diff --git a/darknet b/darknet
index 508381b37..928144835 160000
--- a/darknet
+++ b/darknet
@@ -1 +1 @@
-Subproject commit 508381b37fe75e0e1a01bcb2941cb0b31eb0e4c9
+Subproject commit 928144835f3922a5747fb29b6bcbc45313203dd0
diff --git a/darknet_ros/CMakeLists.txt b/darknet_ros/CMakeLists.txt
index 56fcfba3d..c85478134 100644
--- a/darknet_ros/CMakeLists.txt
+++ b/darknet_ros/CMakeLists.txt
@@ -23,12 +23,13 @@ if (CUDA_FOUND)
     CUDA_NVCC_FLAGS
     ${CUDA_NVCC_FLAGS};
     -O3
-    -gencode arch=compute_30,code=sm_30
-    -gencode arch=compute_35,code=sm_35
-    -gencode arch=compute_50,code=[sm_50,compute_50]
-    -gencode arch=compute_52,code=[sm_52,compute_52]
-    -gencode arch=compute_61,code=sm_61
-    -gencode arch=compute_62,code=sm_62
+    #-gencode arch=compute_30,code=sm_30
+    #-gencode arch=compute_35,code=sm_35
+    #-gencode arch=compute_50,code=[sm_50,compute_50]
+    #-gencode arch=compute_52,code=[sm_52,compute_52]
+    #-gencode arch=compute_61,code=sm_61
+    #-gencode arch=compute_62,code=sm_62
+    -gencode arch=compute_75,code=sm_75
   )
   add_definitions(-DGPU)
 else()
diff --git a/darknet_ros/config/csresnext50.yaml b/darknet_ros/config/csresnext50.yaml
new file mode 100644
index 000000000..d46f71539
--- /dev/null
+++ b/darknet_ros/config/csresnext50.yaml
@@ -0,0 +1,90 @@
+yolo_model:
+
+  config_file:
+    name: csresnext50-panet-spp-original-optimal.cfg
+  weight_file:
+    name: csresnext50-panet-spp-original-optimal_final.weights
+  threshold:
+    value: 0.3
+  detection_classes:
+    names:
+      - person
+      - bicycle
+      - car
+      - motorbike
+      - aeroplane
+      - bus
+      - train
+      - truck
+      - boat
+      - traffic light
+      - fire hydrant
+      - stop sign
+      - parking meter
+      - bench
+      - bird
+      - cat
+      - dog
+      - horse
+      - sheep
+      - cow
+      - elephant
+      - bear
+      - zebra
+      - giraffe
+      - backpack
+      - umbrella
+      - handbag
+      - tie
+      - suitcase
+      - frisbee
+      - skis
+      - snowboard
+      - sports ball
+      - kite
+      - baseball bat
+      - baseball glove
+      - skateboard
+      - surfboard
+      - tennis racket
+      - bottle
+      - wine glass
+      - cup
+      - fork
+      - knife
+      - spoon
+      - bowl
+      - banana
+      - apple
+      - sandwich
+      - orange
+      - broccoli
+      - carrot
+      - hot dog
+      - pizza
+      - donut
+      - cake
+      - chair
+      - sofa
+      - pottedplant
+      - bed
+      - diningtable
+      - toilet
+      - tvmonitor
+      - laptop
+      - mouse
+      - remote
+      - keyboard
+      - cell phone
+      - microwave
+      - oven
+      - toaster
+      - sink
+      - refrigerator
+      - book
+      - clock
+      - vase
+      - scissors
+      - teddy bear
+      - hair drier
+      - toothbrush
diff --git a/darknet_ros/config/stereo_ros.yaml b/darknet_ros/config/stereo_ros.yaml
new file mode 100644
index 000000000..04abce530
--- /dev/null
+++ b/darknet_ros/config/stereo_ros.yaml
@@ -0,0 +1,33 @@
+subscribers:
+
+  camera_reading:
+    topic: /camera/rgb/image_raw
+    queue_size: 1
+
+actions:
+
+  camera_reading:
+    name: /darknet_ros/check_for_objects
+
+publishers:
+
+  object_detector:
+    topic: /darknet_ros/found_object
+    queue_size: 1
+    latch: false
+
+  bounding_boxes:
+    topic: /darknet_ros/bounding_boxes
+    queue_size: 1
+    latch: false
+
+  detection_image:
+    topic: /darknet_ros/detection_image
+    queue_size: 1
+    latch: true
+
+image_view:
+
+  enable_opencv: true
+  wait_key_delay: 1
+  enable_console_output: true
diff --git a/darknet_ros/config/yolov3.yaml b/darknet_ros/config/yolov3.yaml
index 20dc33235..bd0630755 100644
--- a/darknet_ros/config/yolov3.yaml
+++ b/darknet_ros/config/yolov3.yaml
@@ -5,86 +5,12 @@ yolo_model:
   weight_file:
     name: yolov3.weights
   threshold:
-    value: 0.3
+    value: 0.7
   detection_classes:
     names:
       - person
       - bicycle
       - car
       - motorbike
-      - aeroplane
       - bus
-      - train
       - truck
-      - boat
-      - traffic light
-      - fire hydrant
-      - stop sign
-      - parking meter
-      - bench
-      - bird
-      - cat
-      - dog
