You can have your ensemble and run it too – Deep Ensembles Spread Over TimeShow others and affiliations
2023 (English)In: Proceedings of the IEEE/CVF International Conference on Computer Vision, Institute of Electrical and Electronics Engineers (IEEE), 2023, p. 4020-4029Conference paper, Published paper (Refereed)
Abstract [en]
Ensembles of independently trained deep neural networks yield uncertainty estimates that rival Bayesian networks in performance. They also offer sizable improvements in terms of predictive performance over single models. However, deep ensembles are not commonly used in environments with limited computational budget - such as autonomous driving - since the complexity grows linearly with the number of ensemble members. An important observation that can be made for robotics applications, such as autonomous driving, is that data is typically sequential. For instance, when an object is to be recognized, an autonomous vehicle typically observes a sequence of images, rather than a single image. This raises the question, could the deep ensemble be spread over time? In this work, we propose and analyze Deep Ensembles Spread Over Time (DESOT). The idea is to apply only a single ensemble member to each data point in the sequence, and fuse the predictions over a sequence of data points. We implement and experiment with DESOT for traffic sign classification, where sequences of tracked image patches are to be classified. We find that DESOT obtains the benefits of deep ensembles, in terms of predictive and uncertainty estimation performance, while avoiding the added computational cost. Moreover, DESOT is simple to implement and does not require sequences during training. Finally, we find that DESOT, like deep ensembles, outperform single models for out-of-distribution detection.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023. p. 4020-4029
Series
IEEE International Conference on Computer Vision Workshops, ISSN 2473-9936, E-ISSN 2473-9944
National Category
Computer Vision and Learning Systems
Identifiers
URN: urn:nbn:se:liu:diva-199065DOI: 10.1109/ICCVW60793.2023.00434ISI: 001156680304013Scopus ID: 2-s2.0-85182919373ISBN: 9798350307443 (electronic)ISBN: 9798350307450 (print)OAI: oai:DiVA.org:liu-199065DiVA, id: diva2:1810786
Conference
IEEE/CVF International Conference on Computer Vision (ICCV), Paris, FRANCE, oct 02-06, 2023
Note
Funding Agencies|Wallenberg AI, Autonomous Systems, and Software Programme (WASP)
2023-11-092023-11-092026-06-23