一、经典NMS
非极大值抑制(Non-Maximum Suppression,NMS)的思想是搜索局部极大值,抑制非极大值元素。
经典NMS最初第一次应用到目标检测中是在R-CNN算法中,其实现严格按照搜索局部极大值,抑制非极大值元素的思想来实现的,具体的实现步骤如下:
先假设有6个输出的矩形框(即proposal_clip_box),根据分类器类别分类概率做排序,从小到大分别属于车辆的概率(scores)分别为A、B、C、D、E、F。
(1) 从最大概率矩形框F开始,分别判断A~E与F的重叠度IOU是否大于某个设定的阈值;
(2) 假设B、D与F的重叠度超过阈值,那么就扔掉B、D;并标记第一个矩形框F,是我们保留下来的。
(3) 从剩下的矩形框A、C、E中,选择概率最大的E,然后判断E与A、C的重叠度,重叠度大于一定的阈值,那么就扔掉;并标记E是我们保留下来的第二个矩形框。
就这样一直重复,找到所有被保留下来的矩形框。
如上图F与BD重合度较大,可以去除BD。AE重合度较大,我们删除A,保留scores较大的E。C和其他重叠都小保留C。最终留下了C、E、F三个。
# -*- coding: utf-8 -*-
"""
Created on Fri Sep 4 15:35:06 2020
@author: zqq
"""
import numpy as np
boxes=np.array([[100,100,210,210,0.72],
[250,250,420,420,0.8],
[220,220,320,330,0.92],
[100,100,190,200,0.71],
[230,240,325,330,0.81],
[220,230,315,340,0.9]])
def py_cpu_nms(dets, thresh):
"Pure Python NMS baseline"
# x1、y1、x2、y2以及score赋值
x1 = dets[:,0]
y1 = dets[:,1]
x2 = dets[:,2]
y2 = dets[:,3]
scores = dets[:, 4]
# 每一个检测框的面积
areas = (y2-y1+1) * (x2-x1+1)
print(areas)
# 按照score置信度降序排序
order = scores.argsort()[::-1]
keep = [] # 保留的结果框集合
while order.size >0:
i = order[0] # every time the first is the biggst, and add it directly
keep.append(i) # 保留该类剩余box中得分最高的一个
# 得到相交区域,左上及右下
xx1 = np.maximum(x1[i], x1[order[1:]])
yy1 = np.maximum(y1[i], y1[order[1:]])
xx2 = np.minimum(x2[i], x2[order[1:]])
yy2 = np.minimum(y2[i], y2[order[1:]])
# 计算相交的面积,不重叠时面积为0
w = np.maximum(0, xx2-xx1+1) # the weights of overlap
h = np.maximum(0, yy2-yy1+1) # the height of overlap
inter = w*h
# 计算IoU:重叠面积 /(面积1+面积2-重叠面积)
ovr = inter / (areas[i]+areas[order[1:]] - inter)
# 保留IoU小于阈值的box
indx = np.where(ovr<=thresh)[0]
order = order[indx+1] # 因为ovr数组的长度比order数组少一个,所以这里要将所有下标后移一位
return keep
import matplotlib.pyplot as plt
def plot_bbox(dets, c='k'):
x1 = dets[:,0]
y1 = dets[:,1]
x2 = dets[:,2]
y2 = dets[:,3]
plt.plot([x1,x2], [y1,y1], c)
plt.plot([x1,x1], [y1,y2], c)
plt.plot([x1,x2], [y2,y2], c)
plt.plot([x2,x2], [y1,y2], c)
#plt.title(" nms")
#plt.show()
plt.figure(1)
ax1 = plt.subplot(1,2,1)
ax1.set_title('before nms')
ax2 = plt.subplot(1,2,2)
ax2.set_title('after nms')
plt.sca(ax1)
plot_bbox(boxes,'k') # before nms
keep = py_cpu_nms(boxes, thresh=0.7)
plt.sca(ax2)
plot_bbox(boxes[keep], 'b')# after nms
plt.show()
二、Soft-NMS
论文:
http://cn.arxiv.org/abs/1704.04503
代码:
https://github.com/bharatsingh430/soft-nms
soft NMS提出尤其对密集物体检测的检测效果有一定的提升作用.
