mlsanityData to 14 Oct 2026

Bayesian SegNet: Model Uncertainty in Deep Convolutional Encoder-Decoder Architectures for Scene Understanding

arXiv 1511.02680 ↗First posted 9 Nov 2015cs.CV cs.NEcited by 218

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Abstract (arXiv)

We present a deep learning framework for probabilistic pixel-wise semantic segmentation, which we term Bayesian SegNet. Semantic segmentation is an important tool for visual scene understanding and a meaningful measure of uncertainty is essential for decision making. Our contribution is a practical system which is able to predict pixel-wise class labels with a measure of model uncertainty. We achieve this by Monte Carlo sampling with dropout at test time to generate a posterior distribution of pixel class labels. In addition, we show that modelling uncertainty improves segmentation performance by 2-3% across a number of state of the art architectures such as SegNet, FCN and Dilation Network, with no additional parametrisation. We also observe a significant improvement in performance for smaller datasets where modelling uncertainty is more effective. We benchmark Bayesian SegNet on the indoor SUN Scene Understanding and outdoor CamVid driving scenes datasets.

Key facts. Cited by 218 papers in the map (data through 14 Oct 2026). First posted on arXiv 9 Nov 2015.

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Citing papers per year: 2019: 2; 2020: 0; 2021: 72; 2022: 50; 2023: 31; 2024: 36; 2025: 17; 2026: 10.

218 papers.

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  1. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  2. 2021Diffusion Models for Implicit Image Segmentation Ensemblescited by 198
  3. 2024Deep Time Series Models: A Comprehensive Survey and Benchmarkcited by 197
  4. 2022MedSegDiff: Medical Image Segmentation with Diffusion Probabilistic Modelcited by 180
  5. 2021SegmentMeIfYouCan: A Benchmark for Anomaly Segmentationcited by 150
  6. 2021Pixel-wise Anomaly Detection in Complex Driving Scenescited by 109
  7. 2023Ambiguous Medical Image Segmentation using Diffusion Modelscited by 92
  8. 2022Benchmarking Bayesian Deep Learning on Diabetic Retinopathy Detection Taskscited by 49
  9. 2021Semi-Supervised Domain Generalization with Stochastic StyleMatchcited by 43
  10. 2021Triggering Failures: Out-Of-Distribution detection by learning from local adversarial attacks in Semantic Segmentationcited by 40
  11. 2021Uncertainty-Aware Machine Translation Evaluationcited by 35
  12. 2022GIPSO: Geometrically Informed Propagation for Online Adaptation in 3D LiDAR Segmentationcited by 35
38 more
  1. 2022Probabilistic Representations for Video Contrastive Learningcited by 34
  2. 2021Uncertainty Estimation via Response Scaling for Pseudo-mask Noise Mitigation in Weakly-supervised Semantic Segmentationcited by 29
  3. 2021QU-BraTS: MICCAI BraTS 2020 Challenge on Quantifying Uncertainty in Brain Tumor Segmentation - Analysis of Ranking Scores and Benchmarking Resultscited by 28
  4. 2021Corner Cases for Visual Perception in Automated Driving: Some Guidance on Detection Approachescited by 27
  5. 2022PMAL: Open Set Recognition via Robust Prototype Miningcited by 27
  6. 2021Deep Deterministic Uncertainty for Semantic Segmentationcited by 24
  7. 2022BayesCap: Bayesian Identity Cap for Calibrated Uncertainty in Frozen Neural Networkscited by 23
  8. 2021A Weakly Supervised Amodal Segmenter with Boundary Uncertainty Estimationcited by 21
  9. 2022Region-Based Evidential Deep Learning to Quantify Uncertainty and Improve Robustness of Brain Tumor Segmentationcited by 21
  10. 2019Uncertainty-Aware Data Aggregation for Deep Imitation Learningcited by 20
  11. 2021Modality specific U-Net variants for biomedical image segmentation: A surveycited by 20
  12. 2021Dual Spoof Disentanglement Generation for Face Anti-spoofing with Depth Uncertainty Learningcited by 20
  13. 2022Learning Probabilistic Topological Representations Using Discrete Morse Theorycited by 20
  14. 2024Tyche: Stochastic In-Context Learning for Medical Image Segmentationcited by 20
  15. 2024Conformal Semantic Image Segmentation: Post-hoc Quantification of Predictive Uncertaintycited by 20
  16. 2022Two Video Data Sets for Tracking and Retrieval of Out of Distribution Objectscited by 19
  17. 2023Unsupervised Self-Driving Attention Prediction via Uncertainty Mining and Knowledge Embeddingcited by 19
  18. 2021Using Soft Labels to Model Uncertainty in Medical Image Segmentationcited by 18
  19. 2021Auto-Encoding Score Distribution Regression for Action Quality Assessmentcited by 18
  20. 2021Ensemble Quantile Networks: Uncertainty-Aware Reinforcement Learning with Applications in Autonomous Drivingcited by 17
  21. 2022Hyperbolic Uncertainty Aware Semantic Segmentationcited by 17
  22. 2022Latent Discriminant deterministic Uncertaintycited by 17
  23. 2021I Find Your Lack of Uncertainty in Computer Vision Disturbingcited by 16
  24. 2021Blurs Behave Like Ensembles: Spatial Smoothings to Improve Accuracy, Uncertainty, and Robustnesscited by 14
  25. 2021Active Learning in Bayesian Neural Networks with Balanced Entropy Learning Principlecited by 14
  26. 2023Deep Learning for Visual Localization and Mapping: A Surveycited by 14
  27. 2023PolyMaX: General Dense Prediction with Mask Transformercited by 14
  28. 2021Maximum Entropy on Erroneous Predictions (MEEP): Improving model calibration for medical image segmentationcited by 13
  29. 2022Deep Learning Serves Traffic Safety Analysis: A Forward-looking Reviewcited by 13
  30. 2022MultiAuto-DeepONet: A Multi-resolution Autoencoder DeepONet for Nonlinear Dimension Reduction, Uncertainty Quantification and Operator Learning of Forward and Inverse Stochastic Problemscited by 13
  31. 2023Anatomically-aware Uncertainty for Semi-supervised Image Segmentationcited by 13
  32. 2024Comparative Benchmarking of Failure Detection Methods in Medical Image Segmentation: Unveiling the Role of Confidence Aggregationcited by 12
  33. 2023Toward Reliable Human Pose Forecasting with Uncertaintycited by 11
  34. 2023U-CE: Uncertainty-aware Cross-Entropy for Semantic Segmentationcited by 11
  35. 2019Gaze Training by Modulated Dropout Improves Imitation Learningcited by 10
  36. 2023Robust Uncertainty Quantification Using Conformalised Monte Carlo Predictioncited by 10
  37. 2021S3Net: 3D LiDAR Sparse Semantic Segmentation Networkcited by 9
  38. 2021Trinity: A No-Code AI platform for complex spatial datasetscited by 9

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