f-Cal: Aleatoric uncertainty quantification for robot perception via calibrated neural regression
Dhaivat Bhatt,Kaustubh Mani,Dishank Bansal,Krishna Murthy,Hanju Lee,Liam Paull,Dhaivat Bhatt,Kaustubh Mani,Dishank Bansal,Krishna Murthy,Hanju Lee,Liam Paull
While modern deep neural networks are performant perception modules, performance (accuracy) alone is insufficient, particularly for safety-critical robotic applications such as self-driving vehicles. Robot autonomy stacks also require these otherwise blackbox models to produce reliable and calibrated measures of confidence on their predictions. Existing approaches estimate uncertainty from these n...
