Object Detection in Real-Time Systems: Going Beyond Precision

Abstract

Applications like autonomous driving, industrial robotics, surveillance, and wearable assistive technology rely on object detectors as an integral part of the system. Thus, an increase in performance of object detectors directly affects the quality of such systems. In the recent years, convolutional neural networks (CNNs) and its variants emerged as the state of art in object detection, where performance is usually measured either in terms of mean average precision (mAP) or number of frames processed per second (fps). Many applications which use object detectors are resource constrained in practice. Even though it is clear from the published results, that a frame-level analysis of the system in terms of mAP or fps proves the superiority of one algorithm over the other, we observe that such metrics do not necessarily apply to real time applications with resource constraints. A slower algorithm even though highly accurate may need to drop frames to maintain the necessary frame rate and lose on the accuracy. We propose a closer look at the metrics used for performance in real-time applications, and suggest some new evaluation criterion. Our comparison of state of the art detectors on these metrics has also thrown some surprises in terms of conventional wisdom, which we present in this paper. Our framework is available at https://www.github.com/anupamsobti/object-detectionreal-time-systems.