# Uncertainty Quantification of Collaborative Detection for Self-Driving

arXiv: https://arxiv.org/abs/2209.08162 · HTML: https://mlsanity.com/paper/2209.08162/

## Key facts

- Cited by 46 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 43 references that are in the map.
- First posted on arXiv 16 Sep 2022.

## Builds on (most cited first, 30 of 33)

- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Adversarial examples in the physical world](https://mlsanity.com/paper/1607.02533/) (2016)
- [Can You Trust Your Model's Uncertainty? Evaluating Predictive Uncertainty Under Dataset Shift](https://mlsanity.com/paper/1906.02530/) (2019)
- [Aleatoric and Epistemic Uncertainty in Machine Learning: An Introduction to Concepts and Methods](https://mlsanity.com/paper/1910.09457/) (2019)
- [Adversarial Attacks on Neural Network Policies](https://mlsanity.com/paper/1702.02284/) (2017)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Prediction](https://mlsanity.com/paper/2008.07519/) (2020)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Net](https://mlsanity.com/paper/2012.12395/) (2020)
- [Concrete Dropout](https://mlsanity.com/paper/1705.07832/) (2017)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [Tactics of Adversarial Attack on Deep Reinforcement Learning Agents](https://mlsanity.com/paper/1703.06748/) (2017)
- [Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Clouds](https://mlsanity.com/paper/1905.05265/) (2019)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [Bounding Box Regression with Uncertainty for Accurate Object Detection](https://mlsanity.com/paper/1809.08545/) (2018)
- [LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving](https://mlsanity.com/paper/1903.08701/) (2019)
- [A Review and Comparative Study on Probabilistic Object Detection in Autonomous Driving](https://mlsanity.com/paper/2011.10671/) (2020)
- [Dropout Sampling for Robust Object Detection in Open-Set Conditions](https://mlsanity.com/paper/1710.06677/) (2017)
- [Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensors](https://mlsanity.com/paper/1912.12147/) (2019)
- [MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Maps](https://mlsanity.com/paper/2003.06754/) (2020)
- [LUVLi Face Alignment: Estimating Landmarks' Location, Uncertainty, and Visibility Likelihood](https://mlsanity.com/paper/2004.02980/) (2020)
- [Towards Safe Autonomous Driving: Capture Uncertainty in the Deep Neural Network For Lidar 3D Vehicle Detection](https://mlsanity.com/paper/1804.05132/) (2018)
- [Probabilistic 3D Multi-Modal, Multi-Object Tracking for Autonomous Driving](https://mlsanity.com/paper/2012.13755/) (2020)
- [Probabilistic Object Detection: Definition and Evaluation](https://mlsanity.com/paper/1811.10800/) (2018)
- [Model-Agnostic Multi-Agent Perception Framework](https://mlsanity.com/paper/2203.13168/) (2022)
- [Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors](https://mlsanity.com/paper/2101.05036/) (2021)
- [Learning an Uncertainty-Aware Object Detector for Autonomous Driving](https://mlsanity.com/paper/1910.11375/) (2019)
- [Leveraging Heteroscedastic Aleatoric Uncertainties for Robust Real-Time LiDAR 3D Object Detection](https://mlsanity.com/paper/1809.05590/) (2018)

