Deep learning models are extensively used in various safety critical applications. Hence these models along with being accurate need to be highly reliable. One way of achieving this is by quantifying uncertainty. Bayesian methods for UQ have been extensively studied for Deep Learning models applied on images but have been less explored for 3D modalities such as point clouds often used for Robots and Autonomous Systems. In this work, we evaluate three uncertainty quantification methods namely Deep Ensembles, MC-Dropout and MC-DropConnect on the DarkNet21Seg 3D semantic segmentation model and comprehensively analyze the impact of various parameters such as number of models in ensembles or forward passes, and drop probability values, on task performance and uncertainty estimate quality. We find that Deep Ensembles outperforms other methods in both performance and uncertainty metrics. Deep ensembles outperform other methods by a margin of 2.4% in terms of mIOU, 1.3% in terms of accuracy, while providing reliable uncertainty for decision making.
University of Freiburg（弗莱堡大学）；Technical University Nürnberg（纽伦堡工业大学）
Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation. However, for the safe operation of a system in the real world it is crucial to consider the uncertainty in the prediction as well. In this work, we introduce the novel task of uncertainty-aware panoptic segmentation, which aims to predict per-pixel semantic and instance segmentations, together with per-pixel uncertainty estimates. We define two novel metrics to fa…
University of Freiburg（弗莱堡大学）；Technical University Nürnberg（纽伦堡工业大学）
Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum performance for this task, while neglecting a proper estimation of the associated uncertainties. In this work, we introduce a novel approach for solving the task of uncertainty-aware panoptic segmentation using LiDAR point clouds. Our proposed EvLPSNet network is the first to solve this task efficiently in a sampling-free manner. It aims to predict per-point semanti…
Athinoula A. Martinos Center for Biomedical Imaging（阿西诺拉·A·马丁诺斯生物医学成像中心）
Segmentation tasks in medical imaging are inherently ambiguous: the boundary of a target structure is oftentimes unclear due to image quality and biological factors. As such, predicted segmentations from deep learning algorithms are inherently ambiguous. Additionally, "ground truth" segmentations performed by human annotators are in fact weak labels that further increase the uncertainty of outputs of supervised models developed on these manual labels. To date, most deep learning segmentation studies utilize predicted segmentations without uncertainty quantification. In contrast, we explore the…
We extend Deep Deterministic Uncertainty (DDU), a method for uncertainty estimation using feature space densities, to semantic segmentation. DDU enables quantifying and disentangling epistemic and aleatoric uncertainty in a single forward pass through the model. We study the similarity of feature representations of pixels at different locations for the same class and conclude that it is feasible to apply DDU location independently, which leads to a significant reduction in memory consumption compared to pixel dependent DDU. Using the DeepLab-v3+ architecture on Pascal VOC 2012, we show that DD…
University of Copenhagen（哥本哈根大学）；Technical University of Denmark（丹麦技术大学）
Probabilistic image segmentation encodes varying prediction confidence and inherent ambiguity in the segmentation problem. While different probabilistic segmentation models are designed to capture different aspects of segmentation uncertainty and ambiguity, these modelling differences are rarely discussed in the context of applications of uncertainty. We consider two common use cases of segmentation uncertainty, namely assessment of segmentation quality and active learning. We consider four established strategies for probabilistic segmentation, discuss their modelling capabilities, and investi…
Hiroshima University（广岛大学）；Nagoya Institute of Technology（名古屋工业大学）
In this paper we propose a novel method which leverages the uncertainty measures provided by Bayesian deep networks through curriculum learning so that the uncertainty estimates are fed back to the system to resample the training data more densely in areas where uncertainty is high. We show in the concrete setting of a semantic segmentation task (iPS cell colony segmentation) that the proposed system is able to increase significantly the reliability of the model.
