{"id":"https://openalex.org/W4401414146","doi":"https://doi.org/10.1109/icra57147.2024.10610597","title":"MEDL-U: Uncertainty-aware 3D Automatic Annotation based on Evidential Deep Learning","display_name":"MEDL-U: Uncertainty-aware 3D Automatic Annotation based on Evidential Deep Learning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414146","doi":"https://doi.org/10.1109/icra57147.2024.10610597"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092905597","display_name":"Helbert Paat","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Helbert Paat","raw_affiliation_strings":["the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051495253","display_name":"Qing Lian","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qing Lian","raw_affiliation_strings":["the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066048634","display_name":"Weilong Yao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weilong Yao","raw_affiliation_strings":["Autowise.AI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autowise.AI","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100378810","display_name":"Tong Zhang","orcid":"https://orcid.org/0000-0002-9904-3224"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tong Zhang","raw_affiliation_strings":["the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Hong Kong University of Science and Technology (HKUST),Department of Computer Science and Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13976","last_page":"13982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.7103599309921265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6882423162460327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6119455695152283},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.49996066093444824},{"id":"https://openalex.org/keywords/evidential-reasoning-approach","display_name":"Evidential reasoning approach","score":0.4432956278324127},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3421461582183838},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.33552518486976624},{"id":"https://openalex.org/keywords/decision-support-system","display_name":"Decision support system","score":0.11004406213760376}],"concepts":[{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.7103599309921265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6882423162460327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6119455695152283},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.49996066093444824},{"id":"https://openalex.org/C156201811","wikidata":"https://www.wikidata.org/wiki/Q5418360","display_name":"Evidential reasoning approach","level":4,"score":0.4432956278324127},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3421461582183838},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.33552518486976624},{"id":"https://openalex.org/C107327155","wikidata":"https://www.wikidata.org/wiki/Q330268","display_name":"Decision support system","level":2,"score":0.11004406213760376},{"id":"https://openalex.org/C97944126","wikidata":"https://www.wikidata.org/wiki/Q5001864","display_name":"Business decision mapping","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610597","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-144767","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-144767","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1923184257","https://openalex.org/W2150066425","https://openalex.org/W2567959389","https://openalex.org/W2600383743","https://openalex.org/W2892614179","https://openalex.org/W2897529137","https://openalex.org/W2962677013","https://openalex.org/W2968296999","https://openalex.org/W2997747012","https://openalex.org/W3092761163","https://openalex.org/W3100019193","https://openalex.org/W3108381027","https://openalex.org/W3113028524","https://openalex.org/W3134233478","https://openalex.org/W3176287975","https://openalex.org/W3185456481","https://openalex.org/W3193167615","https://openalex.org/W3207105331","https://openalex.org/W4200357302","https://openalex.org/W4205319111","https://openalex.org/W4214751560","https://openalex.org/W4225899372","https://openalex.org/W4286696412","https://openalex.org/W4295312788","https://openalex.org/W4304015073","https://openalex.org/W4312294892","https://openalex.org/W4365790203","https://openalex.org/W4382462396","https://openalex.org/W4385835750","https://openalex.org/W6617145748","https://openalex.org/W6735443497","https://openalex.org/W6756795685","https://openalex.org/W6766978945","https://openalex.org/W6768698167","https://openalex.org/W6787846440","https://openalex.org/W6797993295","https://openalex.org/W6809704686","https://openalex.org/W6839938866"],"related_works":["https://openalex.org/W2361861616","https://openalex.org/W2263699433","https://openalex.org/W2377979023","https://openalex.org/W2218034408","https://openalex.org/W2392921965","https://openalex.org/W2358755282","https://openalex.org/W2625833328","https://openalex.org/W1533177136","https://openalex.org/W4380994516","https://openalex.org/W4380075502"],"abstract_inverted_index":{"Advancements":[0],"in":[1,88,140],"deep":[2],"learning-based":[3],"3D":[4,45,128,211,236],"object":[5,46,129],"detection":[6,47,130],"necessitate":[7],"the":[8,17,33,37,79,84,121,169,181,199,214,228],"availability":[9],"of":[10,19,39,153,159,171,183,201],"large-scale":[11],"datasets.":[12],"However,":[13,124],"this":[14,31,75],"requirement":[15],"introduces":[16],"challenge":[18],"manual":[20],"annotation,":[21],"which":[22,48,112],"is":[23,240],"often":[24],"both":[25],"burdensome":[26],"and":[27,64,150,156,180],"time-consuming.":[28],"To":[29],"tackle":[30,165],"issue,":[32],"literature":[34],"has":[35],"seen":[36],"emergence":[38],"several":[40],"weakly":[41],"supervised":[42],"frameworks":[43],"for":[44,54,161,187,218],"can":[49],"automatically":[50],"generate":[51],"pseudo":[52,60,89,116,137],"labels":[53,61,90,117],"unlabeled":[55],"data.":[56],"Nevertheless,":[57],"these":[58,166],"generated":[59],"contain":[62],"noise":[63],"are":[65],"not":[66,113],"as":[67,69],"accurate":[68],"those":[70],"labeled":[71],"by":[72,91],"humans.":[73],"In":[74],"paper,":[76],"we":[77,103],"present":[78,87],"first":[80],"approach":[81],"that":[82,194],"addresses":[83],"inherent":[85],"ambiguities":[86],"introducing":[92],"an":[93,106,172,176],"Evidential":[94],"Deep":[95],"Learning":[96],"(EDL)":[97],"based":[98,109],"uncertainty":[99,148,188],"estimation":[100],"framework.":[101],"Specifically,":[102],"propose":[104],"MEDL-U,":[105],"EDL":[107,126],"framework":[108],"on":[110,213,227],"MTrans,":[111],"only":[114],"generates":[115],"but":[118],"also":[119],"quantifies":[120],"associated":[122],"uncertainties.":[123],"applying":[125],"to":[127,142,234],"presents":[131],"three":[132],"key":[133],"challenges:":[134],"(1)":[135],"lower":[136],"label":[138],"quality":[139],"comparison":[141],"other":[143],"autolabelers;":[144],"(2)":[145],"high":[146],"evidential":[147],"estimates;":[149],"(3)":[151],"lack":[152],"clear":[154],"interpretability":[155],"effective":[157],"utilization":[158],"uncertainties":[160],"downstream":[162],"tasks.":[163],"We":[164],"issues":[167],"through":[168],"introduction":[170],"uncertainty-aware":[173],"IoU-based":[174],"loss,":[175,179],"evidence-aware":[177],"multi-task":[178],"implementation":[182],"a":[184],"post-processing":[185],"stage":[186],"refinement.":[189],"Our":[190],"experimental":[191],"results":[192,226],"demonstrate":[193],"probabilistic":[195],"detectors":[196,205],"trained":[197,206],"using":[198,207],"outputs":[200,208],"MEDL-U":[202,223],"surpass":[203],"deterministic":[204],"from":[209],"previous":[210],"annotators":[212],"KITTI":[215,229],"val":[216],"set":[217,232],"all":[219],"difficulty":[220],"levels.":[221],"Moreover,":[222],"achieves":[224],"state-of-the-art":[225],"official":[230],"test":[231],"compared":[233],"existing":[235],"automatic":[237],"annotators.":[238],"Code":[239],"publicly":[241],"available":[242],"at":[243],"https://github.com/paathelb/MEDL-U.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}