Time-to-Accident threshold Figure 1: Illustration of Uncertainty-based Accident Anticipation. This paper presents a novel model to predict the probabilities (black curve) of a future accident (ranges from 90-th to 100-th frame). Our goal is to achieve early anticipation (large Time-to-Accident) giving a threshold probability (horizontal dashed line), while estimating two kinds of predictive uncertainties, i,e., aleatoric uncertainty (wheat color region) and epistemic uncertainty (blue region).

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