The DETR model is an encoder-decoder transformer with a convolutional backbone. Two heads are added on top of the decoder outputs in order to perform object detection: a linear layer for the class labels and a MLP (multi-layer perceptron) for the bounding boxes. The model uses so-called object queries to detect objects in an image. Each object query looks for a particular object in the image. For COCO, the number of object queries is set to 100.
The model is trained using a "bipartite matching loss": one compares the predicted classes + bounding boxes of each of the N = 100 object queries to the ground truth annotations, padded up to the same length N (so if an image only contains 4 objects, 96 annotations will just have a "no object" as class and "no bounding box" as bounding box). The Hungarian matching algorithm is used to create an optimal one-to-one mapping between each of the N queries and each of the N annotations. Next, standard cross-entropy (for the classes) and a linear combination of the L1 and generalized IoU loss (for the bounding boxes) are used to optimize the parameters of the model.
IoU and Pixel accuracy measured on 512 images from the COCO dataset. The ground truth labels were extracted from the panoptic segmentation annotations, transformed to semantic segmentation masks. Input images were resized so that the smaller edge equals 448, then center-cropped.
Inference time
The following results refer to DETRResnet50SemanticSegmentationF16. The compute units for MacBook Pro (M1 Max) were manually selected to "CPU and Neural Engine".
Device
OS
Inference time (ms)
Dominant compute unit
iPhone 15 Pro Max
17.5
40
Neural Engine
MacBook Pro (M1 Max)
14.5
43
Neural Engine
iPhone 12 Pro Max
18.0
52
Neural Engine
MacBook Pro (M3 Max)
15.0
29
Neural Engine
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