Daily Papers

Enhancing the network architecture of the YOLO framework has been crucial for a long time, but has focused on CNN-based improvements despite the proven superiority of attention mechanisms in modeling capabilities. This is because attention-based models cannot match the speed of CNN-based models. This paper proposes an attention-centric YOLO framework, namely YOLOv12, that matches the speed of previous CNN-based ones while harnessing the performance benefits of attention mechanisms. YOLOv12 surpasses all popular real-time object detectors in accuracy with competitive speed. For example, YOLOv12-N achieves 40.6% mAP with an inference latency of 1.64 ms on a T4 GPU, outperforming advanced YOLOv10-N / YOLOv11-N by 2.1%/1.2% mAP with a comparable speed. This advantage extends to other model scales. YOLOv12 also surpasses end-to-end real-time detectors that improve DETR, such as RT-DETR / RT-DETRv2: YOLOv12-S beats RT-DETR-R18 / RT-DETRv2-R18 while running 42% faster, using only 36% of the computation and 45% of the parameters. More comparisons are shown in Figure 1.

In this paper, we present a light-weight detection transformer, LW-DETR, which outperforms YOLOs for real-time object detection. The architecture is a simple stack of a ViT encoder, a projector, and a shallow DETR decoder. Our approach leverages recent advanced techniques, such as training-effective techniques, e.g., improved loss and pretraining, and interleaved window and global attentions for reducing the ViT encoder complexity. We improve the ViT encoder by aggregating multi-level feature maps, and the intermediate and final feature maps in the ViT encoder, forming richer feature maps, and introduce window-major feature map organization for improving the efficiency of interleaved attention computation. Experimental results demonstrate that the proposed approach is superior over existing real-time detectors, e.g., YOLO and its variants, on COCO and other benchmark datasets. Code and models are available at (https://github.com/Atten4Vis/LW-DETR).

We aim at providing the object detection community with an efficient and performant object detector, termed YOLO-MS. The core design is based on a series of investigations on how multi-branch features of the basic block and convolutions with different kernel sizes affect the detection performance of objects at different scales. The outcome is a new strategy that can significantly enhance multi-scale feature representations of real-time object detectors. To verify the effectiveness of our work, we train our YOLO-MS on the MS COCO dataset from scratch without relying on any other large-scale datasets, like ImageNet or pre-trained weights. Without bells and whistles, our YOLO-MS outperforms the recent state-of-the-art real-time object detectors, including YOLO-v7, RTMDet, and YOLO-v8. Taking the XS version of YOLO-MS as an example, it can achieve an AP score of 42+% on MS COCO, which is about 2% higher than RTMDet with the same model size. Furthermore, our work can also serve as a plug-and-play module for other YOLO models. Typically, our method significantly advances the APs, APl, and AP of YOLOv8-N from 18%+, 52%+, and 37%+ to 20%+, 55%+, and 40%+, respectively, with even fewer parameters and MACs. Code and trained models are publicly available at https://github.com/FishAndWasabi/YOLO-MS. We also provide the Jittor version at https://github.com/NK-JittorCV/nk-yolo.

We present YOLO, a new approach to object detection. Prior work on object detection repurposes classifiers to perform detection. Instead, we frame object detection as a regression problem to spatially separated bounding boxes and associated class probabilities. A single neural network predicts bounding boxes and class probabilities directly from full images in one evaluation. Since the whole detection pipeline is a single network, it can be optimized end-to-end directly on detection performance. Our unified architecture is extremely fast. Our base YOLO model processes images in real-time at 45 frames per second. A smaller version of the network, Fast YOLO, processes an astounding 155 frames per second while still achieving double the mAP of other real-time detectors. Compared to state-of-the-art detection systems, YOLO makes more localization errors but is far less likely to predict false detections where nothing exists. Finally, YOLO learns very general representations of objects. It outperforms all other detection methods, including DPM and R-CNN, by a wide margin when generalizing from natural images to artwork on both the Picasso Dataset and the People-Art Dataset.

