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K U L A
Objects as Points
by Xingyi Zhou, D equan Wang and
Philipp Kr ähenbühl
Jurakuziev Dadajon
R eal - time Objec t detec tion
Objectsaspoints
K U L A
02
1. Computer Vision Tasks
2. Applications of Object Detection
3. Why Real-Time Object Detection?
4. Introduction to Objects as Points
5. Understanding the Architecture of Objects as Points
6. Performance
7. Conclusion
Agenda
Objectsaspoints
K U L A
Computer Vision Tasks
Objectsaspoints
K U L A
Applications of Object Detection
01 Self-driving Cars Face Recognition
03 Action Recognition 04 Object Counting
02
Objectsaspoints
K U L A
Why Real-time Object Detection?
The model should be able to detect objects and make inferences within
microseconds.
Objectsaspoints
K U L A
Objects as Points or CenterNet
Objectsaspoints
K U L A
Objects as Points
To model an object as a single point — the center point of its bounding box.
The detector uses keypoint estimation to find center points and regresses to all other object
properties, such as size, 3D location, orientation, and even pose.
The center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and
more accurate than corresponding bounding box based detectors.
Objectsaspoints
K U L A
Objects as Points
To model an object as a single point — the center point of its bounding box.
The detector uses keypoint estimation to find center points and regresses to all other object
properties, such as size, 3D location, orientation, and even pose.
The center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and
more accurate than corresponding bounding box based detectors.
Objectsaspoints
K U L A
Quick Explanation
Objectsaspoints
Bounding Box Keypoints
K U L A
Quick Explanation
Objectsaspoints
Bounding box based detectors : YOLO, RCNN
K U L A
Significance of Objects as Points
Objectsaspoints
• CenterNet's "anchor" only appears at the current
object's position instead of the entire picture, so
there is no such thing as a box overlap greater than
a positive anchor, and there is no need to
distinguish whether the anchor is an object or a
background.
• Each object has only one anchor, this anchor is
extracted from the keypoint estimation, so no
NMS is needed to filter.
K U L A
What is Keypoint Estimation?
Objectsaspoints
K U L A
What is Keypoint Estimation?
Objectsaspoints
K U L A
Architecture of CenterNet
Objectsaspoints
K U L A
What is Keypoint Estimation?
Objectsaspoints
From points to Bounding Boxes
- Extracts the peaks from each category from the heatmap
- Stores all intermediate values that are greater than or equal to
the eight surrounding pixels in the heatmap
- Leave behind 100 biggest peak values
K U L A
What is Keypoint Estimation?
Objectsaspoints
From points to Bounding Boxes
- The locations of the extracted peaks are expressed in integer
form (x, y).
- This allows to be shown the coordinates of the bounding box as
below
K U L A
What is Keypoint Estimation?
Objectsaspoints
K U L A
Objects as Points
Objectsaspoints
All of these outputs come from the Single Keypoint Estimations.
K U L A
Performance
Objectsaspoints
K U L A
Performance
Objectsaspoints
K U L A
Conclusion
Objectsaspoints
- A new representation for objects: as points
- This detector builds on successful keypoint estimation networks
- Finds object centers, and regresses to the size
- The algorithms is simple, fast, accurate
- End-to-end differentiable without any NMS post-processing
K U L A
Demo
Objectsaspoints
K U L A
Q & A
K U L A
COCO Dataset
- The COCO train, validation, and test sets, containing more than 200,000 images and 80 object
categories
- All object instances are annotated with a detailed segmentation mask. Annotations on the training
and validation sets (with over 500,000 object instances segmented) are publicly available.
K U L A
Visualizing Heatmaps

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Objects as points

  • 1. K U L A Objects as Points by Xingyi Zhou, D equan Wang and Philipp Kr ähenbühl Jurakuziev Dadajon R eal - time Objec t detec tion Objectsaspoints
  • 2. K U L A 02 1. Computer Vision Tasks 2. Applications of Object Detection 3. Why Real-Time Object Detection? 4. Introduction to Objects as Points 5. Understanding the Architecture of Objects as Points 6. Performance 7. Conclusion Agenda Objectsaspoints
  • 3. K U L A Computer Vision Tasks Objectsaspoints
  • 4. K U L A Applications of Object Detection 01 Self-driving Cars Face Recognition 03 Action Recognition 04 Object Counting 02 Objectsaspoints
  • 5. K U L A Why Real-time Object Detection? The model should be able to detect objects and make inferences within microseconds. Objectsaspoints
  • 6. K U L A Objects as Points or CenterNet Objectsaspoints
  • 7. K U L A Objects as Points To model an object as a single point — the center point of its bounding box. The detector uses keypoint estimation to find center points and regresses to all other object properties, such as size, 3D location, orientation, and even pose. The center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and more accurate than corresponding bounding box based detectors. Objectsaspoints
  • 8. K U L A Objects as Points To model an object as a single point — the center point of its bounding box. The detector uses keypoint estimation to find center points and regresses to all other object properties, such as size, 3D location, orientation, and even pose. The center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and more accurate than corresponding bounding box based detectors. Objectsaspoints
  • 9. K U L A Quick Explanation Objectsaspoints Bounding Box Keypoints
  • 10. K U L A Quick Explanation Objectsaspoints Bounding box based detectors : YOLO, RCNN
  • 11. K U L A Significance of Objects as Points Objectsaspoints • CenterNet's "anchor" only appears at the current object's position instead of the entire picture, so there is no such thing as a box overlap greater than a positive anchor, and there is no need to distinguish whether the anchor is an object or a background. • Each object has only one anchor, this anchor is extracted from the keypoint estimation, so no NMS is needed to filter.
  • 12. K U L A What is Keypoint Estimation? Objectsaspoints
  • 13. K U L A What is Keypoint Estimation? Objectsaspoints
  • 14. K U L A Architecture of CenterNet Objectsaspoints
  • 15. K U L A What is Keypoint Estimation? Objectsaspoints From points to Bounding Boxes - Extracts the peaks from each category from the heatmap - Stores all intermediate values that are greater than or equal to the eight surrounding pixels in the heatmap - Leave behind 100 biggest peak values
  • 16. K U L A What is Keypoint Estimation? Objectsaspoints From points to Bounding Boxes - The locations of the extracted peaks are expressed in integer form (x, y). - This allows to be shown the coordinates of the bounding box as below
  • 17. K U L A What is Keypoint Estimation? Objectsaspoints
  • 18. K U L A Objects as Points Objectsaspoints All of these outputs come from the Single Keypoint Estimations.
  • 19. K U L A Performance Objectsaspoints
  • 20. K U L A Performance Objectsaspoints
  • 21. K U L A Conclusion Objectsaspoints - A new representation for objects: as points - This detector builds on successful keypoint estimation networks - Finds object centers, and regresses to the size - The algorithms is simple, fast, accurate - End-to-end differentiable without any NMS post-processing
  • 22. K U L A Demo Objectsaspoints
  • 23. K U L A Q & A
  • 24. K U L A COCO Dataset - The COCO train, validation, and test sets, containing more than 200,000 images and 80 object categories - All object instances are annotated with a detailed segmentation mask. Annotations on the training and validation sets (with over 500,000 object instances segmented) are publicly available.
  • 25. K U L A Visualizing Heatmaps