绝大部分目标检测方法,最后都要用到 NMS-非极大值抑制进行后处理。 通常的做法是将检测框按得分排序,然后保留得分最高的框,同时删除与该框重叠面积大于一定比例的其它框。
这种贪心式方法存在如下图所示的问题: 红色框和绿色框是当前的检测结果,二者的得分分别是0.95和0.80。如果按照传统的NMS进行处理,首先选中得分最高的红色框,然后绿色框就会因为与之重叠面积过大而被删掉。
思路:不要粗鲁地删除所有IOU大于阈值的框,而是降低其置信度。
soft NMS算法的大致思路为:M为当前得分最高框,bi 为待处理框,bi 和M的IOU越大,bi 的得分si 就下降的越厉害。
算法结构如图所示:
NMS中:
Soft-NMS中:
(1)线性加权:
(2)高斯加权:
soft NMS仍然有问题:其阈值仍然需要手工设定
Soft-NMS代码:
# coding:utf-8
import numpy as np
def soft_nms(boxes, sigma=0.5, Nt=0.1, threshold=0.001, method=1):
N = boxes.shape[0]
pos = 0
maxscore = 0
maxpos = 0
for i in range(N):
maxscore = boxes[i, 4]
maxpos = i
tx1 = boxes[i,0]
ty1 = boxes[i,1]
tx2 = boxes[i,2]
ty2 = boxes[i,3]
ts = boxes[i,4]
pos = i + 1
# get max box
while pos < N:
if maxscore < boxes[pos, 4]:
maxscore = boxes[pos, 4]
maxpos = pos
pos = pos + 1
# add max box as a detection
boxes[i,0] = boxes[maxpos,0]
boxes[i,1] = boxes[maxpos,1]
boxes[i,2] = boxes[maxpos,2]
boxes[i,3] = boxes[maxpos,3]
boxes[i,4] = boxes[maxpos,4]
# swap ith box with position of max box
boxes[maxpos,0] = tx1
boxes[maxpos,1] = ty1
boxes[maxpos,2] = tx2
boxes[maxpos,3] = ty2
boxes[maxpos,4] = ts
tx1 = boxes[i,0]
ty1 = boxes[i,1]
tx2 = boxes[i,2]
ty2 = boxes[i,3]
ts = boxes[i,4]
pos = i + 1
# NMS iterations, note that N changes if detection boxes fall below threshold
while pos < N:
x1 = boxes[pos, 0]
y1 = boxes[pos, 1]
x2 = boxes[pos, 2]
y2 = boxes[pos, 3]
s = boxes[pos, 4]
area = (x2 - x1 + 1) * (y2 - y1 + 1)
iw = (min(tx2, x2) - max(tx1, x1) + 1)
if iw > 0:
ih = (min(ty2, y2) - max(ty1, y1) + 1)
if ih > 0:
ua = float((tx2 - tx1 + 1) * (ty2 - ty1 + 1) + area - iw * ih)
ov = iw * ih / ua #iou between max box and detection box
if method == 1: # linear
if ov > Nt:
weight = 1 - ov
else:
weight = 1
elif method == 2: # gaussian
weight = np.exp(-(ov * ov)/sigma)
else: # original NMS
if ov > Nt:
weight = 0
else:
weight = 1
boxes[pos, 4] = weight*boxes[pos, 4]
print(boxes[:, 4])
# if box score falls below threshold, discard the box by swapping with last box
# update N
if boxes[pos, 4] < threshold:
boxes[pos,0] = boxes[N-1, 0]
boxes[pos,1] = boxes[N-1, 1]
boxes[pos,2] = boxes[N-1, 2]
boxes[pos,3] = boxes[N-1, 3]
boxes[pos,4] = boxes[N-1, 4]
N = N - 1
pos = pos - 1
pos = pos + 1
keep = [i for i in range(N)]
return keep
boxes = np.array([[100, 100, 150, 168, 0.63],[166, 70, 312, 190, 0.55],[221, 250, 389, 500, 0.79],[12, 190, 300, 399, 0.9],[28, 130, 134, 302, 0.3]])
keep = soft_nms(boxes)
print(keep)
参考:
(写的很好)
https://zhuanlan.zhihu.com/p/42018282
https://zhuanlan.zhihu.com/p/54709759
https://zhuanlan.zhihu.com/p/64423753
https://blog.csdn.net/lz867422770/article/details/100019587
https://blog.csdn.net/Blateyang/article/details/79113030
https://blog.csdn.net/a1103688841/article/details/89711120
(这篇写的不错)
https://www.cnblogs.com/makefile/p/nms.html
https://github.com/rbgirshick/py-faster-rcnn/blob/master/lib/nms/py_cpu_nms.py