National Technical University of Athens（雅典国立技术大学）；Institute of Communications and Computer Systems（通信与计算机系统研究所）
Recent studies indicate that detecting radiographic patterns on CT scans can yield high sensitivity and specificity for Covid-19 localization. In this paper, we investigate the appropriateness of deep learning models transferability, for semantic segmentation of pneumonia-infected areas in CT images. Transfer learning allows for the fast initialization/reutilization of detection models, given that large volumes of training data are not available. Our work explores the efficacy of using pre-trained U-Net architectures, on a specific CT data set, for identifying Covid-19 side-effects over images…
Quantifying uncertainty in medical image segmentation applications is essential, as it is often connected to vital decision-making. Compelling attempts have been made in quantifying the uncertainty in image segmentation architectures, e.g. to learn a density segmentation model conditioned on the input image. Typical work in this field restricts these learnt densities to be strictly Gaussian. In this paper, we propose to use a more flexible approach by introducing Normalizing Flows (NFs), which enables the learnt densities to be more complex and facilitate more accurate modeling for uncertainty…
Segmentation uncertainty models predict a distribution over plausible segmentations for a given input, which they learn from the annotator variation in the training set. However, in practice these annotations can differ systematically in the way they are generated, for example through the use of different labeling tools. This results in datasets that contain both data variability and differing label styles. In this paper, we demonstrate that applying state-of-the-art segmentation uncertainty models on such datasets can lead to model bias caused by the different label styles. We present an upda…
University of Amsterdam（阿姆斯特丹大学）；Radboud University Medical Center（拉德堡德大学医学中心）
The accurate estimation of predictive uncertainty carries importance in medical scenarios such as lung node segmentation. Unfortunately, most existing works on predictive uncertainty do not return calibrated uncertainty estimates, which could be used in practice. In this work we exploit multi-grader annotation variability as a source of 'groundtruth' aleatoric uncertainty, which can be treated as a target in a supervised learning problem. We combine this groundtruth uncertainty with a Probabilistic U-Net and test on the LIDC-IDRI lung nodule CT dataset and MICCAI2012 prostate MRI dataset. We f…
University of Ghent（根特大学）；Technical University of Denmark（丹麦技术大学）
Uncertainty estimation is important for interpreting the trustworthiness of machine learning models in many applications. This is especially critical in the data-driven active learning setting where the goal is to achieve a certain accuracy with minimum labeling effort. In such settings, the model learns to select the most informative unlabeled samples for annotation based on its estimated uncertainty. The highly uncertain predictions are assumed to be more informative for improving model performance. In this paper, we explore uncertainty calibration within an active learning framework for med…
Uncertainty-Supervised Interpretable and Robust Evidential Segmentation
School of Data Science, Fudan University, Shanghai, China（复旦大学数据科学学院）；Institute of Science and Technology for Brain-inspired intelligence, Fudan University, Shanghai, China（复旦大学脑启发式智能技术研究所）；Nuffield Department of Population Health, University of Oxford, Oxford, UK（牛津大学人口健康牛津部门）
In semi-supervised medical image segmentation, most previous works draw on the common assumption that higher entropy means higher uncertainty. In this paper, we investigate a novel method of estimating uncertainty. We observe that, when assigned different misclassification costs in a certain degree, if the segmentation result of a pixel becomes inconsistent, this pixel shows a relative uncertainty in its segmentation. Therefore, we present a new semi-supervised segmentation model, namely, conservative-radical network (CoraNet in short) based on our uncertainty estimation and separate self-trai…
Uncertainty estimation in deep learning has become a leading research field in medical image analysis due to the need for safe utilisation of AI algorithms in clinical practice. Most approaches for uncertainty estimation require sampling the network weights multiple times during testing or training multiple networks. This leads to higher training and testing costs in terms of time and computational resources. In this paper, we propose Layer Ensembles, a novel uncertainty estimation method that uses a single network and requires only a single pass to estimate predictive uncertainty of a network…
Convolutional Neural Networks (CNNs) are propelling advances in a range of different computer vision tasks such as object detection and object segmentation. Their success has motivated research in applications of such models for medical image analysis. If CNN-based models are to be helpful in a medical context, they need to be precise, interpretable, and uncertainty in predictions must be well understood. In this paper, we develop and evaluate recent advances in uncertainty estimation and model interpretability in the context of semantic segmentation of polyps from colonoscopy images. We evalu…
Deep learning has been revolutionary for computer vision and semantic segmentation in particular, with Bayesian Deep Learning (BDL) used to obtain uncertainty maps from deep models when predicting semantic classes. This information is critical when using semantic segmentation for autonomous driving for example. Standard semantic segmentation systems have well-established evaluation metrics. However, with BDL's rising popularity in computer vision we require new metrics to evaluate whether a BDL method produces better uncertainty estimates than another method. In this work we propose three such…