-      - horse
-      - sheep
-      - cow
-      - elephant
-      - bear
-      - zebra
-      - giraffe
-      - backpack
-      - umbrella
-      - handbag
-      - tie
-      - suitcase
-      - frisbee
-      - skis
-      - snowboard
-      - sports ball
-      - kite
-      - baseball bat
-      - baseball glove
-      - skateboard
-      - surfboard
-      - tennis racket
-      - bottle
-      - wine glass
-      - cup
-      - fork
-      - knife
-      - spoon
-      - bowl
-      - banana
-      - apple
-      - sandwich
-      - orange
-      - broccoli
-      - carrot
-      - hot dog
-      - pizza
-      - donut
-      - cake
-      - chair
-      - sofa
-      - pottedplant
-      - bed
-      - diningtable
-      - toilet
-      - tvmonitor
-      - laptop
-      - mouse
-      - remote
-      - keyboard
-      - cell phone
-      - microwave
-      - oven
-      - toaster
-      - sink
-      - refrigerator
-      - book
-      - clock
-      - vase
-      - scissors
-      - teddy bear
-      - hair drier
-      - toothbrush
diff --git "a/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml" "b/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml"
new file mode 100644
index 000000000..130d80ab8
--- /dev/null
+++ "b/darknet_ros/config/yolov3_(\354\233\220\353\263\270).yaml"
@@ -0,0 +1,90 @@
+yolo_model:
+
+  config_file:
+    name: yolov3.cfg
+  weight_file:
+    name: yolov3.weights
+  threshold:
+    value: 0.6
+  detection_classes:
+    names:
+      - person
+      - bicycle
+      - car
+      - motorbike
+      - aeroplane
+      - bus
+      - train
+      - truck
+      - boat
+      - traffic light
+      - fire hydrant
+      - stop sign
+      - parking meter
+      - bench
+      - bird
+      - cat
+      - dog
+      - horse
+      - sheep
+      - cow
+      - elephant
+      - bear
+      - zebra
+      - giraffe
+      - backpack
+      - umbrella
+      - handbag
+      - tie
+      - suitcase
+      - frisbee
+      - skis
+      - snowboard
+      - sports ball
+      - kite
+      - baseball bat
+      - baseball glove
+      - skateboard
+      - surfboard
+      - tennis racket
+      - bottle
+      - wine glass
+      - cup
+      - fork
+      - knife
+      - spoon
+      - bowl
+      - banana
+      - apple
+      - sandwich
+      - orange
+      - broccoli
+      - carrot
+      - hot dog
+      - pizza
+      - donut
+      - cake
+      - chair
+      - sofa
+      - pottedplant
+      - bed
+      - diningtable
+      - toilet
+      - tvmonitor
+      - laptop
+      - mouse
+      - remote
+      - keyboard
+      - cell phone
+      - microwave
+      - oven
+      - toaster
+      - sink
+      - refrigerator
+      - book
+      - clock
+      - vase
+      - scissors
+      - teddy bear
+      - hair drier
+      - toothbrush
diff --git a/darknet_ros/launch/darknet_ros.launch b/darknet_ros/launch/darknet_ros.launch
index 11ab56d09..6e8d0f10b 100644
--- a/darknet_ros/launch/darknet_ros.launch
+++ b/darknet_ros/launch/darknet_ros.launch
@@ -3,7 +3,8 @@
 <launch>
   <!-- Console launch prefix -->
   <arg name="launch_prefix" default=""/>
-  <arg name="image" default="/camera/rgb/image_raw" />
+  <!--arg name="image" default="/camera/rgb/image_raw" /-->
+  <arg name="image" default="/zed2/zed_node/stereo/image_rect_color" />
 
   <!-- Config and weights folder. -->
   <arg name="yolo_weights_path"          default="$(find darknet_ros)/yolo_network_config/weights"/>
@@ -11,7 +12,7 @@
 
   <!-- ROS and network parameter files -->
   <arg name="ros_param_file"             default="$(find darknet_ros)/config/ros.yaml"/>
-  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov2-tiny.yaml"/>
+  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov3.yaml"/>
 
   <!-- Load parameters -->
   <rosparam command="load" ns="darknet_ros" file="$(arg ros_param_file)"/>
diff --git a/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg b/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg
new file mode 100644
index 000000000..02c538dd6
--- /dev/null
+++ b/darknet_ros/yolo_network_config/cfg/csresnext50-panet-spp-original-optimal.cfg
@@ -0,0 +1,1048 @@
+[net]
+# Testing
+#batch=1
+#subdivisions=1
+# Training
+batch=64
+subdivisions=8
+width=512
+height=512
