Algorithm 1. The pseudo code of NMS method

Input: $\mathcal{B}=\{b_1,\cdots ,b_N\}$, $\mathcal{C}=\{c_1,\cdots ,c_N\}$, ${\lambda }_{nms}$     $\mathcal{B}$ is the list of initial detection boxes     $\mathcal{C}$ contains corresponding detection confidences     ${\lambda }_{nms}$ is the NMS threshold

Output: List of final detection boxes $\mathcal{O}$

1: $\mathcal{O}\leftarrow \left\{\right\}$

2: while $\mathcal{B}\ne \varnothing$ do

3:  $m\leftarrow argmax\mathcal{C}$

4:  $\mathcal{O}\leftarrow \mathcal{O}\cup b_m;\mathcal{B}\leftarrow \mathcal{B}-b_m;\mathcal{C}\leftarrow \mathcal{C}-c_m$

5:  for $b_i\in \mathcal{B}$ do

6:   if$IoU(b_m,b_i)\ge {\lambda }_{nms}$ then

7:    $\mathcal{B}\leftarrow \mathcal{B}-b_i;\mathcal{C}\leftarrow \mathcal{C}-c_i$

8:   end if

9:  end for

10: end while