目标检测经典论文——YOLOv4论文翻译：YOLOv4: Optimal Speed and Accuracy of Object Detection（YOLOv4: 目标检测最优速度和精度）

YOLOv4: Optimal Speed and Accuracy of Object Detection YOLOv4: 目标检测最优速度和精度

Alexey Bochkovskiy* alexeyab84@gmail.com

Chien-Yao Wang* Institute of Information Science Academia Sinica, Taiwan kinyiu@iis.sinica.edu.tw

Hong-Yuan Mark Liao Institute of Information Science Academia Sinica, Taiwan liao@iis.sinica.edu.tw

Abstract

There are a huge number of features which are said to improve Convolutional Neural Network (CNN) accuracy. Practical testing of combinations of such features on large datasets, and theoretical justification of the result, is required. Some features operate on certain models exclusively and for certain problems exclusively, or only for small-scale datasets; while some features, such as batch-normalization and residual-connections, are applicable to the majority of models, tasks, and datasets. We assume that such universal features include Weighted-Residual-Connections (WRC), Cross-Stage-Partial-connections (CSP), Cross mini-Batch Normalization (CmBN), Self-adversarial-training (SAT) and Mish-activation. We use new features: WRC, CSP, CmBN, SAT, Mish activation, Mosaic data augmentation, CmBN, DropBlock regularization, and CIoU loss, and combine some of them to achieve state-of-the-art results: 43.5% AP (65.7% AP50 ) for the MS COCO dataset at a real-time speed of ∼65 FPS on Tesla V100. Source code is at https://github.com/AlexeyAB/darknet.

摘要

有大量的技巧可以提高卷积神经网络（CNN）的精度。需要在大数据集下对这种技巧的组合进行实际测试，并需要对结果进行理论论证。某些技巧仅在某些模型上使用和专门针对某些问题，或只针对小规模的数据集；而一些技巧，如批处理归一化、残差连接等，适用于大多数的模型、任务和数据集。我们假设这种通用的技巧包括加权残差连接（Weighted-Residual-Connection，WRC）、跨小型批量连接(Cross-Stage-Partial-connection，CSP)、Cross mini-Batch Normalization（CmBN）、自对抗训练（Self-adversarial-training，SAT）和Mish激活函数。我们在本文中使用这些新的技巧：WRC、CSP、CmBN、SAT，Mish-activation，Mosaic data augmentation、CmBN、DropBlock正则化和CIoU损失，以及这些技巧的组合，在MS COCO数据集达到目前最好的结果：43.5%的AP（65.7% AP50），在Tesla V100上速度达到约65FPS。源码见：https://github.com/AlexeyAB/darknet.

1. Introduction

The majority of CNN-based object detectors are largely applicable only for recommendation systems. For example, searching for free parking spaces via urban video cameras is executed by slow accurate models, whereas car collision warning is related to fast inaccurate models. Improving the real-time object detector accuracy enables using them not only for hint generating recommendation systems, but also for stand-alone process management and human input reduction. Real-time object detector operation on conventional Graphics Processing Units (GPU) allows their mass usage at an affordable price. The most accurate modern neural networks do not operate in real time and require large number of GPUs for training with a large mini-batch-size. We address such problems through creating a CNN that operates in real-time on a conventional GPU, and for which training requires only one conventional GPU.

1. 引言

大多数基于CNN的目标检测器基本上都仅适用于推荐系统。例如：通过城市摄像头寻找免费停车位，它由精确的慢速模型完成，而汽车碰撞警报需要由快速、低精度模型完成。改善实时目标检测器的精度，使其能够不仅可以用于提示生成推荐系统，也可以用于独立的流程管理和减少人力投入。传统GPU使得目标检测可以以实惠的价格运行。最准确的现代神经网络不是实时运行的，需要大量的训练的GPU与大的mini bacth size。我们通过创建一个CNN来解决这样的问题，在传统的GPU上进行实时操作，而对于这些训练只需要一个传统的GPU。

The main goal of this work is designing a fast operating speed of an object detector in production systems and optimization for parallel computations, rather than the low computation volume theoretical indicator (BFLOP). We hope that the designed object can be easily trained and used. For example, anyone who uses a conventional GPU to train and test can achieve real-time, high quality, and convincing object detection results, as the YOLOv4 results shown in Figure 1. Our contributions are summarized as follows:

1. We develope an efficient and powerful object detection model. It makes everyone can use a 1080 Ti or 2080 Ti GPU to train a super fast and accurate object detector.

2. We verify the influence of state-of-the-art Bag-ofFreebies and Bag-of-Specials methods of object detection during the detector training.

3. We modify state-of-the-art methods and make them more effecient and suitable for single GPU training, including CBN [89], PAN [49], SAM [85], etc.

Figure 1: Comparison of the proposed YOLOv4 and other state-of-the-art object detectors. YOLOv4 runs twice faster than EfficientDet with comparable performance. Improves YOLOv3’s AP and FPS by 10% and 12%, respectively.

这研究的主要目的是设计一个可以在生产环境快速运行的目标检测器，并且进行并行计算优化，而不是较低的计算量理论指标（BFLOP）。我们希望所设计的目标易于训练和使用。例如，任何使用传统GPU进行训练和测试的人都可以实现实时、高质量、有说服力的目标检测结果，YOLOv4的结果如图1所示。现将我们的成果总结如下：

1. 我们构建了一个快速、强大的模型，这使得大家都可以使用1080 Ti或2080 Ti GPU来训练一个超快、准确的目标检测器。

2. 我们验证了最先进的Bag-of-Freebies和Bag-of-Specials方法在目标检测训练期间的影响。

3. 我们修改了最先进的方法，使其变得更高效并且适合单GPU训练，包括CBN[89]、PAN[49]、SAM[85]等。

图1：本文提出的YOLOv4和其他先进的目标检测器比较结果。YOLOv4与EfficientDet相比精度差不多相同，但速度比其快两倍。YOLOv3的AP值和FPS都分别提升了10%和12%。

2. Related work

2.1. Object detection models

A modern detector is usually composed of two parts, a backbone which is pre-trained on ImageNet and a head which is used to predict classes and bounding boxes of objects. For those detectors running on GPU platform, their backbone could be VGG [68], ResNet [26], ResNeXt [86], or DenseNet [30]. For those detectors running on CPU platform, their backbone could be SqueezeNet [31], MobileNet [28, 66, 27, 74], or ShuffleNet [97, 53]. As to the head part, it is usually categorized into two kinds, i.e., one-stage object detector and two-stage object detector. The most representative two-stage object detector is the R-CNN [19] series, including fast R-CNN [18], faster R-CNN [64], R-FCN [9], and Libra R-CNN [58]. It is also possible to make a two-stage object detector an anchor-free object detector, such as RepPoints [87]. As for one-stage object detector, the most representative models are YOLO [61, 62, 63], SSD [50], and RetinaNet [45]. In recent years, anchor-free one-stage object detectors are developed. The detectors of this sort are CenterNet [13], CornerNet [37, 38], FCOS [78], etc. Object detectors developed in recent years often insert some layers between backbone and head, and these layers are usually used to collect feature maps from different stages. We can call it the neck of an object detector. Usually, a neck is composed of several bottom-up paths and several top-down paths. Networks equipped with this mechanism include Feature Pyramid Network (FPN) [44], Path Aggregation Network (PAN) [49], BiFPN [77], and NAS-FPN [17]. In addition to the above models, some researchers put their emphasis on directly building a new backbone (DetNet [43], DetNAS [7]) or a new whole model (SpineNet [12], HitDetector [20]) for object detection.

