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Dense object detectors rely on the sliding-window paradigm that predicts the object over a regular grid of image. Meanwhile, the feature maps on the point of the grid are adopted to generate the bounding box predictions. The point feature is convenient to use but may lack the explicit border information for accurate localization. In this paper, We propose a simple and efficient operator called Border-Align to extract "border features" from the extreme point of the border to enhance the point feature. Based on the BorderAlign, we design a novel detection architecture called BorderDet, which explicitly exploits the border information for stronger classification and more accurate localization. With ResNet-50 backbone, our method improves single-stage detector FCOS by 2.8 AP gains (38.6 v.s. 41.4). With the ResNeXt-101-DCN backbone, our BorderDet obtains 50.3 AP, outperforming the existing state-of-the-art approaches. The code is available at (//github.com/Megvii-BaseDetection/BorderDet).

Deep learning has recently demonstrated its promising performance for vision-based parking-slot detection. However, very few existing methods explicitly take into account learning the link information of the marking-points, resulting in complex post-processing and erroneous detection. In this paper, we propose an attentional graph neural network based parking-slot detection method, which refers the marking-points in an around-view image as graph-structured data and utilize graph neural network to aggregate the neighboring information between marking-points. Without any manually designed post-processing, the proposed method is end-to-end trainable. Extensive experiments have been conducted on public benchmark dataset, where the proposed method achieves state-of-the-art accuracy. Code is publicly available at \url{//github.com/Jiaolong/gcn-parking-slot}.

Existing Earth Vision datasets are either suitable for semantic segmentation or object detection. In this work, we introduce the first benchmark dataset for instance segmentation in aerial imagery that combines instance-level object detection and pixel-level segmentation tasks. In comparison to instance segmentation in natural scenes, aerial images present unique challenges e.g., a huge number of instances per image, large object-scale variations and abundant tiny objects. Our large-scale and densely annotated Instance Segmentation in Aerial Images Dataset (iSAID) comes with 655,451 object instances for 15 categories across 2,806 high-resolution images. Such precise per-pixel annotations for each instance ensure accurate localization that is essential for detailed scene analysis. Compared to existing small-scale aerial image based instance segmentation datasets, iSAID contains 15$\times$ the number of object categories and 5$\times$ the number of instances. We benchmark our dataset using two popular instance segmentation approaches for natural images, namely Mask R-CNN and PANet. In our experiments we show that direct application of off-the-shelf Mask R-CNN and PANet on aerial images provide suboptimal instance segmentation results, thus requiring specialized solutions from the research community. The dataset is publicly available at: //captain-whu.github.io/iSAID/index.html

Detecting objects in aerial images is challenging for at least two reasons: (1) target objects like pedestrians are very small in pixels, making them hardly distinguished from surrounding background; and (2) targets are in general sparsely and non-uniformly distributed, making the detection very inefficient. In this paper, we address both issues inspired by observing that these targets are often clustered. In particular, we propose a Clustered Detection (ClusDet) network that unifies object clustering and detection in an end-to-end framework. The key components in ClusDet include a cluster proposal sub-network (CPNet), a scale estimation sub-network (ScaleNet), and a dedicated detection network (DetecNet). Given an input image, CPNet produces object cluster regions and ScaleNet estimates object scales for these regions. Then, each scale-normalized cluster region is fed into DetecNet for object detection. ClusDet has several advantages over previous solutions: (1) it greatly reduces the number of chips for final object detection and hence achieves high running time efficiency, (2) the cluster-based scale estimation is more accurate than previously used single-object based ones, hence effectively improves the detection for small objects, and (3) the final DetecNet is dedicated for clustered regions and implicitly models the prior context information so as to boost detection accuracy. The proposed method is tested on three popular aerial image datasets including VisDrone, UAVDT and DOTA. In all experiments, ClusDet achieves promising performance in comparison with state-of-the-art detectors. Code will be available in \url{//github.com/fyangneil}.

In recent years, object detection has experienced impressive progress. Despite these improvements, there is still a significant gap in the performance between the detection of small and large objects. We analyze the current state-of-the-art model, Mask-RCNN, on a challenging dataset, MS COCO. We show that the overlap between small ground-truth objects and the predicted anchors is much lower than the expected IoU threshold. We conjecture this is due to two factors; (1) only a few images are containing small objects, and (2) small objects do not appear enough even within each image containing them. We thus propose to oversample those images with small objects and augment each of those images by copy-pasting small objects many times. It allows us to trade off the quality of the detector on large objects with that on small objects. We evaluate different pasting augmentation strategies, and ultimately, we achieve 9.7\% relative improvement on the instance segmentation and 7.1\% on the object detection of small objects, compared to the current state of the art method on MS COCO.

