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YOLO
2017/1/13
[1] J Redmon, et al.You Only Look Once: Unified, Real-Time Object DetectionarXiv:1506.02640v5 9 May 2016. 1
Detection
R-CNN
(sliding window)CNN
Detection
l l
S S
S
S
B
B = 3 0.44
0.71 0.08
Pr Object( ) IOUpredtruth
= Pr Object( ) pred truthpred truth
B1 B2
B3
l
x, y( )
S
S
h,w( ) F
B1 = x1, y1,h1,w1,F1( )x1, y1( ) h1w1
l C
S
S
C = Pr Class |Object( )
C1 = Pr Class |OO( ) = 0.14ex)
C2 = Pr Class |OO( ) = 0.74C3 = Pr Class |OO( ) = 0.12
l 77 2
l F
B x, y,h,w,F( )
F
B x, y,h,w,F( )
B x, y,h,w,F( )
C = Pr Class |Object( )
l
convImageNet
GoogLeNet
l conv l ReLuLeakly Relu
C1 C20
x1 y1 w1h1 F1
B1 B2
7 7 C = 20B = 25B+C = 52+ 20 = 30
l sum squared loss
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
noobj = 0.5coord = 5
ijobj = 1
0
iobj = 1
0
object i
j i
l
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
l
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
L 0
0
0 0
0 0
0
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
0.2, 0.6( )
0.1, 0.8( )
0.7, 0.2( )
l indicator )
l l
0.4, 0.1( )0.9, 0.2( )
0.3, 0.9( )
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
l indicator )
l
l
0.3, 0.4( )0.6, 0.4( )
0.3, 0.1( ) 0.3, 0.2( )
0.7, 0.6( )0.3, 0.4( )
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
l
indicator )
l
11
1
0.2
0.4
0.7
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
l
indicator )
l
0.2
0.2
0.4
0.4
0.4 0.4
0.4 0.4
0.4
0.2
0.2
0.2
0.1
0.1
0.1
0.1
0.3
0.3
0.3
0.5
0.5
0.50.5
0.6
0.6
0.6
0.7
0.7
0.7
0.7
0.7
0.8
0.8
0.8
0.8
0.9
0.9
0.9
0.9
0.6
0.20.6
0.6
0
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
l indicator )
l
l
L = coord ijobj xi xi( )
2+ yi yi( )
2
j=0
B
i=0
S2
+coord ijobj wi wi( )2+ hi hi( )
2
j=0
B
i=0
S2
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
s s B indicator
s s B indicator
+ ijobj Ci Ci( )
2
j=0
B
i=0
S2
+noobj ijnoobj Ci Ci( )2
j=0
B
i=0
S2
+ iobj pi c( ) pi c( )( )2
cclasses
i=0
S2
epoch 135 data sets PASCAL VOC 2007, 2012batch size 64optimizer momentum dropout
data augmentation
l
l RCNNDPM
l YOLO
l YOLOCNN
l
