Laplace Approximation Based Epistemic Uncertainty Estimation in 3D Object Detection

Peng Yun, Ming Liu
Proceedings of The 6th Conference on Robot Learning, PMLR 205:1125-1135, 2023.

Abstract

Understanding the uncertainty of predictions is a desirable feature for perceptual modules in critical robotic applications. 3D object detectors are neural networks with high-dimensional output space. It suffers from poor calibration in classification and lacks reliable uncertainty estimation in regression. To provide a reliable epistemic uncertainty estimation, we tailor Laplace approximation for 3D object detectors, and propose an Uncertainty Separation and Aggregation pipeline for Bayesian inference. The proposed Laplace-approximation approach can easily convert a deterministic 3D object detector into a Bayesian neural network capable of estimating epistemic uncertainty. The experiment results on the KITTI dataset empirically validate the effectiveness of our proposed methods, and demonstrate that Laplace approximation performs better uncertainty quality than Monte-Carlo Dropout, DeepEnsembles, and deterministic models.

Cite this Paper

BibTeX
@InProceedings{pmlr-v205-yun23a, title = {Laplace Approximation Based Epistemic Uncertainty Estimation in 3D Object Detection}, author = {Yun, Peng and Liu, Ming}, booktitle = {Proceedings of The 6th Conference on Robot Learning}, pages = {1125--1135}, year = {2023}, editor = {Liu, Karen and Kulic, Dana and Ichnowski, Jeff}, volume = {205}, series = {Proceedings of Machine Learning Research}, month = {14--18 Dec}, publisher = {PMLR}, pdf = {https://proceedings.mlr.press/v205/yun23a/yun23a.pdf}, url = {https://proceedings.mlr.press/v205/yun23a.html}, abstract = {Understanding the uncertainty of predictions is a desirable feature for perceptual modules in critical robotic applications. 3D object detectors are neural networks with high-dimensional output space. It suffers from poor calibration in classification and lacks reliable uncertainty estimation in regression. To provide a reliable epistemic uncertainty estimation, we tailor Laplace approximation for 3D object detectors, and propose an Uncertainty Separation and Aggregation pipeline for Bayesian inference. The proposed Laplace-approximation approach can easily convert a deterministic 3D object detector into a Bayesian neural network capable of estimating epistemic uncertainty. The experiment results on the KITTI dataset empirically validate the effectiveness of our proposed methods, and demonstrate that Laplace approximation performs better uncertainty quality than Monte-Carlo Dropout, DeepEnsembles, and deterministic models.} }
Endnote
%0 Conference Paper %T Laplace Approximation Based Epistemic Uncertainty Estimation in 3D Object Detection %A Peng Yun %A Ming Liu %B Proceedings of The 6th Conference on Robot Learning %C Proceedings of Machine Learning Research %D 2023 %E Karen Liu %E Dana Kulic %E Jeff Ichnowski %F pmlr-v205-yun23a %I PMLR %P 1125--1135 %U https://proceedings.mlr.press/v205/yun23a.html %V 205 %X Understanding the uncertainty of predictions is a desirable feature for perceptual modules in critical robotic applications. 3D object detectors are neural networks with high-dimensional output space. It suffers from poor calibration in classification and lacks reliable uncertainty estimation in regression. To provide a reliable epistemic uncertainty estimation, we tailor Laplace approximation for 3D object detectors, and propose an Uncertainty Separation and Aggregation pipeline for Bayesian inference. The proposed Laplace-approximation approach can easily convert a deterministic 3D object detector into a Bayesian neural network capable of estimating epistemic uncertainty. The experiment results on the KITTI dataset empirically validate the effectiveness of our proposed methods, and demonstrate that Laplace approximation performs better uncertainty quality than Monte-Carlo Dropout, DeepEnsembles, and deterministic models.
APA
Yun, P. & Liu, M.. (2023). Laplace Approximation Based Epistemic Uncertainty Estimation in 3D Object Detection. Proceedings of The 6th Conference on Robot Learning, in Proceedings of Machine Learning Research 205:1125-1135 Available from https://proceedings.mlr.press/v205/yun23a.html.

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