# A Flow-based Credibility Metric for Safety-critical Pedestrian Detection

arXiv: https://arxiv.org/abs/2402.07642 · HTML: https://mlsanity.com/paper/2402.07642/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 21 references that are in the map.
- First posted on arXiv 12 Feb 2024.

## Builds on (most cited first, 11 of 11)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [T-CNN: Tubelets with Convolutional Neural Networks for Object Detection from Videos](https://mlsanity.com/paper/1604.02532/) (2016)
- [Perceptual Consistency in Video Segmentation](https://mlsanity.com/paper/2110.12385/) (2021)
- [Deep Learning Safety Concerns in Automated Driving Perception](https://mlsanity.com/paper/2309.03774/) (2023)
- [Evaluating Object (mis)Detection from a Safety and Reliability Perspective: Discussion and Measures](https://mlsanity.com/paper/2203.02205/) (2022)
- [SDOF-Tracker: Fast and Accurate Multiple Human Tracking by Skipped-Detection and Optical-Flow](https://mlsanity.com/paper/2106.14259/) (2021)
- [A Low-cost Strategic Monitoring Approach for Scalable and Interpretable Error Detection in Deep Neural Networks](https://mlsanity.com/paper/2310.20349/) (2023)
- [Motion Vector Extrapolation for Video Object Detection](https://mlsanity.com/paper/2104.08918/) (2021)
- [Pushing the Limits of Deep CNNs for Pedestrian Detection](https://mlsanity.com/paper/1603.04525/) (2016)

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

- [Effort-Based Criticality Metrics for Evaluating 3D Perception Errors in Autonomous Driving](https://mlsanity.com/paper/2603.28029/) (2026)
- [Albireo: Adaptive, Energy-Efficient Inference Framework for Video Object Detection on the Edge](https://mlsanity.com/paper/2609.29648/) (2026)

## Abstract (arXiv)

Safety is of utmost importance for perception in automated driving (AD). However, a prime safety concern in state-of-the art object detection is that standard evaluation schemes utilize safety-agnostic metrics to argue sufficient detection performance. Hence, it is imperative to leverage supplementary domain knowledge to accentuate safety-critical misdetections during evaluation tasks. To tackle the underspecification, this paper introduces a novel credibility metric, called c-flow, for pedestrian bounding boxes. To this end, c-flow relies on a complementary optical flow signal from image sequences and enhances the analyses of safety-critical misdetections without requiring additional labels. We implement and evaluate c-flow with a state-of-the-art pedestrian detector on a large AD dataset. Our analysis demonstrates that c-flow allows developers to identify safety-critical misdetections.