Deep neural network models used for medical image segmentation are large because they are trained with high-resolution three-dimensional (3D) images. Graphics processing units (GPUs) are widely used to accelerate the trainings. However, the memory on a GPU is not large enough to train the models. A popular approach to tackling this problem is patch-based method, which divides a large image into small patches and trains the models with these small patches. However, this method would degrade the segmentation quality if a target object spans multiple patches. In this paper, we propose a novel approach for 3D medical image segmentation that utilizes the data-swapping, which swaps out intermediate data from GPU memory to CPU memory to enlarge the effective GPU memory size, for training high-resolution 3D medical images without patching. We carefully tuned parameters in the data-swapping method to obtain the best training performance for 3D U-Net, a widely used deep neural network model for medical image segmentation. We applied our tuning to train 3D U-Net with full-size images of 192 x 192 x 192 voxels in brain tumor dataset. As a result, communication overhead, which is the most important issue, was reduced by 17.1%. Compared with the patch-based method for patches of 128 x 128 x 128 voxels, our training for full-size images achieved improvement on the mean Dice score by 4.48% and 5.32 % for detecting whole tumor sub-region and tumor core sub-region, respectively. The total training time was reduced from 164 hours to 47 hours, resulting in 3.53 times of acceleration.

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical coordinates to obtain the final detection results. Instead of generating proposals from RGB image or projecting point cloud to bird's view or voxels as previous methods do, our stage-1 sub-network directly generates a small number of high-quality 3D proposals from point cloud in a bottom-up manner via segmenting the point cloud of whole scene into foreground points and background. The stage-2 sub-network transforms the pooled points of each proposal to canonical coordinates to learn better local spatial features, which is combined with global semantic features of each point learned in stage-1 for accurate box refinement and confidence prediction. Extensive experiments on the 3D detection benchmark of KITTI dataset show that our proposed architecture outperforms state-of-the-art methods with remarkable margins by using only point cloud as input.

Latest deep learning methods for object detection provide remarkable performance, but have limits when used in robotic applications. One of the most relevant issues is the long training time, which is due to the large size and imbalance of the associated training sets, characterized by few positive and a large number of negative examples (i.e. background). Proposed approaches are based on end-to-end learning by back-propagation [22] or kernel methods trained with Hard Negatives Mining on top of deep features [8]. These solutions are effective, but prohibitively slow for on-line applications. In this paper we propose a novel pipeline for object detection that overcomes this problem and provides comparable performance, with a 60x training speedup. Our pipeline combines (i) the Region Proposal Network and the deep feature extractor from [22] to efficiently select candidate RoIs and encode them into powerful representations, with (ii) the FALKON [23] algorithm, a novel kernel-based method that allows fast training on large scale problems (millions of points). We address the size and imbalance of training data by exploiting the stochastic subsampling intrinsic into the method and a novel, fast, bootstrapping approach. We assess the effectiveness of the approach on a standard Computer Vision dataset (PASCAL VOC 2007 [5]) and demonstrate its applicability to a real robotic scenario with the iCubWorld Transformations [18] dataset.

Modern CNN-based object detectors rely on bounding box regression and non-maximum suppression to localize objects. While the probabilities for class labels naturally reflect classification confidence, localization confidence is absent. This makes properly localized bounding boxes degenerate during iterative regression or even suppressed during NMS. In the paper we propose IoU-Net learning to predict the IoU between each detected bounding box and the matched ground-truth. The network acquires this confidence of localization, which improves the NMS procedure by preserving accurately localized bounding boxes. Furthermore, an optimization-based bounding box refinement method is proposed, where the predicted IoU is formulated as the objective. Extensive experiments on the MS-COCO dataset show the effectiveness of IoU-Net, as well as its compatibility with and adaptivity to several state-of-the-art object detectors.

SSD (Single Shot Multibox Detetor) is one of the best object detection algorithms with both high accuracy and fast speed. However, SSD's feature pyramid detection method makes it hard to fuse the features from different scales. In this paper, we proposed FSSD (Feature Fusion Single Shot Multibox Detector), an enhanced SSD with a novel and lightweight feature fusion module which can improve the performance significantly over SSD with just a little speed drop. In the feature fusion module, features from different layers with different scales are concatenated together, followed by some down-sampling blocks to generate new feature pyramid, which will be fed to multibox detectors to predict the final detection results. On the Pascal VOC 2007 test, our network can achieve 82.7 mAP (mean average precision) at the speed of 65.8 FPS (frame per second) with the input size 300$\times$300 using a single Nvidia 1080Ti GPU. In addition, our result on COCO is also better than the conventional SSD with a large margin. Our FSSD outperforms a lot of state-of-the-art object detection algorithms in both aspects of accuracy and speed. Code is available at //github.com/lzx1413/CAFFE_SSD/tree/fssd.