The blue bars show the performance of our method on clean dataset. The other two colors of the bars are based on supervised pre-training instead of MoCo. The pink bars indicate using supervised Faster-RCNN and YOLOv4 to generate pseudo-labels and the green bars indicate using supervised Faster-RCNN and Faster-RCNN based on MoCov1. After applying MoCo, the general detection performance on clean dataset is improved