We introduce D-FINE, a powerful real-time object detector that achieves outstanding localization precision by redefining the bounding box regression task in DETR models. D-FINE comprises two key components: Fine-grained Distribution Refinement (FDR) and Global Optimal Localization Self-Distillation (GO-LSD). FDR transforms the regression process from predicting fixed coordinates to iteratively refining probability distributions, providing a fine-grained intermediate representation that significantly enhances localization accuracy. GO-LSD is a bidirectional optimization strategy that transfers localization knowledge from refined distributions to shallower layers through self-distillation, while also simplifying the residual prediction tasks for deeper layers. Additionally, D-FINE incorporates lightweight optimizations in computationally intensive modules and operations, achieving a better balance between speed and accuracy. Specifically, D-FINE-L / X achieves 54.0% / 55.8% AP on the COCO dataset at 124 / 78 FPS on an NVIDIA T4 GPU. When pretrained on Objects365, D-FINE-L / X attains 57.1% / 59.3% AP, surpassing all existing real-time detectors. Furthermore, our method significantly enhances the performance of a wide range of DETR models by up to 5.3% AP with negligible extra parameters and training costs. Our code and pretrained models: https://github.com/Peterande/D-FINE.

In this paper, we aim to design an efficient real-time object detector that exceeds the YOLO series and is easily extensible for many object recognition tasks such as instance segmentation and rotated object detection. To obtain a more efficient model architecture, we explore an architecture that has compatible capacities in the backbone and neck, constructed by a basic building block that consists of large-kernel depth-wise convolutions. We further introduce soft labels when calculating matching costs in the dynamic label assignment to improve accuracy. Together with better training techniques, the resulting object detector, named RTMDet, achieves 52.8% AP on COCO with 300+ FPS on an NVIDIA 3090 GPU, outperforming the current mainstream industrial detectors. RTMDet achieves the best parameter-accuracy trade-off with tiny/small/medium/large/extra-large model sizes for various application scenarios, and obtains new state-of-the-art performance on real-time instance segmentation and rotated object detection. We hope the experimental results can provide new insights into designing versatile real-time object detectors for many object recognition tasks. Code and models are released at https://github.com/open-mmlab/mmdetection/tree/3.x/configs/rtmdet.

YOLOv7 surpasses all known object detectors in both speed and accuracy in the range from 5 FPS to 160 FPS and has the highest accuracy 56.8% AP among all known real-time object detectors with 30 FPS or higher on GPU V100. YOLOv7-E6 object detector (56 FPS V100, 55.9% AP) outperforms both transformer-based detector SWIN-L Cascade-Mask R-CNN (9.2 FPS A100, 53.9% AP) by 509% in speed and 2% in accuracy, and convolutional-based detector ConvNeXt-XL Cascade-Mask R-CNN (8.6 FPS A100, 55.2% AP) by 551% in speed and 0.7% AP in accuracy, as well as YOLOv7 outperforms: YOLOR, YOLOX, Scaled-YOLOv4, YOLOv5, DETR, Deformable DETR, DINO-5scale-R50, ViT-Adapter-B and many other object detectors in speed and accuracy. Moreover, we train YOLOv7 only on MS COCO dataset from scratch without using any other datasets or pre-trained weights. Source code is released in https://github.com/WongKinYiu/yolov7.

Creating an object detector, in computer vision, has some common challenges when initially developed based on Convolutional Neural Network (CNN) architecture. These challenges are more apparent when creating model that needs to adapt to images captured by various camera orientations, lighting conditions, and environmental changes. The availability of the initial training samples to cover all these conditions can be an enormous challenge with a time and cost burden. While the problem can exist when creating any type of object detection, some types are less common and have no pre-labeled image datasets that exists publicly. Sometime public datasets are not reliable nor comprehensive for a rare object type. Vehicle wheel is one of those example that been chosen to demonstrate the approach of creating a lighting and rotation invariant real-time detector based on YOLOv5 architecture. The objective is to provide a simple approach that could be used as a reference for developing other types of real-time object detectors.

We introduce DEIM, an innovative and efficient training framework designed to accelerate convergence in real-time object detection with Transformer-based architectures (DETR). To mitigate the sparse supervision inherent in one-to-one (O2O) matching in DETR models, DEIM employs a Dense O2O matching strategy. This approach increases the number of positive samples per image by incorporating additional targets, using standard data augmentation techniques. While Dense O2O matching speeds up convergence, it also introduces numerous low-quality matches that could affect performance. To address this, we propose the Matchability-Aware Loss (MAL), a novel loss function that optimizes matches across various quality levels, enhancing the effectiveness of Dense O2O. Extensive experiments on the COCO dataset validate the efficacy of DEIM. When integrated with RT-DETR and D-FINE, it consistently boosts performance while reducing training time by 50%. Notably, paired with RT-DETRv2, DEIM achieves 53.2% AP in a single day of training on an NVIDIA 4090 GPU. Additionally, DEIM-trained real-time models outperform leading real-time object detectors, with DEIM-D-FINE-L and DEIM-D-FINE-X achieving 54.7% and 56.5% AP at 124 and 78 FPS on an NVIDIA T4 GPU, respectively, without the need for additional data. We believe DEIM sets a new baseline for advancements in real-time object detection. Our code and pre-trained models are available at https://github.com/ShihuaHuang95/DEIM.

