{"id":"https://openalex.org/W2921523090","doi":"https://doi.org/10.1109/icra40945.2020.9196544","title":"BayesOD: A Bayesian Approach for Uncertainty Estimation in Deep Object Detectors","display_name":"BayesOD: A Bayesian Approach for Uncertainty Estimation in Deep Object Detectors","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2921523090","doi":"https://doi.org/10.1109/icra40945.2020.9196544","mag":"2921523090"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.03838","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087558114","display_name":"Ali Harakeh","orcid":"https://orcid.org/0000-0002-2593-2141"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ali Harakeh","raw_affiliation_strings":["Institute For Aerospace Studies (UTIAS), University of Toronto, Toronto, Canada","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Institute For Aerospace Studies (UTIAS), University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013562058","display_name":"Michael Smart","orcid":"https://orcid.org/0000-0001-5058-9237"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael Smart","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024242059","display_name":"Steven L. Waslander","orcid":"https://orcid.org/0000-0003-4217-4415"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steven L. Waslander","raw_affiliation_strings":["Institute For Aerospace Studies (UTIAS), University of Toronto, Toronto, Canada","University of WAterloo"],"affiliations":[{"raw_affiliation_string":"Institute For Aerospace Studies (UTIAS), University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of WAterloo","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087558114"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":1.0806,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79181495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"87","last_page":"93"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.657856822013855},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6499729156494141},{"id":"https://openalex.org/keywords/categorical-variable","display_name":"Categorical variable","score":0.645461916923523},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209285259246826},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5717086791992188},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5664640665054321},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5654008984565735},{"id":"https://openalex.org/keywords/uncertainty-reduction-theory","display_name":"Uncertainty reduction theory","score":0.5455446243286133},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5251017808914185},{"id":"https://openalex.org/keywords/bayesian-inference","display_name":"Bayesian inference","score":0.5009138584136963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4912852644920349},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.43538641929626465},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4163374900817871},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36310285329818726},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33167529106140137},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3108941912651062},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21829500794410706},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06510016322135925}],"concepts":[{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.657856822013855},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6499729156494141},{"id":"https://openalex.org/C5274069","wikidata":"https://www.wikidata.org/wiki/Q2285707","display_name":"Categorical variable","level":2,"score":0.645461916923523},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209285259246826},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5717086791992188},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5664640665054321},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5654008984565735},{"id":"https://openalex.org/C94361409","wikidata":"https://www.wikidata.org/wiki/Q7882500","display_name":"Uncertainty reduction theory","level":2,"score":0.5455446243286133},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5251017808914185},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.5009138584136963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4912852644920349},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.43538641929626465},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4163374900817871},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36310285329818726},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33167529106140137},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3108941912651062},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21829500794410706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06510016322135925},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.03838","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.03838","pdf_url":"https://arxiv.org/pdf/1903.03838","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2921523090","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.03838.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1903.03838","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1903.03838","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.03838","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.03838","pdf_url":"https://arxiv.org/pdf/1903.03838","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2921523090.pdf","grobid_xml":"https://content.openalex.org/works/W2921523090.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2031489346","https://openalex.org/W2045656233","https://openalex.org/W2139701068","https://openalex.org/W2150066425","https://openalex.org/W2555618208","https://openalex.org/W2557728737","https://openalex.org/W2573678944","https://openalex.org/W2600383743","https://openalex.org/W2613718673","https://openalex.org/W2799352588","https://openalex.org/W2806471870","https://openalex.org/W2889809710","https://openalex.org/W2891685396","https://openalex.org/W2902000062","https://openalex.org/W2904979775","https://openalex.org/W2945261895","https://openalex.org/W2962677013","https://openalex.org/W2963120444","https://openalex.org/W2963167203","https://openalex.org/W2963238274","https://openalex.org/W2963351448","https://openalex.org/W2963400571","https://openalex.org/W2963611739","https://openalex.org/W2963727135","https://openalex.org/W2964059111","https://openalex.org/W2964248288","https://openalex.org/W3098691969","https://openalex.org/W4244577065","https://openalex.org/W4248681815","https://openalex.org/W6617145748","https://openalex.org/W6620707391","https://openalex.org/W6639102338","https://openalex.org/W6730042731","https://openalex.org/W6735443497","https://openalex.org/W6750749703","https://openalex.org/W6752745768","https://openalex.org/W6754130498","https://openalex.org/W6754598917"],"related_works":["https://openalex.org/W2964059111","https://openalex.org/W2963238274","https://openalex.org/W2904979775","https://openalex.org/W2962677013","https://openalex.org/W3037488448","https://openalex.org/W2913844206","https://openalex.org/W2321228400","https://openalex.org/W1984861439","https://openalex.org/W1985183171","https://openalex.org/W2083870689","https://openalex.org/W1570826572","https://openalex.org/W2029752946","https://openalex.org/W2166363100","https://openalex.org/W1617718362","https://openalex.org/W2610660137","https://openalex.org/W3134429137","https://openalex.org/W3041560002","https://openalex.org/W1997398941","https://openalex.org/W3034896527","https://openalex.org/W3102737465"],"abstract_inverted_index":{"When":[0],"incorporating":[1],"deep":[2,30],"neural":[3],"networks":[4],"into":[5,62],"robotic":[6],"systems,":[7],"a":[8,94,122,135],"major":[9],"challenge":[10],"is":[11],"the":[12,27,51,64,84,116,128,140],"lack":[13],"of":[14,29,68,118,125,137],"uncertainty":[15,24,79,109,131,143],"measures":[16],"associated":[17],"with":[18,115],"their":[19],"output":[20,28],"predictions.":[21],"Methods":[22],"for":[23],"estimation":[25,80],"in":[26,37],"object":[31,70,86,102],"detectors":[32,52],"(DNNs)":[33],"have":[34,41],"been":[35],"proposed":[36],"recent":[38],"works,":[39],"but":[40],"had":[42],"limited":[43],"success":[44],"due":[45],"to":[46,60],"1)":[47],"information":[48],"loss":[49],"at":[50,150],"nonmaximum":[53],"suppression":[54,91],"(NMS)":[55],"stage,":[56],"and":[57,89,134],"2)":[58],"failure":[59],"take":[61],"account":[63],"multitask,":[65],"many-to-one":[66],"nature":[67],"anchor-based":[69],"detection.":[71],"To":[72],"that":[73,82,106,111],"end,":[74],"we":[75],"introduce":[76],"BayesOD,":[77],"an":[78],"approach":[81],"reformulates":[83],"standard":[85],"detector":[87],"inference":[88],"Non-Maximum":[90],"components":[92],"from":[93],"Bayesian":[95],"perspective.":[96],"Experiments":[97],"performed":[98],"on":[99,127,139],"four":[100],"common":[101],"detection":[103],"datasets":[104],"show":[105],"BayesOD":[107],"provides":[108],"estimates":[110],"are":[112],"better":[113],"correlated":[114],"accuracy":[117],"detections,":[119],"manifesting":[120],"as":[121],"significant":[123],"reduction":[124,136],"9.77%-13.13%":[126],"minimum":[129,141],"Gaussian":[130],"error":[132,144],"metric":[133],"1.63%-5.23%":[138],"Categorical":[142],"metric.":[145],"Code":[146],"will":[147],"be":[148],"released":[149],"https://github.com/asharakeh/bayes-od-rc.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