2. 相关工作

2.1. 目标检测模型

现代目标检测器通常由两部分组成：ImageNet上预训练的backbone和用于预测类别和BBOX的检测器head。对于那些在GPU平台上运行的探测器，其backbone可以是VGG[68]，ResNet[26]、ResNeXt[86]、或DenseNet [30]。对于那些运行在CPU平台上的检测器形式，它们的backbone可以是SqueezeNet[31]、MobileNet[28，66，27，74]，或ShuffleNet[97，53]。至于head部分，它通常被分两类：即一阶段（one-stage）和两阶段（two-stage）的目标检测器。最有代表性的两阶段检测器是R-CNN[19]系列模型，包括Fast R-CNN[18]、Faster R-CNN[64]、R-FCN[9]和Libra R-CNN[58]。也可以在两阶段目标检测器中不用anchor的目标检测器，如RepPoints[87]。对于一阶段检测器来说，最代表性的有YOLO[61、62、63]、SSD[50]和RetinaNet[45]。近几年来，也开发了许多不使用anchor的一阶段目标检测器。这类检测器有CenterNet[13]、CornerNet[37，38]、FCOS[78]等。近年来开发检测器往往会在backbone和head之间插入一些层，这些层用于收集不同阶段的特征图。我们可以称它为检测器的neck。通常情况下neck是由几个自下而上或自上而下的通路（paths）组成。具有这种结构的网络包括Feature Pyramid Network (FPN)[44]、Path Aggregation（PAN）[49]、BiFPN[77]和NAS-FPN[17]。除上述模型外，有的研究者注重于直接重新构建backbone（DetNet[43]、DetNAS[7]）或重新构建整个模型（SpineNet[12]、HitDetector[20])，并用于目标检测任务。

To sum up, an ordinary object detector is composed of several parts:

• Input: Image, Patches, Image Pyramid

• Backbones: VGG16[68], ResNet-50[26], SpineNet[12], EfficientNet-B0/B7[75], CSPResNeXt50[81],CSPDarknet53[81]

• Neck:

• Additional blocks: SPP [25], ASPP [5], RFB [47], SAM [85]

• Path-aggregation blocks: FPN [44], PAN [49], NAS-FPN [17], Fully-connected FPN, BiFPN[77], ASFF [48], SFAM [98]

• Heads:

• Dense Prediction (one-stage):

  • • RPN [64], SSD [50], YOLO [61], RetinaNet[45] (anchor based)

    • CornerNet [37], CenterNet [13], MatrixNet[60], FCOS [78] (anchor free)

• Sparse Prediction (two-stage):

  • • Faster R-CNN [64], R-FCN [9], Mask RCNN [23] (anchor based)

    • RepPoints [87] (anchor free)

Figure 2: Object detector.

总结起来，通常目标检测模型由以下一些部分组成：

• 输入：图像、图像块、图像金字塔
• Backbones：VGG16[68]、ResNet-50[26]、SpineNet[12]、EfficientNet-B0/B7[75]、CSPResNeXt50[81]、CSPDarknet53[81]
• Neck:

• Additional blocks: SPP [25], ASPP [5], RFB[47], SAM [85]

• Path-aggregation blocks: FPN [44], PAN [49],NAS-FPN [17], Fully-connected FPN, BiFPN[77], ASFF [48], SFAM [98]

• Heads:

• Dense Prediction (one-stage):RPN [64], SSD [50], YOLO [61], RetinaNet[45] (anchor based) CornerNet [37], CenterNet [13], MatrixNet[60], FCOS [78] (anchor free)
• Sparse Prediction (two-stage):Faster R-CNN [64], R-FCN [9], Mask R-CNN [23] (anchor based) RepPoints [87] (anchor free)

 

图2：目标检测器。

2.2. Bag of freebies

Usually, a conventional object detector is trained offline. Therefore, researchers always like to take this advantage and develop better training methods which can make the object detector receive better accuracy without increasing the inference cost. We call these methods that only change the training strategy or only increase the training cost as “bag of freebies.” What is often adopted by object detection methods and meets the definition of bag of freebies is data augmentation. The purpose of data augmentation is to increase the variability of the input images, so that the designed object detection model has higher robustness to the images obtained from different environments. For examples, photometric distortions and geometric distortions are two commonly used data augmentation method and they definitely benefit the object detection task. In dealing with photometric distortion, we adjust the brightness, contrast, hue, saturation, and noise of an image. For geometric distortion, we add random scaling, cropping, flipping, and rotating.

2.2. Bag of freebies

通常情况下，传统的目标检测器的训练都是在线下进行的。因此，研究者们总是喜欢利用纯下训练的好处而研究更好的训练方法，使得目标检测器在不增加测试成本的情况下达到更好的精度。我们将这些只需改变训练策略或只增加训练成本的方法称为bag of freebies。目标检测经常采用并符合这个定义的就是数据增强。数据增强的目的是增加输入图像的多样性，从而使设计的目标检测模型对来自不同环境的图片具有较高的鲁棒性。比如photometric distortions和geometric distortions是两种常用的数据增强方法，它们对检测任务肯定是有好处的。使用photometric distortions时，我们调整图像的亮度、对比度、色调、饱和度和噪声。使用geometric distortions时，我们对图像添加随机缩放、裁剪、翻转和旋转。

The data augmentation methods mentioned above are all pixel-wise adjustments, and all original pixel information in the adjusted area is retained. In addition, some researchers engaged in data augmentation put their emphasis on simulating object occlusion issues. They have achieved good results in image classification and object detection. For example, random erase [100] and CutOut [11] can randomly select the rectangle region in an image and fill in a random or complementary value of zero. As for hide-and-seek [69] and grid mask [6], they randomly or evenly select multiple rectangle regions in an image and replace them to all zeros. If similar concepts are applied to feature maps, there are DropOut [71], DropConnect [80], and DropBlock [16] methods. In addition, some researchers have proposed the methods of using multiple images together to perform data augmentation. For example, MixUp [92] uses two images to multiply and superimpose with different coefficient ratios, and then adjusts the label with these superimposed ratios. As for CutMix [91], it is to cover the cropped image to rectangle region of other images, and adjusts the label according to the size of the mix area. In addition to the above mentioned methods, style transfer GAN [15] is also used for data augmentation, and such usage can effectively reduce the texture bias learned by CNN.

上面提到的数据增强方法都是逐像素的调整，以及调整区域的所有原始像素信息会被保留下来。此外，一些从事数据增强工作的研究者把重点放在了模拟目标遮挡问题上。他们在图像分类和目标检测取得了好的结果。例如，随机擦除[100]和CutOut[11]可以随机的选取图像中的矩形区域，并填充随机值或零的互补值。至于hide-and-seek [69]和grid mask [6]，他们随机或均匀地选择图像中的多个矩形区域，并将其全部像素值替换为零值。如果将类似的概念应用到特征图中，就是DropOut[71]、DropConnect[80]和DropBlock[16]方法。此外，有研究者提出了将多张图像放在一起从而实现数据增强的方法。例如，MixUp[92]将两张图像以不同系数的进行相乘和叠加，并根据叠加比例调整标签。对于CutMix[91]，它通过覆盖裁剪后的图像到其他图像的矩形区域，并根据混合区的大小调整标签。除了以上提到的方法，网络迁移GAN[15]也常常用于数据增强，这种方法可以有效地减少CNN学习到的纹理偏差。

Different from the various approaches proposed above, some other bag of freebies methods are dedicated to solving the problem that the semantic distribution in the dataset may have bias. In dealing with the problem of semantic distribution bias, a very important issue is that there is a problem of data imbalance between different classes, and this problem is often solved by hard negative example mining [72] or online hard example mining [67] in two-stage object detector. But the example mining method is not applicable to one-stage object detector, because this kind of detector belongs to the dense prediction architecture. Therefore Lin et al. [45] proposed focal loss to deal with the problem of data imbalance existing between various classes. Another very important issue is that it is difficult to express the relationship of the degree of association between different categories with the one-hot hard representation. This representation scheme is often used when executing labeling. The label smoothing proposed in [73] is to convert hard label into soft label for training, which can make model more robust. In order to obtain a better soft label, Islam et al. [33] introduced the concept of knowledge distillation to design the label refinement network.