+channels=3
+momentum=0.949
+decay=0.0005
+angle=0
+saturation = 1.5
+exposure = 1.5
+hue=.1
+
+learning_rate=0.00261
+burn_in=1000
+max_batches = 500500
+policy=steps
+steps=400000,450000
+scales=.1,.1
+
+#cutmix=1
+mosaic=1
+
+#19:104x104 38:52x52 65:26x26 80:13x13 for 416
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=7
+stride=2
+pad=1
+activation=leaky
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -2
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=1
+stride=1
+pad=1
+activation=leaky
+
+# 1-1
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 1-2
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 1-3
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 1-T
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-16
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+groups=32
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=linear
+
+[route]
+layers = -2
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=linear
+
+# 2-1
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 2-2
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 2-3
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 2-T
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-16
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[route]
+layers = -2
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+# 3-1
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 3-2
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 3-3
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 3-4
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 3-5
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 3-T
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-24
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+groups=32
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -2
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+# 4-1
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 4-2
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+groups=32
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=linear
+
+[shortcut]
+from=-4
+activation=leaky
+
+# 4-T
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-12
+
+[convolutional]
+batch_normalize=1
+filters=2048
+size=1
+stride=1
+pad=1
+activation=leaky
+
+##########################
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+### SPP ###
+[maxpool]
+stride=1
+size=5
+
+[route]
+layers=-2
+
+[maxpool]
+stride=1
+size=9
+
+[route]
+layers=-4
+
+[maxpool]
+stride=1
+size=13
+
+[route]
+layers=-1,-3,-5,-6
+### End SPP ###
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = 65
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1, -3
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = 38
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1, -3
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+##########################
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=255
+activation=linear
+
+
+[yolo]
+mask = 0,1,2
+anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401
+classes=80
+num=9
+jitter=.3
+ignore_thresh = .7
+truth_thresh = 1
+random=1
+scale_x_y = 1.2
+iou_thresh=0.213
+cls_normalizer=1.0
+iou_normalizer=0.07
+uc_normalizer=0.07
+iou_loss=ciou
+nms_kind=greedynms
+beta_nms=0.6
+beta1=0.6
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=2
+pad=1
+filters=256
+activation=leaky
+
+[route]
+layers = -1, -16
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=255
+activation=linear
+
+
+[yolo]
+mask = 3,4,5
+anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401
+classes=80
+num=9
+jitter=.3
+ignore_thresh = .7
+truth_thresh = 1
+random=1
+scale_x_y = 1.1
+iou_thresh=0.213
+cls_normalizer=1.0
+iou_normalizer=0.07
+uc_normalizer=0.07
+iou_loss=ciou
+nms_kind=greedynms
+beta_nms=0.6
+beta1=0.6
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=2
+pad=1
+filters=512
+activation=leaky
+
+[route]
+layers = -1, -37
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=255
+activation=linear
+
+
+[yolo]
+mask = 6,7,8
+anchors = 12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401
+classes=80
+num=9
+jitter=.3
+ignore_thresh = .7
+truth_thresh = 1
+random=1
+scale_x_y = 1.05
+iou_thresh=0.213
+cls_normalizer=1.0
+iou_normalizer=0.07
+uc_normalizer=0.07
+iou_loss=ciou
+nms_kind=greedynms
+beta_nms=0.6
+beta1=0.6