OpenMMLab Detection Toolbox and Benchmark
https://mmdetection.readthedocs.io/
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361 lines
21 KiB
# Benchmark and Model Zoo |
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## Mirror sites |
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We only use aliyun to maintain the model zoo since MMDetection V2.0. The model zoo of V1.x has been deprecated. |
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## Common settings |
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- All models were trained on `coco_2017_train`, and tested on the `coco_2017_val`. |
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- We use distributed training. |
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- All pytorch-style pretrained backbones on ImageNet are from PyTorch model zoo, caffe-style pretrained backbones are converted from the newly released model from detectron2. |
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- For fair comparison with other codebases, we report the GPU memory as the maximum value of `torch.cuda.max_memory_allocated()` for all 8 GPUs. Note that this value is usually less than what `nvidia-smi` shows. |
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- We report the inference time as the total time of network forwarding and post-processing, excluding the data loading time. Results are obtained with the script [benchmark.py](https://github.com/open-mmlab/mmdetection/blob/master/tools/analysis_tools/benchmark.py) which computes the average time on 2000 images. |
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## ImageNet Pretrained Models |
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It is common to initialize from backbone models pre-trained on ImageNet classification task. All pre-trained model links can be found at [open_mmlab](https://github.com/open-mmlab/mmcv/blob/master/mmcv/model_zoo/open_mmlab.json). According to `img_norm_cfg` and source of weight, we can divide all the ImageNet pre-trained model weights into some cases: |
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- TorchVision: Corresponding to torchvision weight, including ResNet50, ResNet101. The `img_norm_cfg` is `dict(mean=[123.675, 116.28, 103.53], std=[58.395, 57.12, 57.375], to_rgb=True)`. |
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- Pycls: Corresponding to [pycls](https://github.com/facebookresearch/pycls) weight, including RegNetX. The `img_norm_cfg` is `dict( |
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mean=[103.530, 116.280, 123.675], std=[57.375, 57.12, 58.395], to_rgb=False)`. |
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- MSRA styles: Corresponding to [MSRA](https://github.com/KaimingHe/deep-residual-networks) weights, including ResNet50_Caffe and ResNet101_Caffe. The `img_norm_cfg` is `dict( |
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mean=[103.530, 116.280, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False)`. |
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- Caffe2 styles: Currently only contains ResNext101_32x8d. The `img_norm_cfg` is `dict(mean=[103.530, 116.280, 123.675], std=[57.375, 57.120, 58.395], to_rgb=False)`. |
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- Other styles: E.g SSD which corresponds to `img_norm_cfg` is `dict(mean=[123.675, 116.28, 103.53], std=[1, 1, 1], to_rgb=True)` and YOLOv3 which corresponds to `img_norm_cfg` is `dict(mean=[0, 0, 0], std=[255., 255., 255.], to_rgb=True)`. |
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The detailed table of the commonly used backbone models in MMDetection is listed below : |
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| model | source | link | description | |
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| ---------------- | ----------- | ------------------------------------------------------------ | ------------------------------------------------------------ | |
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| ResNet50 | TorchVision | [torchvision's ResNet-50](https://download.pytorch.org/models/resnet50-19c8e357.pth) | From [torchvision's ResNet-50](https://download.pytorch.org/models/resnet50-19c8e357.pth). | |
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| ResNet101 | TorchVision | [torchvision's ResNet-101](https://download.pytorch.org/models/resnet101-5d3b4d8f.pth) | From [torchvision's ResNet-101](https://download.pytorch.org/models/resnet101-5d3b4d8f.pth). | |
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| RegNetX | Pycls | [RegNetX_3.2gf](https://download.openmmlab.com/pretrain/third_party/regnetx_3.2gf-c2599b0f.pth), [RegNetX_800mf](https://download.openmmlab.com/pretrain/third_party/regnetx_800mf-1f4be4c7.pth). etc. | From [pycls](https://github.com/facebookresearch/pycls). | |
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| ResNet50_Caffe | MSRA | [MSRA's ResNet-50](https://download.openmmlab.com/pretrain/third_party/resnet50_caffe-788b5fa3.pth) | Converted copy of [Detectron2's R-50.pkl](https://dl.fbaipublicfiles.com/detectron2/ImageNetPretrained/MSRA/R-50.pkl) model. The original weight comes from [MSRA's original ResNet-50](https://github.com/KaimingHe/deep-residual-networks). | |
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| ResNet101_Caffe | MSRA | [MSRA's ResNet-101](https://download.openmmlab.com/pretrain/third_party/resnet101_caffe-3ad79236.pth) | Converted copy of [Detectron2's R-101.pkl](https://dl.fbaipublicfiles.com/detectron2/ImageNetPretrained/MSRA/R-101.pkl) model. The original weight comes from [MSRA's original ResNet-101](https://github.com/KaimingHe/deep-residual-networks). | |
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| ResNext101_32x8d | Caffe2 | [Caffe2 ResNext101_32x8d](https://download.openmmlab.com/pretrain/third_party/resnext101_32x8d-1516f1aa.pth) | Converted copy of [Detectron2's X-101-32x8d.pkl](https://dl.fbaipublicfiles.com/detectron2/ImageNetPretrained/FAIR/X-101-32x8d.pkl) model. The ResNeXt-101-32x8d model trained with Caffe2 at FB. | |
