3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce a framework for quantifying uncertainty in 3D object detection by leveraging an evidential learning loss on Bird's Eye View representations in the 3D detector. These uncertainty estimates require minimal computational overhead and are generalizable across different architectures. We demonstrate both the efficacy and importance of these uncertainty estimates on identifying out-of-distribution scenes, poorly localized objects, and missing (false negative) detections; our framework consistently improves over baselines by 10-20% on average. Finally, we integrate this suite of tasks into a system where a 3D object detector auto-labels driving scenes and our uncertainty estimates verify label correctness before the labels are used to train a second model. Here, our uncertainty-driven verification results in a 1% improvement in mAP and a 1-2% improvement in NDS.

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Monocular depth estimation is the task of obtaining a measure of distance for each pixel using a single image. It is an important problem in computer vision and is usually solved using neural networks. Though recent works in this area have shown significant improvement in accuracy, the state-of-the-art methods tend to require massive amounts of memory and time to process an image. The main purpose of this work is to improve the performance of the latest solutions with no decrease in accuracy. To this end, we introduce the Double Refinement Network architecture. The proposed method achieves state-of-the-art results on the standard benchmark RGB-D dataset NYU Depth v2, while its frames per second rate is significantly higher (up to 18 times speedup per image at batch size 1) and the RAM usage per image is lower.

Deep neural networks have amply demonstrated their prowess but estimating the reliability of their predictions remains challenging. Deep Ensembles are widely considered as being one of the best methods for generating uncertainty estimates but are very expensive to train and evaluate.MC-Dropout is another popular alternative, which is less expensive, but also less reliable. Our central intuition is that there is a continuous spectrum of ensemble-like models of which MC-Dropout and Deep Ensembles are extreme examples. The first one uses effectively infinite number of highly correlated models while the second one relies on a finite number of independent models.To combine the benefits of both, we introduce Masksembles. Instead of randomly dropping parts of the network as in MC-dropout, Masksemble relies on a fixed number of binary masks, which are parameterized in a way that allows to change correlations between individual models. Namely, by controlling the overlap between the masks and their size one can choose the optimal configuration for the task at hand. This leads to a simple and easy to implement method with performance on par with Ensembles at a fraction of the cost. We experimentally validate Masksembles on two widely used datasets, CIFAR10 and ImageNet.