We introduce COU: Common Objects Underwater, an instance-segmented image dataset of commonly found man-made objects in multiple aquatic and marine environments. COU contains approximately 10K segmented images, annotated from images collected during a number of underwater robot field trials in diverse locations. COU has been created to address the lack of datasets with robust class coverage curated for underwater instance segmentation, which is particularly useful for training light-weight, real-time capable detectors for Autonomous Underwater Vehicles (AUVs). In addition, COU addresses the lack of diversity in object classes since the commonly available underwater image datasets focus only on marine life. Currently, COU contains images from both closed-water (pool) and open-water (lakes and oceans) environments, of 24 different classes of objects including marine debris, dive tools, and AUVs. To assess the efficacy of COU in training underwater object detectors, we use three state-of-the-art models to evaluate its performance and accuracy, using a combination of standard accuracy and efficiency metrics. The improved performance of COU-trained detectors over those solely trained on terrestrial data demonstrates the clear advantage of training with annotated underwater images. We make COU available for broad use under open-source licenses.

Detecting objects in mobile robotics is crucial for numerous applications, from autonomous navigation to inspection. However, robots are often required to perform tasks in different domains with respect to the training one and need to adapt to these changes. Tiny mobile robots, subject to size, power, and computational constraints, encounter even more difficulties in running and adapting these algorithms. Such adaptability, though, is crucial for real-world deployment, where robots must operate effectively in dynamic and unpredictable settings. In this work, we introduce a novel benchmark to evaluate the continual learning capabilities of object detection systems in tiny robotic platforms. Our contributions include: (i) Tiny Robotics Object Detection (TiROD), a comprehensive dataset collected using a small mobile robot, designed to test the adaptability of object detectors across various domains and classes; (ii) an evaluation of state-of-the-art real-time object detectors combined with different continual learning strategies on this dataset, providing detailed insights into their performance and limitations; and (iii) we publish the data and the code to replicate the results to foster continuous advancements in this field. Our benchmark results indicate key challenges that must be addressed to advance the development of robust and efficient object detection systems for tiny robotics.

Propelled by the rapid advancement of deep learning technologies, the YOLO series has set a new benchmark for real-time object detectors. Researchers have continuously explored innovative applications of reparameterization, efficient layer aggregation networks, and anchor-free techniques on the foundation of YOLO. To further enhance detection performance, Transformer-based structures have been introduced, significantly expanding the model's receptive field and achieving notable performance gains. However, such improvements come at a cost, as the quadratic complexity of the self-attention mechanism increases the computational burden of the model. Fortunately, the emergence of State Space Models (SSM) as an innovative technology has effectively mitigated the issues caused by quadratic complexity. In light of these advancements, we introduce Mamba-YOLO a novel object detection model based on SSM. Mamba-YOLO not only optimizes the SSM foundation but also adapts specifically for object detection tasks. Given the potential limitations of SSM in sequence modeling, such as insufficient receptive field and weak image locality, we have designed the LSBlock and RGBlock. These modules enable more precise capture of local image dependencies and significantly enhance the robustness of the model. Extensive experimental results on the publicly available benchmark datasets COCO and VOC demonstrate that Mamba-YOLO surpasses the existing YOLO series models in both performance and competitiveness, showcasing its substantial potential and competitive edge.The PyTorch code is available at:https://github.com/HZAI-ZJNU/Mamba-YOLO

Despite domain-adaptive object detectors based on CNN and transformers have made significant progress in cross-domain detection tasks, it is regrettable that domain adaptation for real-time transformer-based detectors has not yet been explored. Directly applying existing domain adaptation algorithms has proven to be suboptimal. In this paper, we propose RT-DATR, a simple and efficient real-time domain adaptive detection transformer. Building on RT-DETR as our base detector, we first introduce a local object-level feature alignment module to significantly enhance the feature representation of domain invariance during object transfer. Additionally, we introduce a scene semantic feature alignment module designed to boost cross-domain detection performance by aligning scene semantic features. Finally, we introduced a domain query and decoupled it from the object query to further align the instance feature distribution within the decoder layer, reduce the domain gap, and maintain discriminative ability. Experimental results on various benchmarks demonstrate that our method outperforms current state-of-the-art approaches. Our code will be released soon.