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## Baselines |
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### RPN |
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Please refer to [RPN](https://github.com/open-mmlab/mmdetection/blob/master/configs/rpn) for details. |
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### Faster R-CNN |
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Please refer to [Faster R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/faster_rcnn) for details. |
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### Mask R-CNN |
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Please refer to [Mask R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/mask_rcnn) for details. |
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### Fast R-CNN (with pre-computed proposals) |
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Please refer to [Fast R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/fast_rcnn) for details. |
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### RetinaNet |
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Please refer to [RetinaNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/retinanet) for details. |
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### Cascade R-CNN and Cascade Mask R-CNN |
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Please refer to [Cascade R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/cascade_rcnn) for details. |
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### Hybrid Task Cascade (HTC) |
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Please refer to [HTC](https://github.com/open-mmlab/mmdetection/blob/master/configs/htc) for details. |
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### SSD |
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Please refer to [SSD](https://github.com/open-mmlab/mmdetection/blob/master/configs/ssd) for details. |
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### Group Normalization (GN) |
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Please refer to [Group Normalization](https://github.com/open-mmlab/mmdetection/blob/master/configs/gn) for details. |
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### Weight Standardization |
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Please refer to [Weight Standardization](https://github.com/open-mmlab/mmdetection/blob/master/configs/gn+ws) for details. |
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### Deformable Convolution v2 |
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Please refer to [Deformable Convolutional Networks](https://github.com/open-mmlab/mmdetection/blob/master/configs/dcn) for details. |
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### CARAFE: Content-Aware ReAssembly of FEatures |
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Please refer to [CARAFE](https://github.com/open-mmlab/mmdetection/blob/master/configs/carafe) for details. |
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### Instaboost |
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Please refer to [Instaboost](https://github.com/open-mmlab/mmdetection/blob/master/configs/instaboost) for details. |
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### Libra R-CNN |
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Please refer to [Libra R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/libra_rcnn) for details. |
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### Guided Anchoring |
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Please refer to [Guided Anchoring](https://github.com/open-mmlab/mmdetection/blob/master/configs/guided_anchoring) for details. |
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### FCOS |
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Please refer to [FCOS](https://github.com/open-mmlab/mmdetection/blob/master/configs/fcos) for details. |
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### FoveaBox |
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Please refer to [FoveaBox](https://github.com/open-mmlab/mmdetection/blob/master/configs/foveabox) for details. |
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### RepPoints |
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Please refer to [RepPoints](https://github.com/open-mmlab/mmdetection/blob/master/configs/reppoints) for details. |
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### FreeAnchor |
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Please refer to [FreeAnchor](https://github.com/open-mmlab/mmdetection/blob/master/configs/free_anchor) for details. |
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### Grid R-CNN (plus) |
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Please refer to [Grid R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/grid_rcnn) for details. |
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### GHM |
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Please refer to [GHM](https://github.com/open-mmlab/mmdetection/blob/master/configs/ghm) for details. |
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### GCNet |
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Please refer to [GCNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/gcnet) for details. |
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### HRNet |
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Please refer to [HRNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/hrnet) for details. |
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### Mask Scoring R-CNN |
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Please refer to [Mask Scoring R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/ms_rcnn) for details. |
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### Train from Scratch |
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Please refer to [Rethinking ImageNet Pre-training](https://github.com/open-mmlab/mmdetection/blob/master/configs/scratch) for details. |
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### NAS-FPN |
