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Fast Uncertainty Estimation for Deep Learning Based Optical Flow

Lee, Serin and Capuano, Vincenzo and Harvard, Alexei and Chung, Soon-Jo (2020) Fast Uncertainty Estimation for Deep Learning Based Optical Flow. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 10138-10144. ISBN 978-1-7281-6212-6.

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We present a novel approach to reduce the processing time required to derive the estimation uncertainty map in deep learning-based optical flow determination methods. Without uncertainty aware reasoning, the optical flow model, especially when it is used for mission critical fields such as robotics and aerospace, can cause catastrophic failures. Although several approaches such as the ones based on Bayesian neural networks have been proposed to handle this issue, they are computationally expensive. Thus, to speed up the processing time, our approach applies a generative model, which is trained by input images and an uncertainty map derived through a Bayesian approach. By using synthetically generated images of spacecraft, we demonstrate that the trained generative model can produce the uncertainty map 100∼700 times faster than the conventional uncertainty estimation method used for training the generative model itself. We also show that the quality of uncertainty map derived by the generative model is close to that of the original uncertainty map. By applying the proposed approach, the deep learning model operated in real-time can avoid disastrous failures by considering the uncertainty as well as achieving better performance removing uncertain portions of the prediction result.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Capuano, Vincenzo0000-0002-6886-5719
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2020 IEEE. The authors thank A. Rahmani, A. Santamaria-Navarro, and F. Y. Hadaegh for their technical guidance.
Record Number:CaltechAUTHORS:20200805-121745448
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Official Citation:S. Lee, V. Capuano, A. Harvard and S. -J. Chung, "Fast Uncertainty Estimation for Deep Learning Based Optical Flow," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 10138-10144, doi: 10.1109/IROS45743.2020.9340963
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104758
Deposited By: Tony Diaz
Deposited On:05 Aug 2020 19:28
Last Modified:16 Nov 2021 18:34

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