与上面提出的各种方法不同，其他的一些Bag of freebies方法是专门解决可能有偏差的数据集中语义分布问题。在处理语义分布偏差的问题上，有一个很重要的问题是不同类别之间的数据不平衡，而两阶段检测器处理这个问题通常是通过hard negative example mining [72]或online hard example mining [67]。但example mining method不适用于一阶段的目标检测器，因为这种检测器属于密集预测架构。因此，Linet al.[45]提出了focal loss解决数据不平衡问题。另一个很重要的问题是，one-hot编码很难表达出类与类之间关联程度。这种表示方法（one-hot）通常在打标签的时候使用。在[73]中提出的label smoothing方案是将硬标签转化为软标签进行训练，可以使模型更具有鲁棒性。为了获得更好的软标签，Islam等[33]引入知识蒸馏的概念并用于设计标签细化网络。

The last bag of freebies is the objective function of Bounding Box (BBox) regression. The traditional object detector usually uses Mean Square Error (MSE) to directly perform regression on the center point coordinates and height and width of the BBox, i.e., {xcenter, ycenter, w, h} , or the upper left point and the lower right point, i.e., {xtop_left, ytop_left, xbottom_right, ybottom_right}. As for anchor-based method, it is to estimate the corresponding offset, for example { x center offset , y center offset , w offset , h offset } and { x top left offset , y top left offset , x bottom right offset , y bottom right offset } . However, to directly estimate the coordinate values of each point of the BBox is to treat these points as independent variables, but in fact does not consider the integrity of the object itself. In order to make this issue processed better, some researchers recently proposed IoU loss [90], which puts the coverage of predicted BBox area and ground truth BBox area into consideration. The IoU loss computing process will trigger the calculation of the four coordinate points of the BBox by executing IoU with the ground truth, and then connecting the generated results into a whole code. Because IoU is a scale invariant representation, it can solve the problem that when traditional methods calculate the l1 or l2 loss of { x, y, w, h } , the loss will increase with the scale. Recently, some researchers have continued to improve IoU loss. For example, GIoU loss [65] is to include the shape and orientation of object in addition to the coverage area. They proposed to find the smallest area BBox that can simultaneously cover the predicted BBox and ground truth BBox, and use this BBox as the denominator to replace the denominator originally used in IoU loss. As for DIoU loss [99], it additionally considers the distance of the center of an object, and CIoU loss [99], on the other hand simultaneously considers the overlapping area, the distance between center points, and the aspect ratio. CIoU can achieve better convergence speed and accuracy on the BBox regression problem.

最后一个bag of freebies是边界框(BBox)回归的目标函数。检测器通常使用MSE损失函数对BBOX的中心点和宽高进行回归，例如{xcenter, ycenter, w, h}，或者是回归预测左上角的点和右下角的点，例如{xtop_left, ytop_left, xbottom_right, ybottom_right}。对于基于anchor的方法，它会估算出对应的偏移量，例如{ x center offset , y center offset , w offset , h offset } and { x top left offset , y top left offset , x bottom right offset , y bottom right offset }。但是，如果要直接估计BBOX每个点的坐标值，就要将这些点作为独立变量，但实际上未考虑对象本身的完整性。为了使这一问题得到更好的解决，一些研究人员最近提出了IoU损失[90]，其考虑了预测BBox面积和ground truth BBox面积的覆盖度。IoU损失计算过程将通过计算预测值与真实值的IoU，然后将生成的结果连接成一个整体代码，最终通过计算获得BBox的四个坐标值。因为IOU是一个与尺度无关的表示，它可以解决当传统方法计算{x，y，w，h}的l1或l2损失时，损失会随着尺度增加而增大的问题。最近，一些研究人员不断改善IOU损失。例如GIoU损失[65]除覆盖面积也考虑物体的形状和方向。他们建议找到能同时覆盖预测BBOX和真实值BBox的最小面积BBOX，并使用这个BBox作为分母并取代原先IoU损失的分母。至于DIoU损失[99]，它另外还包括考虑物体中心的距离，另一方面CIoU损失[99]同时考虑到重叠面积和中心点之间的距离以及长宽比。CIoU可以在BBox回归问题上获得了更好的收敛速度和精度。

2.3. Bag of specials

For those plugin modules and post-processing methods that only increase the inference cost by a small amount but can significantly improve the accuracy of object detection, we call them “bag of specials”. Generally speaking, these plugin modules are for enhancing certain attributes in a model, such as enlarging receptive field, introducing attention mechanism, or strengthening feature integration capability, etc., and post-processing is a method for screening model prediction results.

2.3. Bag of specials

对于那些只会增加少量的推理成本的插入模块和后期处理方法，但可显著提高目标检测的准确性，我们称其为“Bag of specials”。一般来说,这些插入模块是用来增强模型的某些属性的，如扩大感受野、引入注意力机制或增强特征整合能力等，而后处理是一种筛选模型预测结果方法。

Common modules that can be used to enhance receptive field are SPP [25], ASPP [5], and RFB [47]. The SPP module was originated from Spatial Pyramid Matching (SPM) [39], and SPMs original method was to split feature map into several d × d equal blocks, where d can be { 1, 2, 3, … } , thus forming spatial pyramid, and then extracting bag-of-word features. SPP integrates SPM into CNN and use max-pooling operation instead of bag-of-word operation. Since the SPP module proposed by He et al. [25] will output one dimensional feature vector, it is infeasible to be applied in Fully Convolutional Network (FCN). Thus in the design of YOLOv3 [63], Redmon and Farhadi improve SPP module to the concatenation of max-pooling outputs with kernel size k × k, where k = { 1, 5, 9, 13 } , and stride equals to 1. Under this design, a relatively large k × k maxpooling effectively increase the receptive field of backbone feature. After adding the improved version of SPP module, YOLOv3-608 upgrades AP 50 by 2.7% on the MS COCO object detection task at the cost of 0.5% extra computation. The difference in operation between ASPP [5] module and improved SPP module is mainly from the original k×k kernel size, max-pooling of stride equals to 1 to several 3 × 3 kernel size, dilated ratio equals to k, and stride equals to 1 in dilated convolution operation. RFB module is to use several dilated convolutions of k×k kernel, dilated ratio equals to k, and stride equals to 1 to obtain a more comprehensive spatial coverage than ASPP. RFB [47] only costs 7% extra inference time to increase the AP 50 of SSD on MS COCO by 5.7%.

可用于扩大感受野的常用模块有SPP[25]、ASPP[5]和RFB[47]。SPP模块源于Spatial Pyramid Match（SPM）[39]，而SPMs的原始方法是将特征图分割成几个d×d相等大小的块，其中d可以是{1,2,3,…}，从而形成空间金字塔，然后提取bag-of-word特征。SPP将SPM集成到CNN并使用max-pooling操作而不是bag-of-word运算。由于He等人提出的SPP模块[25]会输出一维特征向量，因此不可能应用于全卷积网络（FCN）中。因此，在YOLOv3的设计[63]中，Redmon和Farhadi改进了YOLOv3的设计，将SPP模块修改为融合k×k池化核的最大池化输出，其中k = {1,5,9,13}，步长等于1。在这种设计下，一个相对较大的k×k有效地增加了backbone的感受野。增加了改进版的SPP模块后，YOLOv3-608在MS COCO上AP50提升了2.7%，但要付出0.5%的额外计算成本。ASPP[5]模块和改进后的SPP模块在操作上的区别是主要由原来的步长1、核大小为k×k的最大池化到几个3×3核的最大池化，缩放比例为k，步长1的空洞卷积。RFB模块是使用几个k×k核的空洞卷积，空洞率为k，步长为1以得到比ASPP更全面的空间覆盖率。RFB[47]只需额外增加7%推理时间却在MS COCO上将SSD的AP50提升5.7%。

The attention module that is often used in object detection is mainly divided into channel-wise attention and point-wise attention, and the representatives of these two attention models are Squeeze-and-Excitation (SE) [29] and Spatial Attention Module (SAM) [85], respectively. Although SE module can improve the power of ResNet50 in the ImageNet image classification task 1% top-1 accuracy at the cost of only increasing the computational effort by 2%, but on a GPU usually it will increase the inference time by about 10%, so it is more appropriate to be used in mobile devices. But for SAM, it only needs to pay 0.1% extra calculation and it can improve ResNet50-SE 0.5% top-1 accuracy on the ImageNet image classification task. Best of all, it does not affect the speed of inference on the GPU at all.

