Object Detection

Object
deeplearning.ai
localization
What are localization and detection?
Image classification Classification with Detection
localization

Andrew Ng
Classification with localization

⋯ ⋮

1- pedestrian
2- car
3- motorcycle
4- background
Andrew Ng
Defining the target label y
1- pedestrian Need to output 𝑏𝑥 , 𝑏𝑦 , 𝑏ℎ , 𝑏𝑤 , class label (1-4)
2- car
3- motorcycle
4- background

Andrew Ng
 Object Detection

Landmark
deeplearning.ai
detection
Landmark detection ConvNet

𝑏𝑥 , 𝑏𝑦 , 𝑏ℎ , 𝑏𝑤

Andrew Ng
 Object Detection

Object
deeplearning.ai
detection
Car detection example
Training set:
x y
1

Andrew Ng
Sliding windows detection

Andrew Ng
 Object Detection

Convolutional
deeplearning.ai implementation of
sliding windows
Turning FC layer into convolutional layers

MAX POOL FC FC

5 × 5 2 × 2 ⋮ ⋮
y
14 × 14 × 3 10 × 10 × 16 5 × 5 × 16 400 400 softmax (4)

MAX POOL FC FC

5 × 5 2 × 2 5 × 5 1 × 1

14 × 14 × 3 10 × 10 × 16 5 × 5 × 16 1 × 1 × 400 1 × 1 × 400 1 × 1 × 4

Andrew Ng
 Convolution implementation of sliding windows
MAX POOL FC FC FC

5×5 2×2 5×5 1×1 1×1

14 × 14 × 3 10 × 10 × 16 5 × 5 × 16 1 × 1 × 400 1 × 1 × 400 1×1×4

MAX POOL FC FC FC

5×5 2×2 5×5 1×1 1×1

16 × 16 × 3 12 × 12 × 16 6 × 6 × 16 2 × 2 × 400 2 × 2 × 400 2×2×4

MAX POOL

5×5 2×2 5×5 1×1 1×1

28 × 28 × 3 24 × 24 × 16 12 × 12 × 16 8 × 8 × 400 8 × 8 × 400 8×8×4

[Sermanet et al., 2014, OverFeat: Integrated recognition, localization and detection using convolutional networks] Andrew Ng
Convolution implementation of sliding windows

MAX POOL

5×5 2×2 5×5 1×1 1×1

28 × 28 16 × 16 12 × 12 8 × 8 × 400 8 × 8 × 400 8×8×4

Andrew Ng
 Object Detection

Intersection
deeplearning.ai
over union
Evaluating object localization

“Correct” if IoU ≥ 0.5

More generally, IoU is a measure of the overlap between two bounding boxes.
Andrew Ng
 Object Detection

Non-max
deeplearning.ai
suppression
Non-max suppression example

Andrew Ng
Non-max suppression example

0.6
0.8

0.9
0.3
0.5

Andrew Ng
Non-max suppression example

0.6
0.8

0.9
0.7
0.7

Andrew Ng
Non-max suppression algorithm
𝑝𝑐
𝑏𝑥
Each output prediction is: 𝑏𝑦
𝑏ℎ
𝑏𝑤
Discard all boxes with 𝑝𝑐 ≤ 0.6
While there are any remaining boxes:
• Pick the box with the largest 𝑝𝑐
Output that as a prediction.
19× 19
• Discard any remaining box with
IoU ≥ 0.5 with the box output
in the previous step Andrew Ng
 Object Detection

Anchor boxes
deeplearning.ai
 Overlapping objects:
Anchor box 1: Anchor box 2:

𝑝𝑐
𝑏𝑥
𝑏𝑦
𝑏ℎ
y = 𝑏𝑤
𝑐1
𝑐2
𝑐3
[Redmon et al., 2015, You Only Look Once: Unified real-time object detection] Andrew Ng
Anchor box algorithm
Previously: With two anchor boxes:
Each object in training Each object in training
image is assigned to grid image is assigned to grid
cell that contains that cell that contains object’s
object’s midpoint. midpoint and anchor box
for the grid cell with
highest IoU.

Andrew Ng
Anchor box example 𝑝𝑐
𝑏𝑥
𝑏𝑦
𝑏ℎ
𝑏𝑤
𝑐1
𝑐2
𝑐3
y = 𝑝𝑐
𝑏𝑥
𝑏𝑦
𝑏ℎ
Anchor box 1: Anchor box 2: 𝑏𝑤
𝑐1
𝑐2
𝑐3
Andrew Ng