Real-world object detection systems, such as those in autonomous driving and surveillance, must continuously learn new object categories and simultaneously adapt to changing environmental conditions. Existing approaches, Class Incremental Object Detection (CIOD) and Domain Incremental Object Detection (DIOD) only address one aspect of this challenge. CIOD struggles in unseen domains, while DIOD suffers from catastrophic forgetting when learning new classes, limiting their real-world applicability. To overcome these limitations, we introduce Dual Incremental Object Detection (DuIOD), a more practical setting that simultaneously handles class and domain shifts in an exemplar-free manner. We propose DuET, a Task Arithmetic-based model merging framework that enables stable incremental learning while mitigating sign conflicts through a novel Directional Consistency Loss. Unlike prior methods, DuET is detector-agnostic, allowing models like YOLO11 and RT-DETR to function as real-time incremental object detectors. To comprehensively evaluate both retention and adaptation, we introduce the Retention-Adaptability Index (RAI), which combines the Average Retention Index (Avg RI) for catastrophic forgetting and the Average Generalization Index for domain adaptability into a common ground. Extensive experiments on the Pascal Series and Diverse Weather Series demonstrate DuET's effectiveness, achieving a +13.12% RAI improvement while preserving 89.3% Avg RI on the Pascal Series (4 tasks), as well as a +11.39% RAI improvement with 88.57% Avg RI on the Diverse Weather Series (3 tasks), outperforming existing methods.

End-to-end transformer-based detectors (DETRs) have shown exceptional performance in both closed-set and open-vocabulary object detection (OVD) tasks through the integration of language modalities. However, their demanding computational requirements have hindered their practical application in real-time object detection (OD) scenarios. In this paper, we scrutinize the limitations of two leading models in the OVDEval benchmark, OmDet and Grounding-DINO, and introduce OmDet-Turbo. This novel transformer-based real-time OVD model features an innovative Efficient Fusion Head (EFH) module designed to alleviate the bottlenecks observed in OmDet and Grounding-DINO. Notably, OmDet-Turbo-Base achieves a 100.2 frames per second (FPS) with TensorRT and language cache techniques applied. Notably, in zero-shot scenarios on COCO and LVIS datasets, OmDet-Turbo achieves performance levels nearly on par with current state-of-the-art supervised models. Furthermore, it establishes new state-of-the-art benchmarks on ODinW and OVDEval, boasting an AP of 30.1 and an NMS-AP of 26.86, respectively. The practicality of OmDet-Turbo in industrial applications is underscored by its exceptional performance on benchmark datasets and superior inference speed, positioning it as a compelling choice for real-time object detection tasks. Code: https://github.com/om-ai-lab/OmDet

Open-vocabulary detectors achieve impressive performance on COCO, but often fail to generalize to real-world datasets with out-of-distribution classes not typically found in their pre-training. Rather than simply fine-tuning a heavy-weight vision-language model (VLM) for new domains, we introduce RF-DETR, a light-weight specialist detection transformer that discovers accuracy-latency Pareto curves for any target dataset with weight-sharing neural architecture search (NAS). Our approach fine-tunes a pre-trained base network on a target dataset and evaluates thousands of network configurations with different accuracy-latency tradeoffs without re-training. Further, we revisit the "tunable knobs" for NAS to improve the transferability of DETRs to diverse target domains. Notably, RF-DETR significantly improves on prior state-of-the-art real-time methods on COCO and Roboflow100-VL. RF-DETR (nano) achieves 48.0 AP on COCO, beating D-FINE (nano) by 5.3 AP at similar latency, and RF-DETR (2x-large) outperforms GroundingDINO (tiny) by 1.2 AP on Roboflow100-VL while running 20x as fast. To the best of our knowledge, RF-DETR (2x-large) is the first real-time detector to surpass 60 AP on COCO. Our code is at https://github.com/roboflow/rf-detr

Carbon nanotubes (CNTs) are critical building blocks in nanotechnology, yet the characterization of their dynamic growth is limited by the experimental challenges in nanoscale motion measurement using scanning electron microscopy (SEM) imaging. Existing ex situ methods offer only static analysis, while in situ techniques often require manual initialization and lack continuous per-particle trajectory decomposition. We present Visual Feature Tracking (VFTrack) an in-situ real-time particle tracking framework that automatically detects and tracks individual CNT particles in SEM image sequences. VFTrack integrates handcrafted or deep feature detectors and matchers within a particle tracking framework to enable kinematic analysis of CNT micropillar growth. A systematic using 13,540 manually annotated trajectories identifies the ALIKED detector with LightGlue matcher as an optimal combination (F1-score of 0.78, alpha-score of 0.89). VFTrack motion vectors decomposed into axial growth, lateral drift, and oscillations, facilitate the calculation of heterogeneous regional growth rates and the reconstruction of evolving CNT pillar morphologies. This work enables advancement in automated nano-material characterization, bridging the gap between physics-based models and experimental observation to enable real-time optimization of CNT synthesis.