在目标检测中经常使用的注意力模块，通常分为channel-wise注意力和point-wise注意力，具有代表性的两个模型分别是Squeeze-and-Excitation (SE) [29]和Spatial Attention Module (SAM) [85]。虽然SE模块可以将ResNet50在ImageNet图像分类任务上的top-1准确率提升1%，而计算量仅仅增加2%，但是在GPU上推理时间通常会增加10％左右，所以更适合用于移动端设备。但对于SAM，它只需要额外0.1%的计算量就可以将ResNet50-SE在ImageNet图像分类任务上的Top-1精度提高0.5%。最重要的是，它完全不会影响GPU上推理的速度。

In terms of feature integration, the early practice is to use skip connection [51] or hyper-column [22] to integrate low-level physical feature to high-level semantic feature. Since multi-scale prediction methods such as FPN have become popular, many lightweight modules that integrate different feature pyramid have been proposed. The modules of this sort include SFAM [98], ASFF [48], and BiFPN [77]. The main idea of SFAM is to use SE module to execute channel-wise level re-weighting on multi-scale concatenated feature maps. As for ASFF, it uses softmax as point-wise level re-weighting and then adds feature maps of different scales. In BiFPN, the multi-input weighted residual connections is proposed to execute scale-wise level re-weighting, and then add feature maps of different scales.

在特征融合方面，早期的做法是使用快捷连接（skip connection）[51]或超列（hyper-column）[22]将低级物理特征融合成高级语义特征。由于FPN等多尺度预测方法越来越流行，许多集成了不同的特征金字塔特征的轻量级模块被提了出来。这类模块包括SFAM[98]、ASFF[48]和BiFPN[77]。SFAM的主要思想是利用SE模块对多尺度特征图在通道方向上重新加权拼接特征图。至于ASFF，它用softmax进行point-wise水平的重新加权，然后在不同尺度添加特征图。在BiFPN中，多输入加权残差连接进行多尺度水平的重新加权，然后在不同尺度上添加特征图。

In the research of deep learning, some people put their focus on searching for good activation function. A good activation function can make the gradient more efficiently propagated, and at the same time it will not cause too much extra computational cost. In 2010, Nair and Hinton [56] propose ReLU to substantially solve the gradient vanish problem which is frequently encountered in traditional tanh and sigmoid activation function. Subsequently, LReLU [54], PReLU [24], ReLU6 [28], Scaled Exponential Linear Unit (SELU) [35], Swish [59], hard-Swish [27], and Mish [55], etc., which are also used to solve the gradient vanish problem, have been proposed. The main purpose of LReLU and PReLU is to solve the problem that the gradient of ReLU is zero when the output is less than zero. As for ReLU6 and hard-Swish, they are specially designed for quantization networks. For self-normalizing a neural network, the SELU activation function is proposed to satisfy the goal. One thing to be noted is that both Swish and Mish are continuously differentiable activation function.

在深度学习的研究中，有人注重于寻找好的激活函数。一个好的激活函数可以使梯度更有效地传播，同时也不会造成太多的额外计算成本。2010年，Nair和Hinton [56]提出了ReLU来实质性地解决梯度消失的问题，这也是tanh和sigmoid激活函数经常遇到的问题。随后便提出了LReLU[54]、PReLU[24]、ReLU6[28]、Scaled Exponential Linear Unit (SELU)[35]、Swish[59]、hard-Swish[27]和Mish[55]等，这些激活函数也用来解决梯度消失问题的。LReLU和PReLU的主要目的是为了解决当ReLU输出小于零时梯度为零的问题。至于ReLU6和Hard-Swish，它们是专为量化网络（quantization networks）设计。对于自归一化的神经网络， SELU激活函数的提出满足了这一目的。需要注意的是，Swish和Mish都是连续可微的激活函数。

The post-processing method commonly used in deep-learning-based object detection is NMS, which can be used to filter those BBoxes that badly predict the same object, and only retain the candidate BBoxes with higher response. The way NMS tries to improve is consistent with the method of optimizing an objective function. The original method proposed by NMS does not consider the context information, so Girshick et al. [19] added classification confidence score in R-CNN as a reference, and according to the order of confidence score, greedy NMS was performed in the order of high score to low score. As for soft NMS [1], it considers the problem that the occlusion of an object may cause the degradation of confidence score in greedy NMS with IoU score. The DIoU NMS [99] developers way of thinking is to add the information of the center point distance to the BBox screening process on the basis of soft NMS. It is worth mentioning that, since none of above post-processing methods directly refer to the captured image features, post-processing is no longer required in the subsequent development of an anchor-free method.

基于深度学习的目标检测中常用的后处理方法是NMS（非极大值抑制），它可以用于过滤那些对相同目标预测较差的边界框，并且只保留响应较高的候选边界框。NMS努力改进的方式与目标函数的优化方法一致。NMS原始方法没有考虑背景信息，所以Girshick等人[19]在R-CNN中增加了分类置信度分数作为参考，并根据信任分数的顺序，从高分到低分的顺序执行贪婪NMS。至于soft NMS[1]，它关注了这样一个问题，即目标遮挡可能会导致基于IoU分数的贪婪NMS的置信度得分降低。基于DIoU的NMS[99]的开发者思路是在soft NMS基础上将中心点距离信息增加到BBox筛选的过程中。值得注意的是，由于上述后处理方法都没有直接涉及指提取特征图，所以在不使用anchor的方法后续开发中不再需要进行后处理。

3. Methodology

The basic aim is fast operating speed of neural network, in production systems and optimization for parallel computations, rather than the low computation volume theoretical indicator (BFLOP). We present two options of real-time neural networks:

• For GPU we use a small number of groups (1 – 8) in convolutional layers: CSPResNeXt50 / CSPDarknet53

• For VPU – we use grouped-convolution, but we refrain from using Squeeze-and-excitement (SE) blocks – specifically this includes the following models: EfficientNet-lite / MixNet [76] / GhostNet [21] / MobileNetV3

3. 方法

基本目的是生产系统中神经网络的快速运行速度和并行计算的优化，而不是低计算量理论指标（BFLOP）。我们提出了两种实时神经网络：

• 对于GPU，我们在卷积层使用少量组（1-8）：CSPResNeXt50 / CSPDarknet53
• 对于VPU，我们使用分组卷积，但避免使用Squeeze-and-excitement (SE) blocks。具体包括以下模型：EfficientNet-lite / MixNet [76] / GhostNet[21] / MobileNetV3

3.1 Selection of architecture

Our objective is to find the optimal balance among the input network resolution, the convolutional layer number, the parameter number (filter size2 * filters * channel / groups), and the number of layer outputs (filters). For instance, our numerous studies demonstrate that the CSPResNext50 is considerably better compared to CSPDarknet53 in terms of object classification on the ILSVRC2012 (ImageNet) dataset [10]. However, conversely, the CSPDarknet53 is better compared to CSPResNext50 in terms of detecting objects on the MS COCO dataset [46].