## Built on by (most cited first, 30 of 46)

- [VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion](https://mlsanity.com/paper/2302.12251/) (2023)
- [Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps](https://mlsanity.com/paper/2209.12836/) (2022)
- [Collaborative Perception in Autonomous Driving: Methods, Datasets and Challenges](https://mlsanity.com/paper/2301.06262/) (2023)
- [SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving](https://mlsanity.com/paper/2306.09001/) (2023)
- [Communication-Efficient Collaborative Perception via Information Filling with Codebook](https://mlsanity.com/paper/2405.04966/) (2024)
- [Bridging the Domain Gap for Multi-Agent Perception](https://mlsanity.com/paper/2210.08451/) (2022)
- [STAMP: Scalable Task And Model-agnostic Collaborative Perception](https://mlsanity.com/paper/2501.18616/) (2025)
- [CORE: Cooperative Reconstruction for Multi-Agent Perception](https://mlsanity.com/paper/2307.11514/) (2023)
- [Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perception](https://mlsanity.com/paper/2308.16714/) (2023)
- [Among Us: Adversarially Robust Collaborative Perception by Consensus](https://mlsanity.com/paper/2303.09495/) (2023)
- [V2XP-ASG: Generating Adversarial Scenes for Vehicle-to-Everything Perception](https://mlsanity.com/paper/2209.13679/) (2022)
- [Collaborative Multi-Object Tracking with Conformal Uncertainty Propagation](https://mlsanity.com/paper/2303.14346/) (2023)
- [Multiagent Multitraversal Multimodal Self-Driving: Open MARS Dataset](https://mlsanity.com/paper/2406.09383/) (2024)
- [Vehicle-to-Everything Cooperative Perception for Autonomous Driving](https://mlsanity.com/paper/2310.03525/) (2023)
- [Analyzing Infrastructure LiDAR Placement with Realistic LiDAR Simulation Library](https://mlsanity.com/paper/2211.15975/) (2022)
- [Directed-CP: Directed Collaborative Perception for Connected and Autonomous Vehicles via Proactive Attention](https://mlsanity.com/paper/2409.08840/) (2024)
- [CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perception](https://mlsanity.com/paper/2503.13504/) (2025)
- [Cocoon: Robust Multi-Modal Perception with Uncertainty-Aware Sensor Fusion](https://mlsanity.com/paper/2410.12592/) (2024)
- [CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving](https://mlsanity.com/paper/2310.07794/) (2023)
- [Relaxed Quantile Regression: Prediction Intervals for Asymmetric Noise](https://mlsanity.com/paper/2406.03258/) (2024)
- [Optimizing the Placement of Roadside LiDARs for Autonomous Driving](https://mlsanity.com/paper/2310.07247/) (2023)
- [ActFormer: Scalable Collaborative Perception via Active Queries](https://mlsanity.com/paper/2403.04968/) (2024)
- [CoDynTrust: Robust Asynchronous Collaborative Perception via Dynamic Feature Trust Modulus](https://mlsanity.com/paper/2502.08169/) (2025)
- [Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspective](https://mlsanity.com/paper/2504.04631/) (2025)
- [Automated Vehicles Should be Connected with Natural Language](https://mlsanity.com/paper/2507.01059/) (2025)
- [Uncertainty Quantification for Regression using Proper Scoring Rules](https://mlsanity.com/paper/2509.26610/) (2025)
- [Privacy-preserving and Uncertainty-aware Federated Trajectory Prediction for Connected Autonomous Vehicles](https://mlsanity.com/paper/2303.04340/) (2023)
- [Vision Technologies with Applications in Traffic Surveillance Systems: A Holistic Survey](https://mlsanity.com/paper/2412.00348/) (2024)
- [CoRA: A Collaborative Robust Architecture with Hybrid Fusion for Efficient Perception](https://mlsanity.com/paper/2512.13191/) (2025)
- [LMD: Light-weight Prediction Quality Estimation for Object Detection in Lidar Point Clouds](https://mlsanity.com/paper/2306.07835/) (2023)

## Abstract (arXiv)

Sharing information between connected and autonomous vehicles (CAVs) fundamentally improves the performance of collaborative object detection for self-driving. However, CAVs still have uncertainties on object detection due to practical challenges, which will affect the later modules in self-driving such as planning and control. Hence, uncertainty quantification is crucial for safety-critical systems such as CAVs. Our work is the first to estimate the uncertainty of collaborative object detection. We propose a novel uncertainty quantification method, called Double-M Quantification, which tailors a moving block bootstrap (MBB) algorithm with direct modeling of the multivariant Gaussian distribution of each corner of the bounding box. Our method captures both the epistemic uncertainty and aleatoric uncertainty with one inference pass based on the offline Double-M training process. And it can be used with different collaborative object detectors. Through experiments on the comprehensive collaborative perception dataset, we show that our Double-M method achieves more than 4X improvement on uncertainty score and more than 3% accuracy improvement, compared with the state-of-the-art uncertainty quantification methods. Our code is public on https://coperception.github.io/double-m-quantification.