论文标题

MUAD:自动驾驶的多种不确定性,这是多种不确定性类型和任务的基准

MUAD: Multiple Uncertainties for Autonomous Driving, a benchmark for multiple uncertainty types and tasks

论文作者

Franchi, Gianni, Yu, Xuanlong, Bursuc, Andrei, Tena, Angel, Kazmierczak, Rémi, Dubuisson, Séverine, Aldea, Emanuel, Filliat, David

论文摘要

预测不确定性估计对于在现实世界自治系统中安全部署深度神经网络至关重要。但是,对于大多数数据集而言,解散不同类型和不确定性的来源并不是微不足道的,尤其是因为没有不确定性的基本真相。 In addition, while adverse weather conditions of varying intensities can disrupt neural network predictions, they are usually under-represented in both training and test sets in public datasets.We attempt to mitigate these setbacks and introduce the MUAD dataset (Multiple Uncertainties for Autonomous Driving), consisting of 10,413 realistic synthetic images with diverse adverse weather conditions (night, fog, rain, snow), out-of-distribution对象和语义分割,深度估计,对象和实例检测的注释。 MUAD允许更好地评估不同不确定性来源对模型性能的影响。我们对多个任务的几个基线深神经网络的影响进行了彻底的实验研究,并释放我们的数据集,以使研究人员能够在不良条件下有条不紊地对其算法进行基准测试。更多可视化和MUAD的下载链接可在https://muad-dataset.github.io/上找到。

Predictive uncertainty estimation is essential for safe deployment of Deep Neural Networks in real-world autonomous systems. However, disentangling the different types and sources of uncertainty is non trivial for most datasets, especially since there is no ground truth for uncertainty. In addition, while adverse weather conditions of varying intensities can disrupt neural network predictions, they are usually under-represented in both training and test sets in public datasets.We attempt to mitigate these setbacks and introduce the MUAD dataset (Multiple Uncertainties for Autonomous Driving), consisting of 10,413 realistic synthetic images with diverse adverse weather conditions (night, fog, rain, snow), out-of-distribution objects, and annotations for semantic segmentation, depth estimation, object, and instance detection. MUAD allows to better assess the impact of different sources of uncertainty on model performance. We conduct a thorough experimental study of this impact on several baseline Deep Neural Networks across multiple tasks, and release our dataset to allow researchers to benchmark their algorithm methodically in adverse conditions. More visualizations and the download link for MUAD are available at https://muad-dataset.github.io/.

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