# Exploring Aleatoric Uncertainty in Object Detection via Vision Foundation Models

arXiv: https://arxiv.org/abs/2411.17767 · HTML: https://mlsanity.com/paper/2411.17767/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 54 references that are in the map.
- First posted on arXiv 26 Nov 2024.

## Builds on (most cited first, 30 of 48)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [mixup: Beyond Empirical Risk Minimization](https://mlsanity.com/paper/1710.09412/) (2017)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Evaluating Object Hallucination in Large Vision-Language Models](https://mlsanity.com/paper/2305.10355/) (2023)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [MLP-Mixer: An all-MLP Architecture for Vision](https://mlsanity.com/paper/2105.01601/) (2021)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [Aleatoric and Epistemic Uncertainty in Machine Learning: An Introduction to Concepts and Methods](https://mlsanity.com/paper/1910.09457/) (2019)
- [Segmenter: Transformer for Semantic Segmentation](https://mlsanity.com/paper/2105.05633/) (2021)
- [Regularizing Neural Networks by Penalizing Confident Output Distributions](https://mlsanity.com/paper/1701.06548/) (2017)

## Built on by (most cited first, 3 of 3)

- [Are vision language models robust to uncertain inputs?](https://mlsanity.com/paper/2505.11804/) (2025)
- [Delving Aleatoric Uncertainty in Medical Image Segmentation via Vision Foundation Models](https://mlsanity.com/paper/2604.10963/) (2026)
- [PointVG-R: Internalizing Geometric Reasoning in MLLMs for Precise Pointing Localization via Visual Chain of Thought](https://mlsanity.com/paper/2606.24539/) (2026)

## Abstract (arXiv)

Datasets collected from the open world unavoidably suffer from various forms of randomness or noiseness, leading to the ubiquity of aleatoric (data) uncertainty. Quantifying such uncertainty is particularly pivotal for object detection, where images contain multi-scale objects with occlusion, obscureness, and even noisy annotations, in contrast to images with centric and similar-scale objects in classification. This paper suggests modeling and exploiting the uncertainty inherent in object detection data with vision foundation models and develops a data-centric reliable training paradigm. Technically, we propose to estimate the data uncertainty of each object instance based on the feature space of vision foundation models, which are trained on ultra-large-scale datasets and able to exhibit universal data representation. In particular, we assume a mixture-of-Gaussian structure of the object features and devise Mahalanobis distance-based measures to quantify the data uncertainty. Furthermore, we suggest two curial and practical usages of the estimated uncertainty: 1) for defining uncertainty-aware sample filter to abandon noisy and redundant instances to avoid over-fitting, and 2) for defining sample adaptive regularizer to balance easy/hard samples for adaptive training. The estimated aleatoric uncertainty serves as an extra level of annotations of the dataset, so it can be utilized in a plug-and-play manner with any model. Extensive empirical studies verify the effectiveness of the proposed aleatoric uncertainty measure on various advanced detection models and challenging benchmarks.