# UADet: A Remarkably Simple Yet Effective Uncertainty-Aware Open-Set Object Detection Framework

arXiv: https://arxiv.org/abs/2412.09229 · HTML: https://mlsanity.com/paper/2412.09229/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 56 references that are in the map.
- First posted on arXiv 12 Dec 2024.

## Builds on (most cited first, 30 of 42)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [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)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [Cascade R-CNN: Delving into High Quality Object Detection](https://mlsanity.com/paper/1712.00726/) (2017)
- [Towards Open Set Deep Networks](https://mlsanity.com/paper/1511.06233/) (2015)
- [End-to-End Semi-Supervised Object Detection with Soft Teacher](https://mlsanity.com/paper/2106.09018/) (2021)
- [Towards Open World Object Detection](https://mlsanity.com/paper/2103.02603/) (2021)
- [Equalization Loss for Long-Tailed Object Recognition](https://mlsanity.com/paper/2003.05176/) (2020)
- [Frustratingly Simple Few-Shot Object Detection](https://mlsanity.com/paper/2003.06957/) (2020)
- [Generative OpenMax for Multi-Class Open Set Classification](https://mlsanity.com/paper/1707.07418/) (2017)
- [Adversarial Reciprocal Points Learning for Open Set Recognition](https://mlsanity.com/paper/2103.00953/) (2021)
- [Classification-Reconstruction Learning for Open-Set Recognition](https://mlsanity.com/paper/1812.04246/) (2018)
- [C2AE: Class Conditioned Auto-Encoder for Open-set Recognition](https://mlsanity.com/paper/1904.01198/) (2019)
- [OW-DETR: Open-world Detection Transformer](https://mlsanity.com/paper/2112.01513/) (2021)
- [Cross-Domain Adaptive Teacher for Object Detection](https://mlsanity.com/paper/2111.13216/) (2021)
- [Learning Placeholders for Open-Set Recognition](https://mlsanity.com/paper/2103.15086/) (2021)
- [Learning Open Set Network with Discriminative Reciprocal Points](https://mlsanity.com/paper/2011.00178/) (2020)
- [Dropout Sampling for Robust Object Detection in Open-Set Conditions](https://mlsanity.com/paper/1710.06677/) (2017)
- [Conditional Gaussian Distribution Learning for Open Set Recognition](https://mlsanity.com/paper/2003.08823/) (2020)
- [PROB: Probabilistic Objectness for Open World Object Detection](https://mlsanity.com/paper/2212.01424/) (2022)

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

- [Beyond Known Objects: A Novel Framework for Open-Set Object Detection using Negative-Aware Norm](https://mlsanity.com/paper/2605.02284/) (2026)
- [CloSeR: Unified Relational Distillation from Closed-Set Teachers for Category Discovery](https://mlsanity.com/paper/2608.25692/) (2026)

## Abstract (arXiv)

We tackle the challenging problem of Open-Set Object Detection (OSOD), which aims to detect both known and unknown objects in unlabelled images. The main difficulty arises from the absence of supervision for these unknown classes, making it challenging to distinguish them from the background. Existing OSOD detectors either fail to properly exploit or inadequately leverage the abundant unlabeled unknown objects in training data, restricting their performance. To address these limitations, we propose UADet, an Uncertainty-Aware Open-Set Object Detector that considers appearance and geometric uncertainty. By integrating these uncertainty measures, UADet effectively reduces the number of unannotated instances incorrectly utilized or omitted by previous methods. Extensive experiments on OSOD benchmarks demonstrate that UADet substantially outperforms previous state-of-the-art (SOTA) methods in detecting both known and unknown objects, achieving a 1.8x improvement in unknown recall while maintaining high performance on known classes. When extended to Open World Object Detection (OWOD), our method shows significant advantages over the current SOTA method, with average improvements of 13.8% and 6.9% in unknown recall on M-OWODB and S-OWODB benchmarks, respectively. Extensive results validate the effectiveness of our uncertainty-aware approach across different open-set scenarios.