# DN-DETR: Accelerate DETR Training by Introducing Query DeNoising

arXiv: https://arxiv.org/abs/2203.01305 · HTML: https://mlsanity.com/paper/2203.01305/

## Key facts

- Cited by 488 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 29 references that are in the map.
- First posted on arXiv 2 Mar 2022.

## Builds on (most cited first, 18 of 18)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Deformable DETR: Deformable Transformers for End-to-End Object Detection](https://mlsanity.com/paper/2010.04159/) (2020)
- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [Rich feature hierarchies for accurate object detection and semantic segmentation](https://mlsanity.com/paper/1311.2524/) (2013)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [Focal Loss for Dense Object Detection](https://mlsanity.com/paper/1708.02002/) (2017)
- [DAB-DETR: Dynamic Anchor Boxes are Better Queries for DETR](https://mlsanity.com/paper/2201.12329/) (2022)
- [Hybrid Task Cascade for Instance Segmentation](https://mlsanity.com/paper/1901.07518/) (2019)
- [Conditional DETR for Fast Training Convergence](https://mlsanity.com/paper/2108.06152/) (2021)
- [Pix2seq: A Language Modeling Framework for Object Detection](https://mlsanity.com/paper/2109.10852/) (2021)
- [Fast Convergence of DETR with Spatially Modulated Co-Attention](https://mlsanity.com/paper/2101.07448/) (2021)
- [Rethinking Transformer-based Set Prediction for Object Detection](https://mlsanity.com/paper/2011.10881/) (2020)
- [Efficient DETR: Improving End-to-End Object Detector with Dense Prior](https://mlsanity.com/paper/2104.01318/) (2021)

## Built on by (most cited first, 30 of 488)

- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [YOLOv7: Trainable bag-of-freebies sets new state-of-the-art for real-time object detectors](https://mlsanity.com/paper/2207.02696/) (2022)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [DETRs Beat YOLOs on Real-time Object Detection](https://mlsanity.com/paper/2304.08069/) (2023)
- [YOLOv10: Real-Time End-to-End Object Detection](https://mlsanity.com/paper/2405.14458/) (2024)
- [Segment Anything in High Quality](https://mlsanity.com/paper/2306.01567/) (2023)
- [DiffusionDet: Diffusion Model for Object Detection](https://mlsanity.com/paper/2211.09788/) (2022)
- [PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images](https://mlsanity.com/paper/2206.01256/) (2022)
- [Mask DINO: Towards A Unified Transformer-based Framework for Object Detection and Segmentation](https://mlsanity.com/paper/2206.02777/) (2022)
- [OneFormer: One Transformer to Rule Universal Image Segmentation](https://mlsanity.com/paper/2211.06220/) (2022)
- [Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection](https://mlsanity.com/paper/2303.11926/) (2023)
- [YOLOv12: Attention-Centric Real-Time Object Detectors](https://mlsanity.com/paper/2502.12524/) (2025)
- [DETRs with Collaborative Hybrid Assignments Training](https://mlsanity.com/paper/2211.12860/) (2022)
- [VectorMapNet: End-to-end Vectorized HD Map Learning](https://mlsanity.com/paper/2206.08920/) (2022)
- [A Simple Framework for Open-Vocabulary Segmentation and Detection](https://mlsanity.com/paper/2303.08131/) (2023)
- [MapTRv2: An End-to-End Framework for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2308.05736/) (2023)
- [Universal Instance Perception as Object Discovery and Retrieval](https://mlsanity.com/paper/2303.06674/) (2023)
- [Query-Dependent Video Representation for Moment Retrieval and Highlight Detection](https://mlsanity.com/paper/2303.13874/) (2023)
- [DETRs with Hybrid Matching](https://mlsanity.com/paper/2207.13080/) (2022)
- [SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos](https://mlsanity.com/paper/2308.09244/) (2023)
- [MOTRv2: Bootstrapping End-to-End Multi-Object Tracking by Pretrained Object Detectors](https://mlsanity.com/paper/2211.09791/) (2022)
- [Transformer-Based Visual Segmentation: A Survey](https://mlsanity.com/paper/2304.09854/) (2023)
- [Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipe](https://mlsanity.com/paper/2209.05324/) (2022)
- [GaussCtrl: Multi-View Consistent Text-Driven 3D Gaussian Splatting Editing](https://mlsanity.com/paper/2403.08733/) (2024)
- [Group DETR: Fast DETR Training with Group-Wise One-to-Many Assignment](https://mlsanity.com/paper/2207.13085/) (2022)
- [T-Rex2: Towards Generic Object Detection via Text-Visual Prompt Synergy](https://mlsanity.com/paper/2403.14610/) (2024)
- [MonoDETR: Depth-guided Transformer for Monocular 3D Object Detection](https://mlsanity.com/paper/2203.13310/) (2022)
- [Knowing Where to Focus: Event-aware Transformer for Video Grounding](https://mlsanity.com/paper/2308.06947/) (2023)
- [Dense Distinct Query for End-to-End Object Detection](https://mlsanity.com/paper/2303.12776/) (2023)

## Abstract (arXiv)

We present in this paper a novel denoising training method to speedup DETR (DEtection TRansformer) training and offer a deepened understanding of the slow convergence issue of DETR-like methods. We show that the slow convergence results from the instability of bipartite graph matching which causes inconsistent optimization goals in early training stages. To address this issue, except for the Hungarian loss, our method additionally feeds ground-truth bounding boxes with noises into Transformer decoder and trains the model to reconstruct the original boxes, which effectively reduces the bipartite graph matching difficulty and leads to a faster convergence. Our method is universal and can be easily plugged into any DETR-like methods by adding dozens of lines of code to achieve a remarkable improvement. As a result, our DN-DETR results in a remarkable improvement (+1.9AP) under the same setting and achieves the best result (AP 43.4 and 48.6 with 12 and 50 epochs of training respectively) among DETR-like methods with ResNet-50 backbone. Compared with the baseline under the same setting, DN-DETR achieves comparable performance with 50% training epochs. Code is available at urlhttps://github.com/FengLi-ust/DN-DETR.