Deep Learning Object Detector

Detect objects using trained deep learning object detector

Since R2021b

Libraries:
Computer Vision Toolbox / Analysis & Enhancement

Description

The Deep Learning Object Detector block predicts bounding boxes, class labels, and scores for the input image by using the trained object detector specified through the block parameter. This block allows loading of a pretrained object detector into the Simulink^® model from a MAT file or from a MATLAB^® function. This block provides a graphical interface for using the detector objects in Simulink. To enable some parameters of the Deep Learning Object Detector block you must choose an object detector that supports those parameters. For example, using a yolov2ObjectDetector object with this block enables you to select parameters similar to the name-value arguments of the associated detect object function.

Examples

Lane and Vehicle Detection in Simulink Using Deep Learning

Use deep convolutional neural networks inside a Simulink® model to perform lane and vehicle detection. This example takes the frames from a traffic video as an input, outputs two lane boundaries that correspond to the left and right lanes of the ego vehicle, and detects vehicles in the frame.

(Deep Learning Toolbox)

Ports

Input

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Image — Image data
array

An H-by-W-by-C numeric array, where H, W, and C are the height, width, and number of channels of the image, respectively. Only one image per time step is allowed as input.

Output

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Bboxes — Locations of objects detected
matrix

Locations of the objects detected within the input image, returned as an M-by-4 or an M-by-5 matrix. M is the number of bounding boxes detected in the image. You can put an upper bound to the size M by specifying the Maximum Number of Detections parameter.

The table describes the format of bounding boxes.

Bounding Box Description

Bounding Box	Description
Axis-aligned rectangle	Defined in spatial coordinates as an M-by-4 numeric matrix with rows of the form [x y w h], where: M is the number of axis-aligned rectangles. x and `y` specify the upper-left corner of the rectangle. w specifies the width of the rectangle, which is its length along the x-axis. h specifies the height of the rectangle, which is its length along the y-axis.
Rotated rectangle	Defined in spatial coordinates as an M-by-5 numeric matrix with rows of the form [xctr yctr w h yaw], where: M is the number of rotated rectangles. xctr and yctr specify the center of the rectangle. w specifies the width of the rectangle, which is its length along the x-axis before rotation. h specifies the height of the rectangle, which is its length along the y-axis before rotation. yaw specifies the rotation angle in degrees. The rotation is clockwise-positive around the center of the bounding box.

Axis-aligned rectangle

Defined in spatial coordinates as an M-by-4 numeric matrix with rows of the form [x y w h], where:

M is the number of axis-aligned rectangles.
x and y specify the upper-left corner of the rectangle.
w specifies the width of the rectangle, which is its length along the x-axis.
h specifies the height of the rectangle, which is its length along the y-axis.

Rotated rectangle

Defined in spatial coordinates as an M-by-5 numeric matrix with rows of the form [xctr yctr w h yaw], where:

M is the number of rotated rectangles.
xctr and yctr specify the center of the rectangle.
w specifies the width of the rectangle, which is its length along the x-axis before rotation.
h specifies the height of the rectangle, which is its length along the y-axis before rotation.
yaw specifies the rotation angle in degrees. The rotation is clockwise-positive around the center of the bounding box.

Square rectangle rotated by -30 degrees.

For more information, see Datastores for Deep Learning (Deep Learning Toolbox).

Labels — Labels for bounding boxes
vector

Labels for the bounding boxes, returned as an M-by-1 enumerated vector. M is the number of bounding boxes detected in the image.

Scores — Detection scores
vector

Detection confidence scores for each label, returned as an M-by-1 vector. M is the number of bounding boxes detected in the image. A higher score indicates higher confidence in the detection.

Parameters

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Detector — Source for trained detector object
`Detector from MAT file` (default) | `Detector from MATLAB function`

Select the source for the detector object from these options:

Detector from MAT file — Import a detector object from a MAT file. For example, select a MAT file containing a yolov2ObjectDetector object.
Detector from MATLAB function — Import a detector object from a MATLAB function. For example, specify the function vehicleDetectorYOLOv2, which returns a trained yolov2ObjectDetector object.

