten scenes, firing on same-category distractors: it signals that the category is present somewhere, not that the specific target is visible. The failure holds across three detectors (Grounding DINO, OWLv2, and Segment Anything Model 3), nine object categories, two simulators with different renderers and object sets, built and natural occlusion, and real video. Two consequences follow: a confidence-based metric understates the value of resolving occlusion by about ten times (8 against 88 points in our active-perception setting), and a confidence-based gate fires exactly when the object is hidden. No single-view signal we tried, including a realizable localization check, flags the occlusion, because the occluders sit where the target is. We connect the effect to detector miscalibration and object hallucination, release the controlled benchmark, and recommend target-grounded signals for gating and evaluation.

目标检测遮挡识别机器人操作置信度校准

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