SYSTEM AND METHOD FOR EMBEDDING UNCERTAINTY ESTIMATION INTO DEEP-NEURAL-NETWORK-BASED AUTONOMOUS DRIVING PERCEPTION FRAMEWORKS

Embodiments of this disclosure can provide a system and method for training a perception model to perform an autonomous driving task. During operation, the system can obtain labeled training data comprising images captured by multiple cameras mounted at different locations on a vehicle, and the perception model can generate, in parallel, a prediction output associated with the task and a confidence score based on the labeled training data. The confidence score can indicate a level of uncertainty associated with the prediction output. The system can generate an uncertainty-weighted prediction based on ground truth indicated by the labeled training data, the prediction output, and the confidence score; compute a loss function based on the uncertainty-weighted prediction; and update the perception model based on the loss function.