Single-stage detectors suffer from extreme foreground-background class imbalance, while two-stage detectors do not. Therefore, in semi-supervised object detection, two-stage detectors can deliver remarkable performance by only selecting high-quality pseudo labels based on classification scores. However, directly applying this strategy to single-stage detectors would aggravate the class imbalance with fewer positive samples. Thus, single-stage detectors have to consider both quality and quantity of pseudo labels simultaneously. In this paper, we design a dynamic self-adaptive threshold (DSAT) strategy in classification branch, which can automatically select pseudo labels to achieve an optimal trade-off between quality and quantity. Besides, to assess the regression quality of pseudo labels in single-stage detectors, we propose a module to compute the regression uncertainty of boxes based on Non-Maximum Suppression. By leveraging only 10% labeled data from COCO, our method achieves 35.0% AP on anchor-free detector (FCOS) and 32.9% on anchor-based detector (RetinaNet).
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