The fusion of raw features from multiple sensors on an autonomous vehicle to create a Bird's Eye View (BEV) representation is crucial for planning and control systems. There is growing interest in using deep learning models for BEV semantic segmentation. Anticipating segmentation errors and improving the explainability of DNNs is essential for autonomous driving, yet it is under-studied. This paper introduces a benchmark for predictive uncertainty quantification in BEV segmentation. The benchmark assesses various approaches across three popular datasets using two representative backbones and focuses on the effectiveness of predicted uncertainty in identifying misclassified and out-of-distribution (OOD) pixels, as well as calibration. Empirical findings highlight the challenges in uncertainty quantification. Our results find that evidential deep learning based approaches show the most promise by efficiently quantifying aleatoric and epistemic uncertainty. We propose the Uncertainty-Focal-Cross-Entropy (UFCE) loss, designed for highly imbalanced data, which consistently improves the segmentation quality and calibration. Additionally, we introduce a vacuity-scaled regularization term that enhances the model's focus on high uncertainty pixels, improving epistemic uncertainty quantification.

这篇论文介绍了一种用于预测不确定性量化的基准测试方法，通过评估不同方法在三个流行数据集上对于识别被错分和不适当类别像素、以及校准的有效性，发现证据深度学习方法在高效量化不确定性方面表现最有潜力，提出了适用于高度不平衡数据的Uncertainty-Focal-Cross-Entropy (UFCE)损失函数，以及增强模型对高不确定性像素关注的缺空缩放规则项能够提高确定性不确定性量化。

鸟瞰视野语义分割的不确定性量化：方法与基准