Uncertainty calibration and its application to object detection / von Fabian Thomas Küppers. Mülheim an der Ruhr, Januar 2023
Inhalt
- List of Figures
- List of Tables
- List of Acronyms
- Nomenclature
- 1 Introduction
- 2 Object Detection and Uncertainty Modeling
- 2.1 Basics of Neural Networks and Image-based Object Detection
- 2.1.1 Fully-Connected Neural Networks
- 2.1.2 Convolutional Neural Network
- 2.1.3 Architectures for Object Detection
- 2.2 Different Types of Uncertainty
- 2.3 Reasons for Unreliable Uncertainty
- 3 Semantic Confidence Calibration
- 3.1 Related Work in the Context of Confidence Calibration
- 3.2 Definitions and Metrics for Confidence Calibration
- 3.3 Multivariate Confidence Calibration
- 3.4 Experiments for Semantic Confidence Calibration
- 3.5 Conclusion for Semantic Confidence Calibration
- 4 Bayesian Confidence Calibration
- 4.1 Epistemic Uncertainty Modeling of Confidence Calibration
- 4.2 Experiments for Bayesian Confidence Calibration
- 4.3 Conclusion for Bayesian Confidence Calibration
- 5 Spatial Uncertainty Calibration
- 5.1 Related Work in the Context of Spatial Uncertainty Calibration
- 5.2 Definitions and Metrics for Uncertainty Calibration
- 5.3 Review of Methods for Regression Uncertainty Calibration
- 5.4 Parametric Calibration using Gaussian Processes
- 5.5 Experiments for Spatial Uncertainty Calibration
- 5.6 Conclusion for Spatial Uncertainty Calibration
- 6 Application of Calibration to Object Tracking
- 6.1 Object Tracking by Detection
- 6.2 Recursive Bayesian Filtering
- 6.3 Discrete Bayes Filter for Object Existence Estimation
- 6.4 Kalman Filter for Object Position Tracking
- 6.5 Track Initialization and Association
- 6.6 Experiments for Calibration in Object Tracking
- 6.6.1 Evaluations for intermediate Semantic Confidence Calibration
- 6.6.2 Evaluations for intermediate Spatial Uncertainty Calibration
- 6.6.3 Discussion of the Effect of intermediate Calibration
- 6.7 Conclusion for Calibration in Object Tracking
- 7 Conclusion
- 7.1 Summary of Semantic Confidence Calibration
- 7.2 Summary of Bayesian Confidence Calibration
- 7.3 Summary of Spatial Uncertainty Calibration
- 7.4 Final Remarks
- Bibliography