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Please refer to [NAS-FPN](https://github.com/open-mmlab/mmdetection/blob/master/configs/nas_fpn) for details. |
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### ATSS |
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Please refer to [ATSS](https://github.com/open-mmlab/mmdetection/blob/master/configs/atss) for details. |
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### FSAF |
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Please refer to [FSAF](https://github.com/open-mmlab/mmdetection/blob/master/configs/fsaf) for details. |
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### RegNetX |
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Please refer to [RegNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/regnet) for details. |
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### Res2Net |
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Please refer to [Res2Net](https://github.com/open-mmlab/mmdetection/blob/master/configs/res2net) for details. |
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### GRoIE |
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Please refer to [GRoIE](https://github.com/open-mmlab/mmdetection/blob/master/configs/groie) for details. |
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### Dynamic R-CNN |
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Please refer to [Dynamic R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/dynamic_rcnn) for details. |
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### PointRend |
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Please refer to [PointRend](https://github.com/open-mmlab/mmdetection/blob/master/configs/point_rend) for details. |
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### DetectoRS |
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Please refer to [DetectoRS](https://github.com/open-mmlab/mmdetection/blob/master/configs/detectors) for details. |
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### Generalized Focal Loss |
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Please refer to [Generalized Focal Loss](https://github.com/open-mmlab/mmdetection/blob/master/configs/gfl) for details. |
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### CornerNet |
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Please refer to [CornerNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/cornernet) for details. |
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### YOLOv3 |
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Please refer to [YOLOv3](https://github.com/open-mmlab/mmdetection/blob/master/configs/yolo) for details. |
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### PAA |
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Please refer to [PAA](https://github.com/open-mmlab/mmdetection/blob/master/configs/paa) for details. |
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### SABL |
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Please refer to [SABL](https://github.com/open-mmlab/mmdetection/blob/master/configs/sabl) for details. |
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### CentripetalNet |
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Please refer to [CentripetalNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/centripetalnet) for details. |
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### ResNeSt |
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Please refer to [ResNeSt](https://github.com/open-mmlab/mmdetection/blob/master/configs/resnest) for details. |
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### DETR |
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Please refer to [DETR](https://github.com/open-mmlab/mmdetection/blob/master/configs/detr) for details. |
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### Deformable DETR |
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Please refer to [Deformable DETR](https://github.com/open-mmlab/mmdetection/blob/master/configs/deformable_detr) for details. |
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### AutoAssign |
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Please refer to [AutoAssign](https://github.com/open-mmlab/mmdetection/blob/master/configs/autoassign) for details. |
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### YOLOF |
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Please refer to [YOLOF](https://github.com/open-mmlab/mmdetection/blob/master/configs/yolof) for details. |
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### Seesaw Loss |
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Please refer to [Seesaw Loss](https://github.com/open-mmlab/mmdetection/blob/master/configs/seesaw_loss) for details. |
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### CenterNet |
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Please refer to [CenterNet](https://github.com/open-mmlab/mmdetection/blob/master/configs/centernet) for details. |
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### YOLOX |
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Please refer to [YOLOX](https://github.com/open-mmlab/mmdetection/blob/master/configs/yolox) for details. |
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### PVT |
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Please refer to [PVT](https://github.com/open-mmlab/mmdetection/blob/master/configs/pvt) for details. |
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### SOLO |
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Please refer to [SOLO](https://github.com/open-mmlab/mmdetection/blob/master/configs/solo) for details. |
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### QueryInst |
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Please refer to [QueryInst](https://github.com/open-mmlab/mmdetection/blob/master/configs/queryinst) for details. |
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### PanopticFPN |