3.1架构选择

我们的目的是在输入网络分辨率、卷积层数目、参数数量（卷积核2 * 卷积核个数 * 通道数/组数）和每层输出个数（过滤器）之间找到最佳平衡。例如我们的许多研究表明CSPResNext50在ILSVRC2012(ImageNet)数据集上的目标分类效果比CSPDarknet53好很多。然而，CSPDarknet53在MS COCO数据集上的目标检测效果比CSPResNext50更好。

The next objective is to select additional blocks for increasing the receptive field and the best method of parameter aggregation from different backbone levels for different detector levels: e.g. FPN, PAN, ASFF, BiFPN.

下一个目标是选择额外的blocks以扩大感受野，从不同级别的backbone中选择最佳的参数组合方法以达到不同水平的检测效果，例如FPN、PAN、ASFF、BiFPN。

A reference model which is optimal for classification is not always optimal for a detector. In contrast to the classifier, the detector requires the following:

• Higher input network size (resolution) – for detecting multiple small-sized objects
• More layers – for a higher receptive field to cover the increased size of input network
• More parameters – for greater capacity of a model to detect multiple objects of different sizes in a single image

一个最佳的分类参考模型并不总是最佳的检测器。与分类器相比，检测器需要满足以下几点：

• 更大的输入网络尺寸（分辨率）——用于检测多个小尺寸目标
• 更多的层数——获得更大的感受野以便能适应网络输入尺寸的增加
• 更多参数——获得更大的模型容量以便在单个图像中检测多个大小不同的物体。

Hypothetically speaking, we can assume that a model with a larger receptive field size (with a larger number of convolutional layers 3 × 3) and a larger number of parameters should be selected as the backbone. Table 1 shows the information of CSPResNeXt50, CSPDarknet53, and EfficientNet B3. The CSPResNext50 contains only 16 convolutional layers 3 × 3, a 425 × 425 receptive field and 20.6 M parameters, while CSPDarknet53 contains 29 convolutional layers 3 × 3, a 725 × 725 receptive field and 27.6 M parameters. This theoretical justification, together with our numerous experiments, show that CSPDarknet53 neural network is the optimal model of the two as the backbone for a detector.

Table 1: Parameters of neural networks for image classification.

我们可以假设选择的backbone模型具有较大的感受野（具有很多3×3卷积层）和大量的参数。表1显示了CSPResNeXt50，CSPDarknet53和EfficientNet B3的相关信息。CSPResNext50仅包含16个3×3卷积层、425×425感受野大小和20.6M个参数，而CSPDarknet53包含29个3×3卷积、725×725感受野大小和27.6M个参数。这种理论上的证明，加上我们大量的实验表明：CSPDarknet53是这两个神经网络中最佳的检测器backbone模型。

表1：图像分类神经网络的参数。

The influence of the receptive field with different sizes is summarized as follows:

• Up to the object size – allows viewing the entire object
• Up to network size – allows viewing the context around the object
• Exceeding the network size – increases the number of connections between the image point and the final activation

不同大小的感受野的影响总结如下：

• 最大目标尺寸——允许观察到整个目标
• 最大网络尺寸——允许观察到目标周围的上下文
• 超出网络尺寸——增加图像像素点与最终激活值之间的连接数

We add the SPP block over the CSPDarknet53, since it significantly increases the receptive field, separates out the most significant context features and causes almost no reduction of the network operation speed. We use PANet as the method of parameter aggregation from different backbone levels for different detector levels, instead of the FPN used in YOLOv3.

我们将SPP模块添加到CSPDarknet53上，因为它大大增加了感受野，分离出最重要的context特征，然而几乎不会导致网络运行速度降低。我们使用PANet作为来自不同检测器水平不同backbone的参数组合方法而不是YOLOv3中使用的FPN。

Finally, we choose CSPDarknet53 backbone, SPP additional module, PANet path-aggregation neck, and YOLOv3 (anchor based) head as the architecture of YOLOv4.

最后，对于YOLOv4架构，我们选择CSPDarknet53为backbone、SPP额外添加模块、PANet path-aggregation为neck、YOLOv3（基于anchor的）为head。

In the future we plan to expand significantly the content of Bag of Freebies (BoF) for the detector, which theoretically can address some problems and increase the detector accuracy, and sequentially check the influence of each feature in an experimental fashion.

之后，我们将计划大幅扩展Bag of Freebies（BoF）的内容到检测器架构中，这些扩展的模块理论上应该可以解决一些问题并增加检测器准确性，并通过实验的方式按顺序检查每个功能的影响。

We do not use Cross-GPU Batch Normalization (CGBN or SyncBN) or expensive specialized devices. This allows anyone to reproduce our state-of-the-art outcomes on a conventional graphic processor e.g. GTX 1080Ti or RTX 2080Ti.

我们没有使用跨GPU的批标准化（CGBN或SyncBN）或昂贵的专用设备。这使得任何人都可用常规图形处理器，例如GTX 1080Ti或RTX2080Ti，复现我们最新的成果。

3.2. Selection of BoF and BoS

For improving the object detection training, a CNN usually uses the following:

• Activations: ReLU, leaky-ReLU, parametric-ReLU, ReLU6, SELU, Swish, or Mish
• Bounding box regression loss: MSE, IoU, GIoU, CIoU, DIoU
• Data augmentation: CutOut, MixUp, CutMix
• Regularization method: DropOut, DropPath [36], Spatial DropOut [79], or DropBlock
• Normalization of the network activations by their mean and variance: Batch Normalization (BN) [32], Cross-GPU Batch Normalization (CGBN or SyncBN) [93], Filter Response Normalization (FRN) [70], or Cross-Iteration Batch Normalization (CBN) [89]
• Skip-connections: Residual connections, Weighted residual connections, Multi-input weighted residual connections, or Cross stage partial connections (CSP)

3.2. BoF 和BoS的选择

为了改善目标检测的训练，CNN通常会使用如下方法或结构：

• 激活函数: ReLU、leaky-ReLU、parametric-ReLU、ReLU6、SELU、Swish、Mish
• 边界框损失回归：MSE、IoU、GIoU、CIoU、DIoU
• 数据增强：CutOut、MixUp、CutMix
• 正则化方法：DropOut、DropPath[36]、Spatial DropOut [79]、DropBlock
• 通过均值和方差标准化网络激活函数输出值：Batch Normalization (BN) [32]、Cross-GPU Batch Normalization (CGBN or SyncBN)[93]、Filter Response Normalization (FRN) [70]、Cross-Iteration Batch Normalization (CBN) [89]
• 快捷连接（Skip-connections）：残差连接、加权残差连接、多输入加权残差连接、Cross stage partial connections (CSP)

As for training activation function, since PReLU and SELU are more difficult to train, and ReLU6 is specifically designed for quantization network, we therefore remove the above activation functions from the candidate list. In the method of reqularization, the people who published DropBlock have compared their method with other methods in detail, and their regularization method has won a lot. Therefore, we did not hesitate to choose DropBlock as our regularization method. As for the selection of normalization method, since we focus on a training strategy that uses only one GPU, syncBN is not considered.

