There are two major types of uncertainty one can model. Aleatoric uncertainty captures noise inherent in the observations. On the other hand, epistemic uncertainty accounts for uncertainty in the model -- uncertainty which can be explained away given enough data. Traditionally it has been difficult to model epistemic uncertainty in computer vision, but with new Bayesian deep learning tools this is now possible. We study the benefits of modeling epistemic vs. aleatoric uncertainty in Bayesian deep learning models for vision tasks. For this we present a Bayesian deep learning framework combining input-dependent aleatoric uncertainty together with epistemic uncertainty. We study models under the framework with per-pixel semantic segmentation and depth regression tasks. Further, our explicit uncertainty formulation leads to new loss functions for these tasks, which can be interpreted as learned attenuation. This makes the loss more robust to noisy data, also giving new state-of-the-art results on segmentation and depth regression benchmarks.

本研究探讨了在计算机视觉任务中, 使用贝叶斯深度学习模型对本质和表观不确定性进行建模的影响， 并提出了一种新的深度学习框架，将输入相关的本质不确定性与表观不确定性相结合。 我们还提出了一种新的损失函数，可解释为学习的衰减，将其应用于像素级语义分割和深度回归任务中，使得模型更加鲁棒并取得新的最先进的结果。

贝叶斯深度学习在计算机视觉中需要哪些不确定性？