我们在RGB-D数据中解决了人们检测的问题，在该数据中，我们利用深度信息开发了利益区域（ROI）选择方法，该方法为两种颜色和深度CNN提供建议。为了结合两个CNN产生的检测，我们根据深度图像的特征提出了一种新型的融合方法。我们还提出了一个新的深度编码方案，该方案不仅将深度图像编码为三个通道，而且还增强了分类信息。我们对公开可用的RGB-D人数据集进行了实验，并表明我们的方法优于仅使用RGB数据的基线模型。

Due to object detection's close relationship with video analysis and image understanding, it has attracted much research attention in recent years. Traditional object detection methods are built on handcrafted features and shallow trainable architectures. Their performance easily stagnates by constructing complex ensembles which combine multiple low-level image features with high-level context from object detectors and scene classifiers. With the rapid development in deep learning, more powerful tools, which are able to learn semantic, high-level, deeper features, are introduced to address the problems existing in traditional architectures. These models behave differently in network architecture, training strategy and optimization function, etc. In this paper, we provide a review on deep learning based object detection frameworks. Our review begins with a brief introduction on the history of deep learning and its representative tool, namely Convolutional Neural Network (CNN). Then we focus on typical generic object detection architectures along with some modifications and useful tricks to improve detection performance further. As distinct specific detection tasks exhibit different characteristics, we also briefly survey several specific tasks, including salient object detection, face detection and pedestrian detection. Experimental analyses are also provided to compare various methods and draw some meaningful conclusions. Finally, several promising directions and tasks are provided to serve as guidelines for future work in both object detection and relevant neural network based learning systems.

居住在美国的每个妇女在8次发育侵袭性乳腺癌的可能性下有大约1。有丝分裂细胞计数是评估乳腺癌侵袭性或等级最常见的测试之一。在该预后，必须通过病理学家使用高分辨率显微镜检查组织病理学图像以计算细胞。不幸的是，可以是一种完整的任务，可重复性差，特别是对于非专家来说。最近深入学习网络适用于能够自动定位这些感兴趣区域的医学应用。然而，这些基于区域的网络缺乏利用通常用作唯一检测方法的完整图像CNN产生的分割特征的能力。因此，所提出的方法利用更快的RCNN进行对象检测，同时使用RGB图像特征的UNET产生的分割特征，以实现在Mitos-Atypia 2014分数上的F分数为0.508，计数数据集，优于最先进的攻击方法。

This paper proposes a Fast Region-based Convolutional Network method (Fast R-CNN) for object detection. Fast R-CNN builds on previous work to efficiently classify object proposals using deep convolutional networks. Compared to previous work, Fast R-CNN employs several innovations to improve training and testing speed while also increasing detection accuracy. Fast R-CNN trains the very deep VGG16 network 9× faster than R-CNN, is 213× faster at test-time, and achieves a higher mAP on PASCAL VOC 2012. Compared to SPPnet, Fast R-CNN trains VGG16 3× faster, tests 10× faster, and is more accurate. Fast R-CNN is implemented in Python and C++ (using Caffe) and is available under the open-source MIT License at https: //github.com/rbgirshick/fast-rcnn.

We focus on the task of amodal 3D object detection in RGB-D images, which aims to produce a 3D bounding box of an object in metric form at its full extent. We introduce Deep Sliding Shapes, a 3D ConvNet formulation that takes a 3D volumetric scene from a RGB-D image as input and outputs 3D object bounding boxes. In our approach, we propose the first 3D Region Proposal Network (RPN) to learn objectness from geometric shapes and the first joint Object Recognition Network (ORN) to extract geometric features in 3D and color features in 2D. In particular, we handle objects of various sizes by training an amodal RPN at two different scales and an ORN to regress 3D bounding boxes. Experiments show that our algorithm outperforms the state-of-the-art by 13.8 in mAP and is 200× faster than the original Sliding Shapes. Source code and pre-trained models are available.

