# On the calibration of underrepresented classes in LiDAR-based semantic segmentation

arXiv: https://arxiv.org/abs/2210.06811 · HTML: https://mlsanity.com/paper/2210.06811/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 34 references that are in the map.
- First posted on arXiv 13 Oct 2022.

## Builds on (most cited first, 27 of 27)

- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles](https://mlsanity.com/paper/1612.01474/) (2016)
- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [Measuring Calibration in Deep Learning](https://mlsanity.com/paper/1904.01685/) (2019)
- [ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation](https://mlsanity.com/paper/1606.02147/) (2016)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/2003.03653/) (2020)
- [Bayesian SegNet: Model Uncertainty in Deep Convolutional Encoder-Decoder Architectures for Scene Understanding](https://mlsanity.com/paper/1511.02680/) (2015)
- [Evaluating Scalable Bayesian Deep Learning Methods for Robust Computer Vision](https://mlsanity.com/paper/1906.01620/) (2019)
- [SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation](https://mlsanity.com/paper/2004.01803/) (2020)
- [(AF)2-S3Net: Attentive Feature Fusion with Adaptive Feature Selection for Sparse Semantic Segmentation Network](https://mlsanity.com/paper/2102.04530/) (2021)
- [Modeling Point Clouds with Self-Attention and Gumbel Subset Sampling](https://mlsanity.com/paper/1904.03375/) (2019)
- [Evaluating Bayesian Deep Learning Methods for Semantic Segmentation](https://mlsanity.com/paper/1811.12709/) (2018)
- [Uncertainty Estimates and Multi-Hypotheses Networks for Optical Flow](https://mlsanity.com/paper/1802.07095/) (2018)
- [Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems](https://mlsanity.com/paper/2004.08467/) (2020)
- [VV-Net: Voxel VAE Net with Group Convolutions for Point Cloud Segmentation](https://mlsanity.com/paper/1811.04337/) (2018)
- [Understanding Softmax Confidence and Uncertainty](https://mlsanity.com/paper/2106.04972/) (2021)
- [SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/1909.08291/) (2019)
- [Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study](https://mlsanity.com/paper/2004.11803/) (2020)
- [Deep Learning Based 3D Segmentation: A Survey](https://mlsanity.com/paper/2103.05423/) (2021)
- [ProbFlow: Joint Optical Flow and Uncertainty Estimation](https://mlsanity.com/paper/1708.06509/) (2017)
- [A Comparison of Uncertainty Estimation Approaches in Deep Learning Components for Autonomous Vehicle Applications](https://mlsanity.com/paper/2006.15172/) (2020)
- [Boosting LiDAR-based Semantic Labeling by Cross-Modal Training Data Generation](https://mlsanity.com/paper/1804.09915/) (2018)
- [Closer Look at the Uncertainty Estimation in Semantic Segmentation under Distributional Shift](https://mlsanity.com/paper/2106.00076/) (2021)

## Built on by (most cited first, 1 of 1)

- [Decoupling of neural network calibration measures](https://mlsanity.com/paper/2406.02411/) (2024)

## Abstract (arXiv)

The calibration of deep learning-based perception models plays a crucial role in their reliability. Our work focuses on a class-wise evaluation of several model's confidence performance for LiDAR-based semantic segmentation with the aim of providing insights into the calibration of underrepresented classes. Those classes often include VRUs and are thus of particular interest for safety reasons. With the help of a metric based on sparsification curves we compare the calibration abilities of three semantic segmentation models with different architectural concepts, each in a in deterministic and a probabilistic version. By identifying and describing the dependency between the predictive performance of a class and the respective calibration quality we aim to facilitate the model selection and refinement for safety-critical applications.