Uncertainty-Aware Segmentation Quality Prediction via Deep Learning Bayesian Modeling: Comprehensive Evaluation and Interpretation on Skin Cancer and Liver Segmentation
BCN Medtech（BCN医学科技）；Scientific and Technical Department, Sycai Technologies S.L.（Sycai技术部门）
SegWithU: Uncertainty as Perturbation Energy for Single-Forward-Pass Risk-Aware Medical Image Segmentation
University of Toronto（多伦多大学）；McGill University（麦吉尔大学）；University of Waterloo（滑铁卢大学）；Vector Institute（向量研究所）；Project Neura；University of Toronto Machine Intelligence Student Team（多伦多大学人工智能学生团队）；Amplimit
Medical image segmentation has significantly benefitted thanks to deep learning architectures. Furthermore, semi-supervised learning (SSL) has recently been a growing trend for improving a model's overall performance by leveraging abundant unlabeled data. Moreover, learning multiple tasks within the same model further improves model generalizability. To generate smoother and accurate segmentation masks from 3D cardiac MR images, we present a Multi-task Cross-task learning consistency approach to enforce the correlation between the pixel-level (segmentation) and the geometric-level (distance ma…
Department of Computer Science, Vanderbilt University（范德堡大学计算机科学系）
Histopathology has played an essential role in cancer diagnosis. With the rapid advances in convolutional neural networks (CNN). Various CNN-based automated pathological image segmentation approaches have been developed in computer-assisted pathological image analysis. In the past few years, Transformer neural networks (Transformer) have shown the unique merit of capturing the global long-distance dependencies across the entire image as a new deep learning paradigm. Such merit is appealing for exploring spatially heterogeneous pathological images. However, there have been very few, if any, stu…
EDUE: Expert Disagreement-Guided One-Pass Uncertainty Estimation for Medical Image Segmentation
Mohamed bin Zayed University of Artificial Intelligence（穆罕默德·本·扎耶德人工智能大学）；University of Applied Sciences Western Switzerland (HES-SO)（瑞士西部应用科学大学（HES-SO））
Artificial Intelligence Research Institute (AIRI)（人工智能研究院（AIRI））；Moscow Institute of Physics and Technology（莫斯科物理技术学院）；Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究院）
When applying a Deep Learning model to medical images, it is crucial to estimate the model uncertainty. Voxel-wise uncertainty is a useful visual marker for human experts and could be used to improve the model's voxel-wise output, such as segmentation. Moreover, uncertainty provides a solid foundation for out-of-distribution (OOD) detection, improving the model performance on the image-wise level. However, one of the frequent tasks in medical imaging is the segmentation of distinct, local structures such as tumors or lesions. Here, the structure-wise uncertainty allows more precise operations …
LMU München（慕尼黑大学）；University of Tübingen（图宾根大学）；University Freiburg（弗莱堡大学）；Helmholtz Zentrum München（慕尼黑亥姆霍兹中心）
Image segmentation enables to extract quantitative measures from scans that can serve as imaging biomarkers for diseases. However, segmentation quality can vary substantially across scans, and therefore yield unfaithful estimates in the follow-up statistical analysis of biomarkers. The core problem is that segmentation and biomarker analysis are performed independently. We propose to propagate segmentation uncertainty to the statistical analysis to account for variations in segmentation confidence. To this end, we evaluate four Bayesian neural networks to sample from the posterior distribution…
University of Cambridge（剑桥大学）；Imperial College London（帝国理工学院）
Manual segmentation is used as the gold-standard for evaluating neural networks on automated image segmentation tasks. Due to considerable heterogeneity in shapes, colours and textures, demarcating object boundaries is particularly difficult in biomedical images, resulting in significant inter and intra-rater variability. Approaches, such as soft labelling and distance penalty term, apply a global transformation to the ground truth, redefining the loss function with respect to uncertainty. However, global operations are computationally expensive, and neither approach accurately reflects the un…
The success of modern deep learning algorithms for image segmentation heavily depends on the availability of large datasets with clean pixel-level annotations (masks), where the objects of interest are accurately delineated. Lack of time and expertise during data annotation leads to incorrect boundaries and label noise. It is known that deep convolutional neural networks (DCNNs) can memorize even completely random labels, resulting in poor accuracy. We propose a framework to train binary segmentation DCNNs using sets of unreliable pixel-level annotations. Erroneously labeled pixels are identif…
Medical image segmentation is inherently an ambiguous task due to factors such as partial volumes and variations in anatomical definitions. While in most cases the segmentation uncertainty is around the border of structures of interest, there can also be considerable inter-rater differences. The class of conditional variational autoencoders (cVAE) offers a principled approach to inferring distributions over plausible segmentations that are conditioned on input images. Segmentation uncertainty estimated from samples of such distributions can be more informative than using pixel level probabilit…