The imported detector must be one of these supported objects:

rcnnObjectDetector
fastRCNNObjectDetector
fasterRCNNObjectDetector
rtmdetObjectDetector
ssdObjectDetector
yolov2ObjectDetector
yolov3ObjectDetector
yolov4ObjectDetector
yoloxObjectDetector

Programmatic Use

Block Parameter: Detector

Type: character vector, string

Values: Detector from MAT file' |

'Detector from MATLAB
                  function'

Default: Detector from MAT file'

File path — MAT file containing detector object
`untitled.mat` (default) | MAT file name

This parameter specifies the name of the MAT file that contains the detector object to load. If the file is not on the MATLAB path, use the Browse button to locate the file.

Dependencies

To enable this parameter, set the Detector parameter to Detector from MAT file.

Programmatic Use

Block Parameter: DetectorFilePath

Type: character vector, string

Values: MAT file path or name

Default: 'untitled.mat'

MATLAB function — MATLAB function name
`untitled` (default) | MATLAB function name

This parameter specifies the name of the MATLAB function that returns a trained object detector. For example, specify the function vehicleDetectorYOLOv2, which returns a trained yolov2ObjectDetector object, or specify a custom function.

Dependencies

To enable this parameter, set the Detector parameter to Detector from MATLAB function.

Programmatic Use

Block Parameter: DetectorFunction

Type: character vector, string

Values: MATLAB function name

Default: 'untitled'

Region of interest — Search region of interest
vector of the form [x y width height]

Specify the search region of interest as vector of the form [x y width height]. The vector specifies the upper-left corner and size of a region in pixels.

Dependencies

To enable this parameter, select the Specify region of interest parameter.

Programmatic Use

Block Parameter: ROI

Type: character vector, string

Values: character vector specified as

'[x y width
                height]'

Default: '[1 1 100 100]'

Detection threshold — Detection threshold
scalar in the range [0, 1]

Specify the detection threshold as scalar in the range [0, 1]. Detections that have scores lower than this threshold value are removed. To reduce false positives, increase this value.

Dependencies

To enable this parameter, you must use a detector that supports the Detection threshold parameter. For example, use a yolov2ObjectDetector object.

Programmatic Use

Block Parameter: Threshold

Type: character vector, string

Values: scalar

Default: '0.5'

Number of Strongest Regions — Maximum number of strongest region proposals
`2000` (default) | positive integer

Specify the maximum number of strongest region proposals as an integer. Reduce this value to speed up processing at the cost of detection accuracy. To use all region proposals, specify this parameter as Inf.

Dependencies

To enable this parameter, use a detector that supports the Number of Strongest Regions parameter. For example, use an rcnnObjectDetector object.

Programmatic Use

Block Parameter: NumStrongestRegions

Type: character vector, string

Values: integer

Default: '2000'

Maximum Region Size — Maximum region size
vector of the form [height width]

Specify the maximum region size as a vector of the form [height width]. Units are in pixels. The maximum region size defines the size of the largest region containing the object. For example, [50 50] sets the size of the largest region containing the object to 50-by-50 pixels. To reduce computation time, set this value to the known maximum region size for the objects that can be detected in the input test images.

Dependencies

To enable this parameter

Select the Specify maximum region size parameter.
Use a detector that supports the Maximum Region Size parameter. For example, use a yolov2ObjectDetector object.

Programmatic Use

Block Parameter: MaxSize

Type: character vector, string

Values: character vector specified as '[height width]'

Default: '[50 50]'

Minimum Region Size — Minimum region size
vector of the form [height width]

Specify the minimum region size as a vector of the form [height width]. Units are in pixels. The minimum region size defines the size of the smallest region containing the object. For example, [1 1] sets the size of the smallest region containing the object to 1-by-1 pixels.

Dependencies

To enable this parameter

Select the Specify minimum region size parameter.
Use a detector that supports the Minimum Region Size parameter. For example, use a yolov2ObjectDetector object.