至于训练激活函数，由于PRELU和SELU的训练难度较大，而ReLU6是专门为量化网络而设计的，因此我们从候选列表中删除这几个激活函数。至于正则化方法，发表了DropBlock的人将他们的方法与其他方法进行了细致的比较，他们的正则化方法完胜。因此，我们毫不犹豫地选择了DropBlock作为我们正则化方法。至于归一化（或标准化）方法的选择，由于我们只关注在仅使用一个GPU上的训练策略，因此不会考虑使用syncBN。

3.3. Additional improvements

In order to make the designed detector more suitable for training on single GPU, we made additional design and improvement as follows:

• We introduce a new method of data augmentation Mosaic, and Self-Adversarial Training (SAT)
• We select optimal hyper-parameters while applying genetic algorithms
• We modify some exsiting methods to make our design suitble for efficient training and detection – modified SAM, modified PAN, and Cross mini-Batch Normalization (CmBN)

3.3 额外的改进

为了使所设计的检测器更适合于在单GPU上进行训练，我们做了如下额外的设计和改进：

• 我们引入了一种新的数据增强方法Mosaic和自对抗训练方法（Self-Adversarial Training，SAT）
• 我们使用遗传算法选择最优超参数
• 我们对现在方法做了一些修改，使得我们的设计更适合于高效的训练和检测——修改的SAM、修改的PAN和Cross mini-Batch Normalization (CmBN).

Mosaic represents a new data augmentation method that mixes 4 training images. Thus 4 different contexts are mixed, while CutMix mixes only 2 input images. This allows detection of objects outside their normal context. In addition, batch normalization calculates activation statistics from 4 different images on each layer. This significantly reduces the need for a large mini-batch size.

Figure 3: Mosaic represents a new method of data augmentation.

Mosaic是一个混合了4个训练图像的新的数据增强方法。由于混合了4个不同的contexts，而CutMix只混合了2个输入图像。这使得可以检测到目标正常contexts之外的目标。此外，批标准化从每层上4个不同的图像计算激活值统计数据。这显著地减少了对大batch size的需要。

图3：数据增强的一个新方法马赛克（Mosaic）。

Self-Adversarial Training (SAT) also represents a new data augmentation technique that operates in 2 forward backward stages. In the 1st stage the neural network alters the original image instead of the network weights. In this way the neural network executes an adversarial attack on itself, altering the original image to create the deception that there is no desired object on the image. In the 2nd stage, the neural network is trained to detect an object on this modified image in the normal way.

自对抗训练（Self-Adversarial Training，SAT）也是一种新的数据增强技术，以2个前向反向阶段的方式进行操作。在第一个阶段，神经网络改变的是原始图像而不是的网络权重。这样神经网络对其自身进行对抗性攻击，改变原始图像并创造出图像上没有目标的假象。在第2个阶段中，通过正常方式在修改的图像上进行目标检测对神经网络进行训练。

CmBN represents a CBN modified version, as shown in Figure 4, defined as Cross mini-Batch Normalization (CmBN). This collects statistics only between mini-batches within a single batch.

Figure 4: Cross mini-Batch Normalization.

如图4所示，CmBN是CBN的修改版，定义为Cross mini-Batch Normalization(CmBN)。其只收集单个批次内mini-batches之间的统计数据。

图4：Cross mini-Batch Normalization。

We modify SAM from spatial-wise attention to pointwise attention, and replace shortcut connection of PAN to concatenation, as shown in Figure 5 and Figure 6, respectively.

Figure 5: Modified SAM.

Figure 6: Modified PAN.

如图5所示，我们将SAM从spatial-wise attention修改为point-wise attention，如图6所示，我们将PAN的快捷连接改为拼接。

图5：修改的SAM。

图6：修改的PAN。

3.4. YOLOv4

In this section, we shall elaborate the details of YOLOv4.

YOLOv4 consists of:

• Backbone: CSPDarknet53 [81]
• Neck: SPP [25], PAN [49]
• Head: YOLOv3 [63]

YOLO v4 uses:

• Bag of Freebies (BoF) for backbone: CutMix and Mosaic data augmentation, DropBlock regularization, Class label smoothing
• Bag of Specials (BoS) for backbone: Mish activation, Cross-stage partial connections (CSP), Multiinput weighted residual connections (MiWRC)
• Bag of Freebies (BoF) for detector: CIoU-loss, CmBN, DropBlock regularization, Mosaic data augmentation, Self-Adversarial Training, Eliminate grid sensitivity, Using multiple anchors for a single ground truth, Cosine annealing scheduler [52], Optimal hyperparameters, Random training shapes
• Bag of Specials (BoS) for detector: Mish activation, SPP-block, SAM-block, PAN path-aggregation block, DIoU-NMS

3.4. YOLOv4

本节，我们将详细介绍YOLOv4。

YOLOv4包括：

• Backbone：CSPDarknet53 [81]
• Neck：SPP [25]、PAN [49]
• Head：YOLOv3 [63]

YOLO v4使用:

• Bag of Freebies (BoF) for backbone：CutMix and Mosaic数据增强、DropBlock正则化、Class label smoothing
• Bag of Specials (BoS) for backbone：Mish激活函数、Cross-stage partial connections (CSP)、多输入加权残差连接 (MiWRC)
• Bag of Freebies (BoF) for detector: CIoU损失、CmBN、DropBlock正则化、Mosaic数据增强、自对抗训练、Eliminate grid sensitivity、Using multiple anchors for a single ground truth、Cosine annealing scheduler [52]、优化超参数、Random training shapes
• Bag of Specials (BoS) for detector：Mish激活函数、SPP-block、SAM-block、PAN path-aggregation block、DIoU-NMS

4 Experiments

We test the influence of different training improvement techniques on accuracy of the classifier on ImageNet (ILSVRC 2012 val) dataset, and then on the accuracy of the detector on MS COCO (test-dev 2017) dataset.

4. 实验

我们测试了不同的训练改进在ImageNet数据集分类任务（ILSVRC 2012年val）和MS COCO（test-dev 2017）数据集检测上的准确性。

4.1. Experimental setup

In ImageNet image classification experiments, the default hyper-parameters are as follows: the training steps is 8,000,000; the batch size and the mini-batch size are 128 and 32, respectively; the polynomial decay learning rate scheduling strategy is adopted with initial learning rate 0.1; the warm-up steps is 1000; the momentum and weight decay are respectively set as 0.9 and 0.005. All of our BoS experiments use the same hyper-parameter as the default setting, and in the BoF experiments, we add an additional 50% training steps. In the BoF experiments, we verify MixUp, CutMix, Mosaic, Bluring data augmentation, and label smoothing regularization methods. In the BoS experiments, we compared the effects of LReLU, Swish, and Mish activation function. All experiments are trained with a 1080 Ti or 2080 Ti GPU.

4.1实验设置

在ImageNet的图像分类实验中，默认超参数如下：训练步数为8百万次；批大小和mini批大小分别为128和32；polynomial decay learning rate scheduling strategy初始学习率为0.1的多项式衰减调度策略；warm-up步数为1000；动量和衰减权重分别设定为0.9和0.005。我们所有的BoS实验都使用的默认超参数设置，而在BoF实验中，我们增加了额外50%的训练步数。在BoF实验中，我们验证了MixUp、CutMix、Mosaic、Bluring数据增强和标签smoothing正则化方法。在BoS实验中我们比较了LReLU、Swish和Mish激活函数的效果。所有实验都使用用1080Ti或2080 Ti GPU进行了训练。

In MS COCO object detection experiments, the default hyper-parameters are as follows: the training steps is 500,500; the step decay learning rate scheduling strategy is adopted with initial learning rate 0.01 and multiply with a factor 0.1 at the 400,000 steps and the 450,000 steps, respectively; The momentum and weight decay are respectively set as 0.9 and 0.0005. All architectures use a single GPU to execute multi-scale training in the batch size of 64 while mini-batch size is 8 or 4 depend on the architectures and GPU memory limitation. Except for using genetic algorithm for hyper-parameter search experiments, all other experiments use default setting. Genetic algorithm used YOLOv3-SPP to train with GIoU loss and search 300 epochs for min-val 5k sets. We adopt searched learning rate 0.00261, momentum 0.949, IoU threshold for assigning ground truth 0.213, and loss normalizer 0.07 for genetic algorithm experiments. We have verified a large number of BoF, including grid sensitivity elimination, mosaic data augmentation, IoU threshold, genetic algorithm, class label smoothing, cross mini-batch normalization, selfadversarial training, cosine annealing scheduler, dynamic mini-batch size, DropBlock, Optimized Anchors, different kind of IoU losses. We also conduct experiments on various BoS, including Mish, SPP, SAM, RFB, BiFPN, and Gaussian YOLO [8]. For all experiments, we only use one GPU for training, so techniques such as syncBN that optimizes multiple GPUs are not used.