In the semantic segmentation of street scenes the reliability of the prediction and therefore uncertainty measures are of highest interest. We present a method that generates for each input image a hierarchy of nested crops around the image center and presents these, all re-scaled to the same size, to a neural network for semantic segmentation. The resulting softmax outputs are then post processed such that we can investigate mean and variance over all image crops as well as mean and variance of uncertainty heat maps obtained from pixel-wise uncertainty measures, like the entropy, applied to e…
Instituto Superior Técnico（高等技术学院）；INESC-ID（里斯本工程技术学院信息与系统工程研究所）
Medical image segmentation is inherently uncertain. For a given image, there may be multiple plausible segmentation hypotheses, and physicians will often disagree on lesion and organ boundaries. To be suited to real-world application, automatic segmentation systems must be able to capture this uncertainty and variability. Thus far, this has been addressed by building deep learning models that, through dropout, multiple heads, or variational inference, can produce a set - infinite, in some cases - of plausible segmentation hypotheses for any given image. However, in clinical practice, it may no…
UCAD: Uncertainty-guided Contour-aware Displacement for semi-supervised medical image segmentation
University of Science and Technology of China（科学技术大学）；Suzhou Institute for Advanced Research（苏州先进研究院）；State Key Laboratory of Precision and Intelligent Chemistry（精密与智能化学国家重点实验室）
Computer Vision Laboratory, ETH Zürich（苏黎世联邦理工学院计算机视觉实验室）
Quantifying segmentation uncertainty has become an important issue in medical image analysis due to the inherent ambiguity of anatomical structures and its pathologies. Recently, neural network-based uncertainty quantification methods have been successfully applied to various problems. One of the main limitations of the existing techniques is the high memory requirement during training; which limits their application to processing smaller field-of-views (FOVs) and/or using shallower architectures. In this paper, we investigate the effect of using reversible blocks for building memory-efficient…
University of Sherbrooke（舍布鲁克大学）；University of Lyon（里昂大学）；CREATIS（CREATIS实验室）；CNRS（法国国家科学研究中心）；Inserm（法国国家健康与医学研究院）；INSA-Lyon（里昂国立应用科学学院）；University of Lyon 1（里昂第一大学）；Ultromics Ltd.（Ultromics有限公司）
Accurate uncertainty estimation is a critical need for the medical imaging community. A variety of methods have been proposed, all direct extensions of classification uncertainty estimations techniques. The independent pixel-wise uncertainty estimates, often based on the probabilistic interpretation of neural networks, do not take into account anatomical prior knowledge and consequently provide sub-optimal results to many segmentation tasks. For this reason, we propose CRISP a ContRastive Image Segmentation for uncertainty Prediction method. At its core, CRISP implements a contrastive method t…
Institute for Surgical Technologies and Biomechanics, University of Bern（伯尔尼大学外科技术与生物力学研究所）；SCAN, Institute for Diagnostic and Interventional Neuroradiology（诊断与介入神经放射学研究所SCAN）；University Clinic for Radio-oncology, Inselspital, Bern University Hospital, University of Bern（伯尔尼大学因塞尔医院放射肿瘤学大学诊所）
Uncertainty estimation methods are expected to improve the understanding and quality of computer-assisted methods used in medical applications (e.g., neurosurgical interventions, radiotherapy planning), where automated medical image segmentation is crucial. In supervised machine learning, a common practice to generate ground truth label data is to merge observer annotations. However, as many medical image tasks show a high inter-observer variability resulting from factors such as image quality, different levels of user expertise and domain knowledge, little is known as to how inter-observer va…
Deep learning models for semantic segmentation are prone to poor performance in real-world applications due to the highly challenging nature of the task. Model uncertainty quantification (UQ) is one way to address this issue of lack of model trustworthiness by enabling the practitioner to know how much to trust a segmentation output. Current UQ methods in this application domain are mainly restricted to Bayesian based methods which are computationally expensive and are only able to extract central moments of uncertainty thereby limiting the quality of their uncertainty estimates. We present a …
The production of thematic maps depicting land cover is one of the most common applications of remote sensing. To this end, several semantic segmentation approaches, based on deep learning, have been proposed in the literature, but land cover segmentation is still considered an open problem due to some specific problems related to remote sensing imaging. In this paper we propose a novel approach to deal with the problem of modelling multiscale contexts surrounding pixels of different land cover categories. The approach leverages the computation of a heteroscedastic measure of uncertainty when …
Insel Data Science Center, Inselspital, Bern University Hospital, University of Bern（伯尔尼大学伯尔尼大学医院Inselspital Insel数据科学中心）；ARTORG Center, University of Bern（伯尔尼大学ARTORG中心）
Despite the recent improvements in overall accuracy, deep learning systems still exhibit low levels of robustness. Detecting possible failures is critical for a successful clinical integration of these systems, where each data point corresponds to an individual patient. Uncertainty measures are a promising direction to improve failure detection since they provide a measure of a system's confidence. Although many uncertainty estimation methods have been proposed for deep learning, little is known on their benefits and current challenges for medical image segmentation. Therefore, we report resul…