State-of-the-art object detection networks depend on region proposal algorithms to hypothesize object locations. Advances like SPPnet [1] and Fast R-CNN [2] have reduced the running time of these detection networks, exposing region proposal computation as a bottleneck. In this work, we introduce a Region Proposal Network (RPN) that shares full-image convolutional features with the detection network, thus enabling nearly cost-free region proposals. An RPN is a fully convolutional network that simultaneously predicts object bounds and objectness scores at each position. The RPN is trained end-to-end to generate high-quality region proposals, which are used by Fast R-CNN for detection. We further merge RPN and Fast R-CNN into a single network by sharing their convolutional features-using the recently popular terminology of neural networks with "attention" mechanisms, the RPN component tells the unified network where to look. For the very deep VGG-16 model [3], our detection system has a frame rate of 5fps (including all steps) on a GPU, while achieving state-of-the-art object detection accuracy on PASCAL VOC 2007, 2012, and MS COCO datasets with only 300 proposals per image. In ILSVRC and COCO 2015 competitions, Faster R-CNN and RPN are the foundations of the 1st-place winning entries in several tracks. Code has been made publicly available.

The goal of this paper is to perform 3D object detection from a single monocular image in the domain of autonomous driving. Our method first aims to generate a set of candidate class-specific object proposals, which are then run through a standard CNN pipeline to obtain highquality object detections. The focus of this paper is on proposal generation. In particular, we propose an energy minimization approach that places object candidates in 3D using the fact that objects should be on the ground-plane. We then score each candidate box projected to the image plane via several intuitive potentials encoding semantic segmentation, contextual information, size and location priors and typical object shape. Our experimental evaluation demonstrates that our object proposal generation approach significantly outperforms all monocular approaches, and achieves the best detection performance on the challenging KITTI benchmark, among published monocular competitors.

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D bounding boxes. We encode the sparse 3D point cloud with a compact multi-view representation. The network is composed of two subnetworks: one for 3D object proposal generation and another for multi-view feature fusion. The proposal network generates 3D candidate boxes efficiently from the bird's eye view representation of 3D point cloud. We design a deep fusion scheme to combine region-wise features from multiple views and enable interactions between intermediate layers of different paths. Experiments on the challenging KITTI benchmarkshow that our approach outperforms the state-of-the-art by around 25% and 30% AP on the tasks of 3D localization and 3D detection. In addition, for 2D detection, our approach obtains 14.9% higher AP than the state-of-the-art on the hard data among the LIDAR-based methods.

Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012-achieving a mAP of 53.3%. Our approach combines two key insights:(1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also compare R-CNN to OverFeat, a recently proposed sliding-window detector based on a similar CNN architecture. We find that R-CNN outperforms OverFeat by a large margin on the 200-class ILSVRC2013 detection dataset. Source code for the complete system is available at http://www.cs.berkeley.edu/ ˜rbg/rcnn.

Although it is well believed for years that modeling relations between objects would help object recognition, there has not been evidence that the idea is working in the deep learning era. All state-of-the-art object detection systems still rely on recognizing object instances individually, without exploiting their relations during learning.This work proposes an object relation module. It processes a set of objects simultaneously through interaction between their appearance feature and geometry, thus allowing modeling of their relations. It is lightweight and in-place. It does not require additional supervision and is easy to embed in existing networks. It is shown effective on improving object recognition and duplicate removal steps in the modern object detection pipeline. It verifies the efficacy of modeling object relations in CNN based detection. It gives rise to the first fully end-to-end object detector. Code is available at https://github.com/msracver/ Relation-Networks-for-Object-Detection.

由于缺乏自动注释系统，大多数发展城市的城市机构都是数字未标记的。因此，在此类城市中，位置和轨迹服务（例如Google Maps，Uber等）仍然不足。自然场景图像中的准确招牌检测是从此类城市街道检索无错误的信息的最重要任务。然而，开发准确的招牌本地化系统仍然是尚未解决的挑战，因为它的外观包括文本图像和令人困惑的背景。我们提出了一种新型的对象检测方法，该方法可以自动检测招牌，适合此类城市。我们通过合并两种专业预处理方法和一种运行时效高参数值选择算法来使用更快的基于R-CNN的定位。我们采用了一种增量方法，通过使用我们构造的SVSO（Street View Signboard对象）签名板数据集，通过详细评估和与基线进行比较，以达到最终提出的方法，这些方法包含六个发展中国家的自然场景图像。我们在SVSO数据集和Open Image数据集上展示了我们提出的方法的最新性能。我们提出的方法可以准确地检测招牌（即使图像包含多种形状和颜色的多种嘈杂背景的招牌）在SVSO独立测试集上达到0.90 MAP（平均平均精度）得分。我们的实施可在以下网址获得：https：//github.com/sadrultoaha/signboard-detection