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Please refer to [PanopticFPN](https://github.com/open-mmlab/mmdetection/blob/master/configs/panoptic_fpn) for details. |
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### MaskFormer |
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Please refer to [MaskFormer](https://github.com/open-mmlab/mmdetection/blob/master/configs/maskformer) for details. |
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### DyHead |
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Please refer to [DyHead](https://github.com/open-mmlab/mmdetection/blob/master/configs/dyhead) for details. |
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### Mask2Former |
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Please refer to [Mask2Former](https://github.com/open-mmlab/mmdetection/blob/master/configs/mask2former) for details. |
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### Efficientnet |
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Please refer to [Efficientnet](https://github.com/open-mmlab/mmdetection/blob/master/configs/efficientnet) for details. |
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### Other datasets |
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We also benchmark some methods on [PASCAL VOC](https://github.com/open-mmlab/mmdetection/blob/master/configs/pascal_voc), [Cityscapes](https://github.com/open-mmlab/mmdetection/blob/master/configs/cityscapes), [OpenImages](https://github.com/open-mmlab/mmdetection/blob/master/configs/openimages) and [WIDER FACE](https://github.com/open-mmlab/mmdetection/blob/master/configs/wider_face). |
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### Pre-trained Models |
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We also train [Faster R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/faster_rcnn) and [Mask R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/mask_rcnn) using ResNet-50 and [RegNetX-3.2G](https://github.com/open-mmlab/mmdetection/blob/master/configs/regnet) with multi-scale training and longer schedules. These models serve as strong pre-trained models for downstream tasks for convenience. |
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## Speed benchmark |
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### Training Speed benchmark |
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We provide [analyze_logs.py](https://github.com/open-mmlab/mmdetection/blob/master/tools/analysis_tools/analyze_logs.py) to get average time of iteration in training. You can find examples in [Log Analysis](https://mmdetection.readthedocs.io/en/latest/useful_tools.html#log-analysis). |
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We compare the training speed of Mask R-CNN with some other popular frameworks (The data is copied from [detectron2](https://github.com/facebookresearch/detectron2/blob/master/docs/notes/benchmarks.md/)). |
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For mmdetection, we benchmark with [mask_rcnn_r50_caffe_fpn_poly_1x_coco_v1.py](https://github.com/open-mmlab/mmdetection/blob/master/configs/mask_rcnn/mask_rcnn_r50_caffe_fpn_poly_1x_coco_v1.py), which should have the same setting with [mask_rcnn_R_50_FPN_noaug_1x.yaml](https://github.com/facebookresearch/detectron2/blob/master/configs/Detectron1-Comparisons/mask_rcnn_R_50_FPN_noaug_1x.yaml) of detectron2. |
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We also provide the [checkpoint](https://download.openmmlab.com/mmdetection/v2.0/benchmark/mask_rcnn_r50_caffe_fpn_poly_1x_coco_no_aug/mask_rcnn_r50_caffe_fpn_poly_1x_coco_no_aug_compare_20200518-10127928.pth) and [training log](https://download.openmmlab.com/mmdetection/v2.0/benchmark/mask_rcnn_r50_caffe_fpn_poly_1x_coco_no_aug/mask_rcnn_r50_caffe_fpn_poly_1x_coco_no_aug_20200518_105755.log.json) for reference. The throughput is computed as the average throughput in iterations 100-500 to skip GPU warmup time. |
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| Implementation | Throughput (img/s) | |
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| -------------------------------------------------------------------------------------- | ------------------ | |
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| [Detectron2](https://github.com/facebookresearch/detectron2) | 62 | |
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| [MMDetection](https://github.com/open-mmlab/mmdetection) | 61 | |
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| [maskrcnn-benchmark](https://github.com/facebookresearch/maskrcnn-benchmark/) | 53 | |
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| [tensorpack](https://github.com/tensorpack/tensorpack/tree/master/examples/FasterRCNN) | 50 | |
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| [simpledet](https://github.com/TuSimple/simpledet/) | 39 | |
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| [Detectron](https://github.com/facebookresearch/Detectron) | 19 | |
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| [matterport/Mask_RCNN](https://github.com/matterport/Mask_RCNN/) | 14 | |
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### Inference Speed Benchmark |
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We provide [benchmark.py](https://github.com/open-mmlab/mmdetection/blob/master/tools/analysis_tools/benchmark.py) to benchmark the inference latency. |
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The script benchmarkes the model with 2000 images and calculates the average time ignoring first 5 times. You can change the output log interval (defaults: 50) by setting `LOG-INTERVAL`. |
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```shell |
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python tools/benchmark.py ${CONFIG} ${CHECKPOINT} [--log-interval $[LOG-INTERVAL]] [--fuse-conv-bn] |
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``` |
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The latency of all models in our model zoo is benchmarked without setting `fuse-conv-bn`, you can get a lower latency by setting it. |