在MS COCO目标检测实验中，默认参数如下：训练步数为500500；采用初始学习率为0.01的学习率衰减策略，并分别在40万步和45万步时乘以系数0.1。动量和权重衰减分别设置为0.9和0.0005。所有的架构使用单个GPU进行了多尺度训练，批大小为64，mini批大小为8或4，具体取决于模型架构和GPU显存容量限制。除了使用使用遗传算法进行超参数搜索外，所有其他实验均使用默认设置。YOLOv3-SPP使用的遗传算法实验使用GIoU损失进行训练，对min-val 5k数据集进行了300轮的搜索。遗传算法采用搜索学习率为0.00261、动量为0.949，真实值的IoU阈值设置为0.213，损失正则化为0.07。我们也经验证了大量的BoF，包括grid sensitivity elimination、马赛克数据增强、IoU阈值、遗传算法、类别标签smoothing、跨小批量标准化、自对抗训练、cosine annealing scheduler、dynamic mini-batch size、DropBlock、Optimized Anchors、不同类型的IoU损失。我们也对各种BoS进行了实验，包括Mish、SPP、SAM、RFB、BiFPN、BiFPN和Gaussian YOLO[8]。对于所有的实验，我们只使用一个GPU进行了训练，因此诸如syncBN可以优化多GPU训练的技术并没有使用。

4.2. Influence of different features on Classifier training

First, we study the influence of different features on classifier training; specifically, the influence of Class label smoothing, the influence of different data augmentation techniques, bilateral blurring, MixUp, CutMix and Mosaic, as shown in Fugure 7, and the influence of different activations, such as Leaky-ReLU (by default), Swish, and Mish.

Figure 7: Various method of data augmentation.

4.2. 不同技巧对分类器训练的影响

首先，我们研究了不同技巧对分类器训练的影响；具体而言，研究了类别标签smoothing的影响，如图7所示双边模糊（bilateral blurring）、MixUp、CutMix和马赛克等不同数据增强的影响，以及Leaky-ReLU（默认值）、Swish和Mish等不同激活函数的影响。

图7：不同的数据增强方法。

In our experiments, as illustrated in Table 2, the classifier’s accuracy is improved by introducing the features such as: CutMix and Mosaic data augmentation, Class label smoothing, and Mish activation. As a result, our BoF-backbone (Bag of Freebies) for classifier training includes the following: CutMix and Mosaic data augmentation and Class label smoothing. In addition we use Mish activation as a complementary option, as shown in Table 2 and Table 3.

Table 2: Influence of BoF and Mish on the CSPResNeXt-50 classifier accuracy.

Table 3: Influence of BoF and Mish on the CSPDarknet-53 classifier accuracy.

如表2所示，我们的实验引入了以下技巧从而提高了精度，如CutMix和马赛克数据增强、类别标签smoothing和Mish激活函数。因此，我们的分类器训练的BoF-backbone (Bag of Freebies)包括CutMix和Mosaic数据增强、类别标签smoothing。除此之外，如表2和表3所示我们还使用了Mish激活函数作为互补选项。

表2：BoF和Mish对CSPResNeXt-50分类器精度的影响

表3：BoF和Mish对CSPDarknet-53分类器精度的影响

4.3 Influence of different features on Detector training

Further study concerns the influence of different Bag-of-Freebies (BoF-detector) on the detector training accuracy, as shown in Table 4. We significantly expand the BoF list through studying different features that increase the detector accuracy without affecting FPS:

• S: Eliminate grid sensitivity the equation bx=σ(tx)+cx, by=σ(ty)+cy, where cx and cy are always whole numbers, is used in YOLOv3 for evaluating the object coordinates, therefore, extremely high tx absolute values are required for the bx value approaching the cx or cx+1 values. We solve this problem through multiplying the sigmoid by a factor exceeding 1.0, so eliminating the effect of grid on which the object is undetectable.
• M: Mosaic data augmentation – using the 4-image mosaic during training instead of single image
• IT: IoU threshold – using multiple anchors for a single ground truth IoU (truth, anchor) > IoU threshold
• GA: Genetic algorithms – using genetic algorithms for selecting the optimal hyperparameters during network training on the first 10% of time periods
• LS: Class label smoothing – using class label smoothing for sigmoid activation
• CBN: CmBN – using Cross mini-Batch Normalization for collecting statistics inside the entire batch, instead of collecting statistics inside a single mini-batch
• CA: Cosine annealing scheduler – altering the learning rate during sinusoid training
• DM: Dynamic mini-batch size – automatic increase of mini-batch size during small resolution training by using Random training shapes
• OA: Optimized Anchors – using the optimized anchors for training with the 512×512 network resolution
• GIoU, CIoU, DIoU, MSE – using different loss algorithms for bounded box regression

Table 4: Ablation Studies of Bag-of-Freebies. (CSPResNeXt50-PANet-SPP, 512x512).

4.3 不同技巧对检测训练的影响

如表4所示，深入研究了不同Bag-of-Freebies (BoF-detector)在检测器训练中的影响。我们通过研究不影响FPS的同时能提升精度的技巧，显著扩展了BOF列表的内容，具体如下：

• S：消除了格子灵敏度，在YOLOv3通过方程bx=σ(tx)+cx, by=σ(ty)+cy计算对象坐标，其中cx和cy始终为整数，因此，当bx值接近cx或cx+1时需要极高的tx绝对值。我们通过将sigmoid乘以超过1.0的因子来解决此问题，从而消除了没有检测到目标格子的影响。
• M：马赛克数据增强——训练时使用4张图像的马赛克结果而不是单张图像
• IT：IoU阈值——针对一个真值边界框使用多个anchor，Iou（真值，anchor）>IoU阈值
• GA：遗传算法——在网络训练最初10%的时间内使用遗传算法筛选最优超参数
• LS：类别标签smoothing——对sigmoid激活函数结果使用类别标签smoothing
• CBN：CmBN——使用Cross mini-Batch Normalization在整个小批量内收集统计数据，而不是在单个mini小批量收集统计数据
• CA：Cosine annealing scheduler——在正弦训练中改变学习率
• DM：Dynamic mini-batch size——采用随机训练形状时，对于小分辨率的输入自动增大mini-batch的大小
• OA：最优化Anchors——使用最优化anchor对512×512的网络分辨率进行训练
• GIoU、CIoU、DIoU、MSE——边界框使用不同的损失算法

表4：Bag-of-Freebies的消融研究(CSPResNeXt50-PANet-SPP，512x512)。

Further study concerns the influence of different Bagof-Specials (BoS-detector) on the detector training accuracy, including PAN, RFB, SAM, Gaussian YOLO (G), and ASFF, as shown in Table 5. In our experiments, the detector gets best performance when using SPP, PAN, and SAM.

Table 5: Ablation Studies of Bag-of-Specials. (Size 512x512).

如表5所示，进一步的研究涉及了不同的Bag-of-Specials(BoS-detector)对检测器训练精度的影响，包括PAN、RFB、SAM、Gaussian YOLO(G)和ASFF。在我们的实验中，当使用SPP、PAN和SAM时，检测器获得最佳性能。

表5：对Bag-of-Specials进行消融研究（尺寸512x512）。

4.4 Influence of different backbones and pre-trained weightings on Detector training

Further on we study the influence of different backbone models on the detector accuracy, as shown in Table 6. We notice that the model characterized with the best classification accuracy is not always the best in terms of the detector accuracy.