Programmatic Use

Block Parameter: MinSize

Type: character vector, string

Values: character vector specified as '[height width]'

Default: '[1 1]'

Maximum Number of Detections — Maximum number of detections
`500` (default) | positive integer

Specify the maximum number of detections as a positive integer. This value is the upper bound for the number of detections.

Programmatic Use

Block Parameter: MaxDetections

Type: character vector, string

Values: integer

Default: '500'

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Usage notes and limitations:

The Language parameter in the Configuration Parameters > Code Generation general category must be set to C++.
For a list of networks and layers supported for code generation, see Networks and Layers Supported for Code Generation (MATLAB Coder).
To generate code for the Math Kernel Library for Deep Neural Networks (MKL-DNN) target library with YOLOv3, YOLOv4, or RTMDet as the object detectors, set the MaxStackSize and TLCOptions model parameters to a higher value. For example, you can set the MaxStackSize and TLCOptions parameter values to 'inf' using the following syntax.
```
>> set_param(modelName,'MaxStackSize','inf')
>> set_param(modelName,'TLCOptions','-aMaxStackVariableSize=inf')
```

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Usage notes and limitations:

The Language parameter in the Configuration Parameters > Code Generation general category must be set to C++.
For a list of networks and layers supported for CUDA^® code generation, see Supported Networks, Layers, and Classes (GPU Coder).

Version History

Introduced in R2021b

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R2024b: Support to RTMDet object detector

Starting in R2024b, Deep Learning Object Detector block supports Real-Time Model for object Detection (RTMDet). You can import a pretrained RTMDet object detector object, rtmdetObjectDetector to perform object detection.

R2024b: Support for YOLOX object detector

Starting in R2024b, Deep Learning Object Detector block supports You Only Look Once X (YOLOX) object detection. You can import a pretrained YOLOX object detector object, yoloxObjectDetector to perform object detection.

Deep Learning Object Detector

Description

Examples

Lane and Vehicle Detection in Simulink Using Deep Learning

Ports

Input

Image — Image data array

Output

Bboxes — Locations of objects detected matrix

Labels — Labels for bounding boxes vector

Scores — Detection scores vector

Parameters

Detector — Source for trained detector object Detector from MAT file (default) | Detector from MATLAB function

Programmatic Use

File path — MAT file containing detector object untitled.mat (default) | MAT file name

Dependencies

Programmatic Use

MATLAB function — MATLAB function name untitled (default) | MATLAB function name

Dependencies

Programmatic Use

Region of interest — Search region of interest vector of the form [x y width height]

Dependencies

Programmatic Use

Detection threshold — Detection threshold scalar in the range [0, 1]

Dependencies

Programmatic Use

Number of Strongest Regions — Maximum number of strongest region proposals 2000 (default) | positive integer

Dependencies

Programmatic Use

Maximum Region Size — Maximum region size vector of the form [height width]

Dependencies

Programmatic Use

Minimum Region Size — Minimum region size vector of the form [height width]

Dependencies

Programmatic Use

Maximum Number of Detections — Maximum number of detections 500 (default) | positive integer

Programmatic Use

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

GPU Code Generation Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

R2024b: Support to RTMDet object detector

R2024b: Support for YOLOX object detector

See Also

Objects

Blocks

Image — Image data
array

Bboxes — Locations of objects detected
matrix

Labels — Labels for bounding boxes
vector

Scores — Detection scores
vector

Detector — Source for trained detector object
`Detector from MAT file` (default) | `Detector from MATLAB function`

File path — MAT file containing detector object
`untitled.mat` (default) | MAT file name

MATLAB function — MATLAB function name
`untitled` (default) | MATLAB function name

Region of interest — Search region of interest
vector of the form [x y width height]

Detection threshold — Detection threshold
scalar in the range [0, 1]

Number of Strongest Regions — Maximum number of strongest region proposals
`2000` (default) | positive integer

Maximum Region Size — Maximum region size
vector of the form [height width]

Minimum Region Size — Minimum region size
vector of the form [height width]

Maximum Number of Detections — Maximum number of detections
`500` (default) | positive integer

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.