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## Comparison with Detectron2 |
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We compare mmdetection with [Detectron2](https://github.com/facebookresearch/detectron2.git) in terms of speed and performance. |
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We use the commit id [185c27e](https://github.com/facebookresearch/detectron2/tree/185c27e4b4d2d4c68b5627b3765420c6d7f5a659)(30/4/2020) of detectron. |
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For fair comparison, we install and run both frameworks on the same machine. |
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### Hardware |
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- 8 NVIDIA Tesla V100 (32G) GPUs |
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- Intel(R) Xeon(R) Gold 6148 CPU @ 2.40GHz |
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### Software environment |
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- Python 3.7 |
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- PyTorch 1.4 |
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- CUDA 10.1 |
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- CUDNN 7.6.03 |
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- NCCL 2.4.08 |
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### Performance |
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| Type | Lr schd | Detectron2 | mmdetection | Download | |
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| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------- | ----------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | |
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| [Faster R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/faster_rcnn/faster_rcnn_r50_caffe_fpn_mstrain_1x_coco.py) | 1x | [37.9](https://github.com/facebookresearch/detectron2/blob/master/configs/COCO-Detection/faster_rcnn_R_50_FPN_1x.yaml) | 38.0 | [model](https://download.openmmlab.com/mmdetection/v2.0/benchmark/faster_rcnn_r50_caffe_fpn_mstrain_1x_coco/faster_rcnn_r50_caffe_fpn_mstrain_1x_coco-5324cff8.pth) | [log](https://download.openmmlab.com/mmdetection/v2.0/benchmark/faster_rcnn_r50_caffe_fpn_mstrain_1x_coco/faster_rcnn_r50_caffe_fpn_mstrain_1x_coco_20200429_234554.log.json) | |
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| [Mask R-CNN](https://github.com/open-mmlab/mmdetection/blob/master/configs/mask_rcnn/mask_rcnn_r50_caffe_fpn_mstrain-poly_1x_coco.py) | 1x | [38.6 & 35.2](https://github.com/facebookresearch/detectron2/blob/master/configs/COCO-InstanceSegmentation/mask_rcnn_R_50_FPN_1x.yaml) | 38.8 & 35.4 | [model](https://download.openmmlab.com/mmdetection/v2.0/benchmark/mask_rcnn_r50_caffe_fpn_mstrain-poly_1x_coco/mask_rcnn_r50_caffe_fpn_mstrain-poly_1x_coco-dbecf295.pth) | [log](https://download.openmmlab.com/mmdetection/v2.0/benchmark/mask_rcnn_r50_caffe_fpn_mstrain-poly_1x_coco/mask_rcnn_r50_caffe_fpn_mstrain-poly_1x_coco_20200430_054239.log.json) | |
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| [Retinanet](https://github.com/open-mmlab/mmdetection/blob/master/configs/retinanet/retinanet_r50_caffe_fpn_mstrain_1x_coco.py) | 1x | [36.5](https://github.com/facebookresearch/detectron2/blob/master/configs/COCO-Detection/retinanet_R_50_FPN_1x.yaml) | 37.0 | [model](https://download.openmmlab.com/mmdetection/v2.0/benchmark/retinanet_r50_caffe_fpn_mstrain_1x_coco/retinanet_r50_caffe_fpn_mstrain_1x_coco-586977a0.pth) | [log](https://download.openmmlab.com/mmdetection/v2.0/benchmark/retinanet_r50_caffe_fpn_mstrain_1x_coco/retinanet_r50_caffe_fpn_mstrain_1x_coco_20200430_014748.log.json) | |
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### Training Speed |
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The training speed is measure with s/iter. The lower, the better. |
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| Type | Detectron2 | mmdetection | |
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| ------------ | ---------- | ----------- | |
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| Faster R-CNN | 0.210 | 0.216 | |
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| Mask R-CNN | 0.261 | 0.265 | |
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| Retinanet | 0.200 | 0.205 | |
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### Inference Speed |
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The inference speed is measured with fps (img/s) on a single GPU, the higher, the better. |
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To be consistent with Detectron2, we report the pure inference speed (without the time of data loading). |
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For Mask R-CNN, we exclude the time of RLE encoding in post-processing. |
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We also include the officially reported speed in the parentheses, which is slightly higher |
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than the results tested on our server due to differences of hardwares. |
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| Type | Detectron2 | mmdetection | |
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| ------------ | ----------- | ----------- | |
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| Faster R-CNN | 25.6 (26.3) | 22.2 | |
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| Mask R-CNN | 22.5 (23.3) | 19.6 | |
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| Retinanet | 17.8 (18.2) | 20.6 | |
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### Training memory |
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| Type | Detectron2 | mmdetection | |
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| ------------ | ---------- | ----------- | |
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| Faster R-CNN | 3.0 | 3.8 | |
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| Mask R-CNN | 3.4 | 3.9 | |
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| Retinanet | 3.9 | 3.4 |
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