# DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection

arXiv: https://arxiv.org/abs/2203.03605 · HTML: https://mlsanity.com/paper/2203.03605/

## Key facts

- Cited by 1,319 papers in the map (data through 14 Oct 2026).
- Builds on 34 of its 44 references that are in the map.
- First posted on arXiv 7 Mar 2022.

## Builds on (most cited first, 30 of 34)

- [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)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [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)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [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)
- [YOLOv4: Optimal Speed and Accuracy of Object Detection](https://mlsanity.com/paper/2004.10934/) (2020)
- [FCOS: Fully Convolutional One-Stage Object Detection](https://mlsanity.com/paper/1904.01355/) (2019)
- [YOLO9000: Better, Faster, Stronger](https://mlsanity.com/paper/1612.08242/) (2016)
- [MMDetection: Open MMLab Detection Toolbox and Benchmark](https://mlsanity.com/paper/1906.07155/) (2019)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [Swin Transformer V2: Scaling Up Capacity and Resolution](https://mlsanity.com/paper/2111.09883/) (2021)
- [Mixed Precision Training](https://mlsanity.com/paper/1710.03740/) (2017)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [Training Deep Nets with Sublinear Memory Cost](https://mlsanity.com/paper/1604.06174/) (2016)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [Florence: A New Foundation Model for Computer Vision](https://mlsanity.com/paper/2111.11432/) (2021)
- [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)
- [DN-DETR: Accelerate DETR Training by Introducing Query DeNoising](https://mlsanity.com/paper/2203.01305/) (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)
- [End-to-End Semi-Supervised Object Detection with Soft Teacher](https://mlsanity.com/paper/2106.09018/) (2021)

## Built on by (most cited first, 30 of 1319)

- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [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)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [EVA: Exploring the Limits of Masked Visual Representation Learning at Scale](https://mlsanity.com/paper/2211.07636/) (2022)
- [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)
- [Image as a Foreign Language: BEiT Pretraining for All Vision and Vision-Language Tasks](https://mlsanity.com/paper/2208.10442/) (2022)
- [YOLO-World: Real-Time Open-Vocabulary Object Detection](https://mlsanity.com/paper/2401.17270/) (2024)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [Florence-2: Advancing a Unified Representation for a Variety of Vision Tasks](https://mlsanity.com/paper/2311.06242/) (2023)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [EVA-02: A Visual Representation for Neon Genesis](https://mlsanity.com/paper/2303.11331/) (2023)
- [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)
- [Mask DINO: Towards A Unified Transformer-based Framework for Object Detection and Segmentation](https://mlsanity.com/paper/2206.02777/) (2022)
- [Perception Encoder: The best visual embeddings are not at the output of the network](https://mlsanity.com/paper/2504.13181/) (2025)
- [Recognize Anything: A Strong Image Tagging Model](https://mlsanity.com/paper/2306.03514/) (2023)
- [GPT4RoI: Instruction Tuning Large Language Model on Region-of-Interest](https://mlsanity.com/paper/2307.03601/) (2023)
- [An Image is Worth 32 Tokens for Reconstruction and Generation](https://mlsanity.com/paper/2406.07550/) (2024)
- [MM-LLMs: Recent Advances in MultiModal Large Language Models](https://mlsanity.com/paper/2401.13601/) (2024)
- [DETRs with Collaborative Hybrid Assignments Training](https://mlsanity.com/paper/2211.12860/) (2022)
- [Motion Transformer with Global Intention Localization and Local Movement Refinement](https://mlsanity.com/paper/2209.13508/) (2022)
- [Multimodal Foundation Models: From Specialists to General-Purpose Assistants](https://mlsanity.com/paper/2309.10020/) (2023)
- [Rotary Position Embedding for Vision Transformer](https://mlsanity.com/paper/2403.13298/) (2024)
- [Diffusion Model-Based Image Editing: A Survey](https://mlsanity.com/paper/2402.17525/) (2024)
- [A Simple Framework for Open-Vocabulary Segmentation and Detection](https://mlsanity.com/paper/2303.08131/) (2023)
- [Segment and Track Anything](https://mlsanity.com/paper/2305.06558/) (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)

## Abstract (arXiv)

We present DINO (DETR with Improved deNoising anchOr boxes), a state-of-the-art end-to-end object detector. % in this paper. DINO improves over previous DETR-like models in performance and efficiency by using a contrastive way for denoising training, a mixed query selection method for anchor initialization, and a look forward twice scheme for box prediction. DINO achieves 49.4AP in 12 epochs and 51.3AP in 24 epochs on COCO with a ResNet-50 backbone and multi-scale features, yielding a significant improvement of +6.0AP and +2.7AP, respectively, compared to DN-DETR, the previous best DETR-like model. DINO scales well in both model size and data size. Without bells and whistles, after pre-training on the Objects365 dataset with a SwinL backbone, DINO obtains the best results on both COCO textttval2017 (63.2AP) and texttttest-dev (textbf63.3AP). Compared to other models on the leaderboard, DINO significantly reduces its model size and pre-training data size while achieving better results. Our code will be available at urlhttps://github.com/IDEACVR/DINO.