Uncertainty-Encoded Multi-Modal Fusion for Robust Object Detection in Autonomous Driving

Yang Lou, Qun Song, Qian Xu, Rui Tan, Jianping Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on one or more sensors. While predictive uncertainty has been applied to characterize single-modal object detection performance at run time, incorporating uncertainties into the multi-modal fusion still lacks effective solutions due primarily to the uncertainty's cross-modal incomparability and distinct sensitivities to various adverse conditions. To fill this gap, this paper proposes Uncertainty-Encoded Mixture-of-Experts (UMoE) that explicitly incorporates single-modal uncertainties into LiDAR-camera fusion. UMoE uses individual expert network to process each sensor's detection result together with encoded uncertainty. Then, the expert networks' outputs are analyzed by a gating network to determine the fusion weights. The proposed UMoE module can be integrated into any proposal fusion pipeline. Evaluation shows that UMoE achieves a maximum of 10.67%, 3.17%, and 5.40% performance gain compared with the state-of-the-art proposal-level multi-modal object detectors under extreme weather, adversarial, and blinding attack scenarios.

Original languageEnglish
Title of host publicationECAI 2023 - 26th European Conference on Artificial Intelligence, including 12th Conference on Prestigious Applications of Intelligent Systems, PAIS 2023 - Proceedings
EditorsKobi Gal, Kobi Gal, Ann Nowe, Grzegorz J. Nalepa, Roy Fairstein, Roxana Radulescu
PublisherIOS Press BV
Number of pages8
ISBN (Electronic)9781643684369
StatePublished - 28 Sep 2023
Event26th European Conference on Artificial Intelligence, ECAI 2023 - Krakow, Poland
Duration: 30 Sep 20234 Oct 2023

Publication series

NameFrontiers in Artificial Intelligence and Applications
ISSN (Print)0922-6389


Conference26th European Conference on Artificial Intelligence, ECAI 2023


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