# Safety Metrics for Semantic Segmentation in Autonomous Driving

arXiv: https://arxiv.org/abs/2105.10142 · HTML: https://mlsanity.com/paper/2105.10142/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 24 references that are in the map.
- First posted on arXiv 21 May 2021.

## Builds on (most cited first, 18 of 18)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Explaining and Harnessing Adversarial Examples](https://mlsanity.com/paper/1412.6572/) (2014)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Intriguing properties of neural networks](https://mlsanity.com/paper/1312.6199/) (2013)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Image-to-Image Translation with Conditional Adversarial Networks](https://mlsanity.com/paper/1611.07004/) (2016)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs](https://mlsanity.com/paper/1606.00915/) (2016)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [On the Robustness of Semantic Segmentation Models to Adversarial Attacks](https://mlsanity.com/paper/1711.09856/) (2017)
- [Dynamic Divide-and-Conquer Adversarial Training for Robust Semantic Segmentation](https://mlsanity.com/paper/2003.06555/) (2020)
- [Importance-Aware Semantic Segmentation in Self-Driving with Discrete Wasserstein Training](https://mlsanity.com/paper/2010.12440/) (2020)
- [Improved Noise and Attack Robustness for Semantic Segmentation by Using Multi-Task Training with Self-Supervised Depth Estimation](https://mlsanity.com/paper/2004.11072/) (2020)
- [A Safety Framework for Critical Systems Utilising Deep Neural Networks](https://mlsanity.com/paper/2003.05311/) (2020)
- [Towards the Quantification of Safety Risks in Deep Neural Networks](https://mlsanity.com/paper/2009.06114/) (2020)
- [A Framework for Assurance of Medication Safety using Machine Learning](https://mlsanity.com/paper/2101.05620/) (2021)

## Built on by (most cited first, 2 of 2)

- [PEM: Perception Error Model for Virtual Testing of Autonomous Vehicles](https://mlsanity.com/paper/2302.11919/) (2023)
- [A causal model of safety assurance for machine learning](https://mlsanity.com/paper/2201.05451/) (2022)

## Abstract (arXiv)

Within the context of autonomous driving, safety-related metrics for deep neural networks have been widely studied for image classification and object detection. In this paper, we further consider safety-aware correctness and robustness metrics specialized for semantic segmentation. The novelty of our proposal is to move beyond pixel-level metrics: Given two images with each having N pixels being class-flipped, the designed metrics should, depending on the clustering of pixels being class-flipped or the location of occurrence, reflect a different level of safety criticality. The result evaluated on an autonomous driving dataset demonstrates the validity and practicality of our proposed methodology.