Existing deep convolutional neural networks (CNNs) require a fixed-size (e.g., 224×224) input image. This requirement is "artificial" and may reduce the recognition accuracy for the images or sub-images of an arbitrary size/scale. In this work, we equip the networks with another pooling strategy, "spatial pyramid pooling", to eliminate the above requirement. The new network structure, called SPP-net, can generate a fixed-length representation regardless of image size/scale. Pyramid pooling is also robust to object deformations. With these advantages, SPP-net should in general improve all CNN-based image classification methods. On the ImageNet 2012 dataset, we demonstrate that SPP-net boosts the accuracy of a variety of CNN architectures despite their different designs. On the Pascal VOC 2007 and Caltech101 datasets, SPP-net achieves state-of-theart classification results using a single full-image representation and no fine-tuning.The power of SPP-net is also significant in object detection. Using SPP-net, we compute the feature maps from the entire image only once, and then pool features in arbitrary regions (sub-images) to generate fixed-length representations for training the detectors. This method avoids repeatedly computing the convolutional features. In processing test images, our method is 24-102× faster than the R-CNN method, while achieving better or comparable accuracy on Pascal VOC 2007.In ImageNet Large Scale Visual Recognition Challenge (ILSVRC) 2014, our methods rank #2 in object detection and #3 in image classification among all 38 teams. This manuscript also introduces the improvement made for this competition.

We present an integrated framework for using Convolutional Networks for classification, localization and detection. We show how a multiscale and sliding window approach can be efficiently implemented within a ConvNet. We also introduce a novel deep learning approach to localization by learning to predict object boundaries. Bounding boxes are then accumulated rather than suppressed in order to increase detection confidence. We show that different tasks can be learned simultaneously using a single shared network. This integrated framework is the winner of the localization task of the ImageNet Large Scale Visual Recognition Challenge 2013 (ILSVRC2013) and obtained very competitive results for the detection and classifications tasks. In post-competition work, we establish a new state of the art for the detection task. Finally, we release a feature extractor from our best model called OverFeat.

Figure 1: Results obtained from our single image, monocular 3D object detection network MonoDIS on a KITTI3D test image with corresponding birds-eye view, showing its ability to estimate size and orientation of objects at different scales.

We present region-based, fully convolutional networks for accurate and efficient object detection. In contrast to previous region-based detectors such as Fast/Faster R-CNN [6,18] that apply a costly per-region subnetwork hundreds of times, our region-based detector is fully convolutional with almost all computation shared on the entire image. To achieve this goal, we propose position-sensitive score maps to address a dilemma between translation-invariance in image classification and translation-variance in object detection. Our method can thus naturally adopt fully convolutional image classifier backbones, such as the latest Residual Networks (ResNets) [9], for object detection. We show competitive results on the PASCAL VOC datasets (e.g., 83.6% mAP on the 2007 set) with the 101-layer ResNet. Meanwhile, our result is achieved at a test-time speed of 170ms per image, 2.5-20× faster than the Faster R-CNN counterpart. Code is made publicly available at: https://github.com/daijifeng001/r-fcn. * This work was done when Yi Li was an intern at Microsoft Research. 2 Only the last layer is fully-connected, which is removed and replaced when fine-tuning for object detection.

Feature pyramids are a basic component in recognition systems for detecting objects at different scales. But recent deep learning object detectors have avoided pyramid representations, in part because they are compute and memory intensive. In this paper, we exploit the inherent multi-scale, pyramidal hierarchy of deep convolutional networks to construct feature pyramids with marginal extra cost. A topdown architecture with lateral connections is developed for building high-level semantic feature maps at all scales. This architecture, called a Feature Pyramid Network (FPN), shows significant improvement as a generic feature extractor in several applications. Using FPN in a basic Faster R-CNN system, our method achieves state-of-the-art singlemodel results on the COCO detection benchmark without bells and whistles, surpassing all existing single-model entries including those from the COCO 2016 challenge winners. In addition, our method can run at 6 FPS on a GPU and thus is a practical and accurate solution to multi-scale object detection. Code will be made publicly available.

