{"paper":{"title":"Capture Uncertainties in Deep Neural Networks for Safe Operation of Autonomous Driving Vehicles","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.AI","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Bing Bai, Bowen Liu, Dachuan Li, Ke Pei, Liuhui Ding, Qi Hao, Weipeng Cao, Wenxing Lan","submitted_at":"2021-08-11T09:41:54Z","abstract_excerpt":"Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification and propagation of DNN-based perception uncertainties and motion uncertainties. Contributions of this work are twofold: (1) A Bayesian Deep Neural network model which detects 3D objects and quantitatively captures the associated aleatoric and epistemic uncertainties of DNNs; (2) An uncertainty-aware motion planning algorithm (PU-RRT) that accounts for uncer"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.05118","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2108.05118/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}