mlsanityData to 7 Oct 2026

Learning an Uncertainty-Aware Object Detector for Autonomous Driving

arXiv 1910.11375 ↗First posted 24 Oct 2019cs.CV cs.LG cs.ROcited by 34

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Abstract (arXiv)

The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount of uncertainty in each prediction. Providing the autonomous system with reliable uncertainties enables the vehicle to react differently based on the level of uncertainty. Previous work has estimated the uncertainty in a detection by predicting a probability distribution over object bounding boxes. In this work, we propose a method to improve the ability to learn the probability distribution by considering the potential noise in the ground-truth labeled data. Our proposed approach improves not only the accuracy of the learned distribution but also the object detection performance.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 24 Oct 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 3; 2022: 8; 2023: 11; 2024: 6; 2025: 2; 2026: 4.

34 papers.

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  1. 2022DeepFusion: Lidar-Camera Deep Fusion for Multi-Modal 3D Object Detectioncited by 224
  2. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  3. 2022Uncertainty Quantification of Collaborative Detection for Self-Drivingcited by 46
  4. 2023Collaborative Multi-Object Tracking with Conformal Uncertainty Propagationcited by 27
  5. 2022GLENet: Boosting 3D Object Detectors with Generative Label Uncertainty Estimationcited by 24
  6. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  7. 2021MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting through Multi-View Fusion of LiDAR Datacited by 18
  8. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  9. 2022Uncertainty estimation for Cross-dataset performance in Trajectory predictioncited by 13
  10. 2023Mutual Information-calibrated Conformal Feature Fusion for Uncertainty-Aware Multimodal 3D Object Detection at the Edgecited by 9
  11. 2023Out-of-distribution detection algorithms for robust insect classificationcited by 7
  12. 2024Safety Implications of Explainable Artificial Intelligence in End-to-End Autonomous Drivingcited by 7
22 more
  1. 2022Autoregressive Uncertainty Modeling for 3D Bounding Box Predictioncited by 6
  2. 2023Not Every Side Is Equal: Localization Uncertainty Estimation for Semi-Supervised 3D Object Detectioncited by 6
  3. 2024CUQDS: Conformal Uncertainty Quantification under Distribution Shift for Trajectory Predictioncited by 5
  4. 2022Estimating Regression Predictive Distributions with Sample Networkscited by 4
  5. 2021Probabilistic Deep Learning to Quantify Uncertainty in Air Quality Forecastingcited by 3
  6. 2023Uncertainty-Aware AB3DMOT by Variational 3D Object Detectioncited by 3
  7. 2023Efficient Transformer-based 3D Object Detection with Dynamic Token Haltingcited by 3
  8. 2023LMD: Light-weight Prediction Quality Estimation for Object Detection in Lidar Point Cloudscited by 3
  9. 2024A Light-Weight Framework for Open-Set Object Detection with Decoupled Feature Alignment in Joint Spacecited by 3
  10. 2025Conformal Object Detection by Sequential Risk Controlcited by 3
  11. 2022Uncertainty-Aware Lidar Place Recognition in Novel Environmentscited by 2
  12. 2023TSGN: Temporal Scene Graph Neural Networks with Projected Vectorized Representation for Multi-Agent Motion Predictioncited by 2
  13. 2023Training of Neural Networks with Uncertain Data: A Mixture of Experts Approachcited by 2
  14. 2024CTS: Sim-to-Real Unsupervised Domain Adaptation on 3D Detectioncited by 2
  15. 2024Object criticality for safer navigationcited by 1
  16. 2025Cooperative Variance Estimation and Bayesian Neural Networks for Disentangling Aleatoric and Epistemic Uncertaintiescited by 1
  17. 2026Better than Average: Spatially-Aware Aggregation of Segmentation Uncertainty Improves Downstream Performancecited by 1
  18. 2023Variational Voxel Pseudo Image Trackingcited by 0
  19. 2024α-OCC: Uncertainty-Aware Camera-based 3D Semantic Occupancy Predictioncited by 0
  20. 2026LEO: Graph Attention Network based Hybrid Multi Sensor Extended Object Fusion and Tracking for Autonomous Driving Applicationscited by 0
  21. 2026Taming Perception Jitter: Uncertainty-Aware LiDAR Object Detection for Reliable Motion Classificationcited by 0
  22. 2026A Reliable Context-Aware and Temporal Planning Framework for Autonomous Drivingcited by 0