两阶段探测器在物体检测和行人检测中是最新的。但是，当前的两个阶段探测器效率低下，因为它们在多个步骤中进行边界回归，即在区域提案网络和边界框头中进行回归。此外，基于锚的区域提案网络在计算上的训练价格很高。我们提出了F2DNET，这是一种新型的两阶段检测体系结构，通过使用我们的焦点检测网络和边界框以我们的快速抑制头替换区域建议网络，从而消除了当前两阶段检测器的冗余。我们在顶级行人检测数据集上进行基准F2DNET，将其与现有的最新检测器进行彻底比较，并进行交叉数据集评估，以测试我们模型对未见数据的普遍性。我们的F2DNET在城市人员，加州理工学院行人和欧元城市人数据集中分别获得8.7 \％，2.2 \％和6.1 \％MR-2，分别在单个数据集上进行培训并达到20.4 \％\％\％和26.2 \％MR-2。使用渐进式微调时，加州理工学院行人和城市人员数据集的重型闭塞设置。此外，与当前的最新时间相比，F2DNET的推理时间明显较小。代码和训练有素的模型将在https://github.com/abdulhannankhan/f2dnet上找到。

We present a method for detecting objects in images using a single deep neural network. Our approach, named SSD, discretizes the output space of bounding boxes into a set of default boxes over different aspect ratios and scales per feature map location. At prediction time, the network generates scores for the presence of each object category in each default box and produces adjustments to the box to better match the object shape. Additionally, the network combines predictions from multiple feature maps with different resolutions to naturally handle objects of various sizes. SSD is simple relative to methods that require object proposals because it completely eliminates proposal generation and subsequent pixel or feature resampling stages and encapsulates all computation in a single network. This makes SSD easy to train and straightforward to integrate into systems that require a detection component. Experimental results on the PASCAL VOC, COCO, and ILSVRC datasets confirm that SSD has competitive accuracy to methods that utilize an additional object proposal step and is much faster, while providing a unified framework for both training and inference. For 300 × 300 input, SSD achieves 74.3% mAP 1 on VOC2007 test at 59 FPS on a Nvidia Titan X and for 512 × 512 input, SSD achieves 76.9% mAP, outperforming a comparable state-of-the-art Faster R-CNN model. Compared to other single stage methods, SSD has much better accuracy even with a smaller input image size. Code is available at: https://github.com/weiliu89/caffe/tree/ssd .

In this paper we introduce a new method for text detection in natural images. The method comprises two contributions: First, a fast and scalable engine to generate synthetic images of text in clutter. This engine overlays synthetic text to existing background images in a natural way, accounting for the local 3D scene geometry. Second, we use the synthetic images to train a Fully-Convolutional Regression Network (FCRN) which efficiently performs text detection and bounding-box regression at all locations and multiple scales in an image. We discuss the relation of FCRN to the recently-introduced YOLO detector, as well as other end-toend object detection systems based on deep learning. The resulting detection network significantly out performs current methods for text detection in natural images, achieving an F-measure of 84.2% on the standard ICDAR 2013 benchmark. Furthermore, it can process 15 images per second on a GPU.

We address temporal action localization in untrimmed long videos. This is important because videos in real applications are usually unconstrained and contain multiple action instances plus video content of background scenes or other activities. To address this challenging issue, we exploit the effectiveness of deep networks in temporal action localization via three segment-based 3D ConvNets: (1) a proposal network identifies candidate segments in a long video that may contain actions; (2) a classification network learns one-vs-all action classification model to serve as initialization for the localization network; and (3) a localization network fine-tunes the learned classification network to localize each action instance. We propose a novel loss function for the localization network to explicitly consider temporal overlap and achieve high temporal localization accuracy. In the end, only the proposal network and the localization network are used during prediction. On two largescale benchmarks, our approach achieves significantly superior performances compared with other state-of-the-art systems: mAP increases from 1.7% to 7.4% on MEXaction2 and increases from 15.0% to 19.0% on THUMOS 2014.