Table 6: Using different classifier pre-trained weightings for detector training (all other training parameters are similar in all models).

4.4 不同backbone和预训练权重对检测器训练的影响

如表6所示，我们进一步研究不同backbone对检测器精度的影响。我们注意到具有最佳的分类精度的模型架构并不总是具有最好的检测精度。

表6：使用不同分类器预训练的权重进行检测器训练（所有模型中所有其它参数都是相同的）。

First, although classification accuracy of CSPResNeXt50 models trained with different features is higher compared to CSPDarknet53 models, the CSPDarknet53 model shows higher accuracy in terms of object detection.

首先，虽然使用不同特征的CSPResNeXt50模型的分类准确率高于 CSPDarknet53模型，但是CSPDarknet53模型在目标检测方面具有更高的精度。

Second, using BoF and Mish for the CSPResNeXt50 classifier training increases its classification accuracy, but further application of these pre-trained weightings for detector training reduces the detector accuracy. However, using BoF and Mish for the CSPDarknet53 classifier training increases the accuracy of both the classifier and the detector which uses this classifier pre-trained weightings. The net result is that backbone CSPDarknet53 is more suitable for the detector than for CSPResNeXt50.

其次，CSPResNeXt50分类器的训练使用BoF和Mish后提高了其分类精度，但将这些预先训练的权重应用到检测器训练时则降低了检测器的精度。然而，CSPDarknet53分类器的训练时使用BoF和Mish均提高了分类器和检测器的精度，检测器使用了分类器预训练的权重。最终的结果是， CSPDarknet53比CSPResNeXt50更适合于做检测器的backbone。

We observe that the CSPDarknet53 model demonstrates a greater ability to increase the detector accuracy owing to various improvements.

我们观察到，CSPDarknet53模型由于各种改进体现出更大的能力来提高检测器的精度。

4.5 Influence of different mini-batch size on Detector training

Finally, we analyze the results obtained with models trained with different mini-batch sizes, and the results are shown in Table 7. From the results shown in Table 7, we found that after adding BoF and BoS training strategies, the mini-batch size has almost no effect on the detector’s performance. This result shows that after the introduction of BoF and BoS, it is no longer necessary to use expensive GPUs for training. In other words, anyone can use only a conventional GPU to train an excellent detector.

Table 7: Using different mini-batch size for detector training.

4.5 不同的mini-batch size对检测器训练的影响

最后，我们分析了模型经过不同mini-batch大小的训练的结果，结果图表7所示。从表7所示的结果来看，我们发现训练时加入BoF和BoS后mini-batch大小几乎对检测器性能没有任何影响。这一结果表明，引入BoF和BoS后将不再需要使用昂贵的GPU来进行训练。换句话说，任何人都可以只使用一个传统的GPU来训练一个优秀的检测器。

表7：使用不同mini-batch大小进行检测器训练。

5 Results

Comparison of the results obtained with other state-of-the-art object detectors are shown in Figure 8. Our YOLOv4 are located on the Pareto optimality curve and are superior to the fastest and most accurate detectors in terms of both speed and accuracy.

Figure 8: Comparison of the speed and accuracy of different object detectors. (Some articles stated the FPS of their detectors for only one of the GPUs: Maxwell/Pascal/Volta)

5. 结果

如图8所示为我们的模型与其他最先进的检测器的比较结果。我们的YOLOv4位于帕累托最优曲线上，并且在速度和精度方面都超过最快和最精确的检测器。

图8：不同目标检测器速度和精度的比较。（一些文章指出，它们的检测器的FPS仅基于某一种GPU：Maxwell/Pascal/Volta）。

Since different methods use GPUs of different architectures for inference time verification, we operate YOLOv4 on commonly adopted GPUs of Maxwell, Pascal, and Volta architectures, and compare them with other state-of-the-art methods. Table 8 lists the frame rate comparison results of using Maxwell GPU, and it can be GTX Titan X (Maxwell) or Tesla M40 GPU. Table 9 lists the frame rate comparison results of using Pascal GPU, and it can be Titan X (Pascal), Titan Xp, GTX 1080 Ti, or Tesla P100 GPU. As for Table 10, it lists the frame rate comparison results of using Volta GPU, and it can be Titan Volta or Tesla V100 GPU.

Table 8: Comparison of the speed and accuracy of different object detectors on the MS COCO dataset (test-dev 2017). (Real-time detectors with FPS 30 or higher are highlighted here. We compare the results with batch=1 without using tensorRT.)

Table 9: Comparison of the speed and accuracy of different object detectors on the MS COCO dataset (test-dev 2017). (Real-time detectors with FPS 30 or higher are highlighted here. We compare the results with batch=1 without using tensorRT.)

Table 10: Comparison of the speed and accuracy of different object detectors on the MS COCO dataset (test-dev 2017). (Real-time detectors with FPS 30 or higher are highlighted here. We compare the results with batch=1 without using tensorRT.)

由于不同的方法在进行推理时间验证的时候使用了不同架构的GPU，我们让YOLOv4运行在Maxwell、Pascal和Volta等常用的GPU上，并与其他最新技术进行了比较。表8列出了使用Maxwell GPU时帧率的比较结果，具体型号可以是GTX Titan X (Maxwell)或Tesla M40 GPU）。表9列出了使用Pascal GPU时帧率的比较结果，具体型号可以是Titan X（Pascal）、Titan Xp、GTX 1080 Ti或Tesla P100 GPU。表10列出使用Volta GPU时帧率的比较结果，具体型号可以是Titan Volta或Tesla V100 GPU。

表8：不同目标检测器在MS COCO数据集上的速度和准确性的比较（test-dev 2017）。（FPS 30或更高的实时检测器突出显示。我们在batch=1、不使用tensorRT的情况下对结果进行了比较。）（译者注：使用Maxwell GPU）

表9：不同目标检测器在MS COCO数据集上的速度和准确性的比较（test-dev 2017）。（FPS 30或更高的实时检测器突出显示。我们在batch=1、不使用tensorRT的情况下对结果进行了比较。）（译者注：使用Pascal GPU）

表10：不同目标检测器在MS COCO数据集上的速度和准确性的比较（test-dev 2017）。（FPS 30或更高的实时检测器突出显示。我们在batch=1、不使用tensorRT的情况下对结果进行了比较。）（译者注：使用Volta GPU）

6. Conclusions

We offer a state-of-the-art detector which is faster (FPS) and more accurate (MS COCO AP 50…95 and AP 50 ) than all available alternative detectors. The detector described can be trained and used on a conventional GPU with 8-16GB-VRAM this makes its broad use possible. The original concept of one-stage anchor-based detectors has proven its viability. We have verified a large number of features, and selected for use such of them for improving the accuracy of both the classifier and the detector. These features can be used as best-practice for future studies and developments.

6. 结论

我们提供了一个最先进的检测器，相比于其它所有可用、可替代的检测器其速度更快（FPS）、更准确（MS COCO AP50…95和AP50）。该检测器可以在8-16GB-VRAM的传统GPU上训练和使用，这使得它能够被广泛使用。基于一阶段anchor原始概念的检测测器已经被证实是可行的。我们已经验证了大量方法，并选择使用其中一些方法以提高分类器和检测器的准确性。这些方法可以用作未来研究和开发的最佳实践。

7. Acknowledgements

The authors wish to thank Glenn Jocher for the ideas of Mosaic data augmentation, the selection of hyper-parameters by using genetic algorithms and solving the grid sensitivity problem https://github.com/ ultralytics/yolov3.

7. 致谢

作者们感谢Glenn Jocher关于马赛克数据增强、使用遗传算法进行超参数筛选和解决格子敏感问题的想法，https://github.com/ ultralytics/yolov3。

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