SSD的Matching Strategy

在计算得到anchor之后， 需要将anchor与ground truth(gt)的bbox给绑定起来， 也就是Matching。
paper里说matching分为两步，逐层进行：
第一步：

We begin by matching each ground truth box to the default box with the best jaccard overlap. This is the matching approach used by the original MultiBox [7] and it ensures that each ground truth box has exactly one matched default box.

大意是为每个gt bbox找到一个最佳的anchor，保证每个gt bbox都有刚好有一个anchor来预测它。
代码： https://github.com/weiliu89/caffe/blob/ssd/src/caffe/util/bbox_util.cpp#L584

第二步：

Unlike MultiBox, we then match default boxes to any ground truth with jaccard overlap higher than a threshold (0.5). Adding these matches simplifies the learning problem: it allows the network to predict high confidences for multiple overlapping default boxes rather than requiring it to pick only the one with maximum overlap.

求出所有bbox与所有anchor的iou， 先留下最大iou值，然后去掉小于0.5的。

SSD-tensorflow只实现了第二步：
https://github.com/balancap/SSD-Tensorflow/blob/master/nets/ssd_common.py#L108

label = labels[i]
bbox = bboxes[i]
jaccard = jaccard_with_anchors(bbox)
# Mask: check threshold + scores + no annotations + num_classes.
mask = tf.greater(jaccard, feat_scores)
# mask = tf.logical_and(mask, tf.greater(jaccard, matching_threshold))
mask = tf.logical_and(mask, feat_scores > -0.5)
mask = tf.logical_and(mask, label < num_classes)
imask = tf.cast(mask, tf.int64)
fmask = tf.cast(mask, dtype)
# Update values using mask.
feat_labels = imask * label + (1 - imask) * feat_labels
feat_scores = tf.where(mask, jaccard, feat_scores)

注意:

• threshold检查那一句被注释掉， 并不是说没有用threshold过滤， 而是把过滤放到了后面：
  https://github.com/balancap/SSD-Tensorflow/blob/master/nets/ssd_vgg_512.py#L543

pmask = gscores[i] > match_threshold

• 如果gt里有unlabeled bbox，jaccard score里可能会出现负值。详细 https://github.com/balancap/SSD-Tensorflow/issues/10#issuecomment-283694447