In recent years, significant progress has been made in the field of underwater image enhancement (UIE). However, its practical utility for high-level vision tasks, such as underwater object detection (UOD) in Autonomous Underwater Vehicles (AUVs), remains relatively unexplored. It may be attributed to several factors: (1) Existing methods typically employ UIE as a pre-processing step, which inevitably introduces considerable computational overhead and latency. (2) The process of enhancing images prior to training object detectors may not necessarily yield performance improvements. (3) The complex underwater environments can induce significant domain shifts across different scenarios, seriously deteriorating the UOD performance. To address these challenges, we introduce EnYOLO, an integrated real-time framework designed for simultaneous UIE and UOD with domain-adaptation capability. Specifically, both the UIE and UOD task heads share the same network backbone and utilize a lightweight design. Furthermore, to ensure balanced training for both tasks, we present a multi-stage training strategy aimed at consistently enhancing their performance. Additionally, we propose a novel domain-adaptation strategy to align feature embeddings originating from diverse underwater environments. Comprehensive experiments demonstrate that our framework not only achieves state-of-the-art (SOTA) performance in both UIE and UOD tasks, but also shows superior adaptability when applied to different underwater scenarios. Our efficiency analysis further highlights the substantial potential of our framework for onboard deployment.

A multivariate time series refers to observations of two or more variables taken from a device or a system simultaneously over time. There is an increasing need to monitor multivariate time series and detect anomalies in real time to ensure proper system operation and good service quality. It is also highly desirable to have a lightweight anomaly detection system that considers correlations between different variables, adapts to changes in the pattern of the multivariate time series, offers immediate responses, and provides supportive information regarding detection results based on unsupervised learning and online model training. In the past decade, many multivariate time series anomaly detection approaches have been introduced. However, they are unable to offer all the above-mentioned features. In this paper, we propose RoLA, a real-time online lightweight anomaly detection system for multivariate time series based on a divide-and-conquer strategy, parallel processing, and the majority rule. RoLA employs multiple lightweight anomaly detectors to monitor multivariate time series in parallel, determine the correlations between variables dynamically on the fly, and then jointly detect anomalies based on the majority rule in real time. To demonstrate the performance of RoLA, we conducted an experiment based on a public dataset provided by the FerryBox of the One Ocean Expedition. The results show that RoLA provides satisfactory detection accuracy and lightweight performance.

The You Only Look Once (YOLO) series of detectors have established themselves as efficient and practical tools. However, their reliance on predefined and trained object categories limits their applicability in open scenarios. Addressing this limitation, we introduce YOLO-World, an innovative approach that enhances YOLO with open-vocabulary detection capabilities through vision-language modeling and pre-training on large-scale datasets. Specifically, we propose a new Re-parameterizable Vision-Language Path Aggregation Network (RepVL-PAN) and region-text contrastive loss to facilitate the interaction between visual and linguistic information. Our method excels in detecting a wide range of objects in a zero-shot manner with high efficiency. On the challenging LVIS dataset, YOLO-World achieves 35.4 AP with 52.0 FPS on V100, which outperforms many state-of-the-art methods in terms of both accuracy and speed. Furthermore, the fine-tuned YOLO-World achieves remarkable performance on several downstream tasks, including object detection and open-vocabulary instance segmentation.

The YOLO series has become the most popular framework for real-time object detection due to its reasonable trade-off between speed and accuracy. However, we observe that the speed and accuracy of YOLOs are negatively affected by the NMS. Recently, end-to-end Transformer-based detectors (DETRs) have provided an alternative to eliminating NMS. Nevertheless, the high computational cost limits their practicality and hinders them from fully exploiting the advantage of excluding NMS. In this paper, we propose the Real-Time DEtection TRansformer (RT-DETR), the first real-time end-to-end object detector to our best knowledge that addresses the above dilemma. We build RT-DETR in two steps, drawing on the advanced DETR: first we focus on maintaining accuracy while improving speed, followed by maintaining speed while improving accuracy. Specifically, we design an efficient hybrid encoder to expeditiously process multi-scale features by decoupling intra-scale interaction and cross-scale fusion to improve speed. Then, we propose the uncertainty-minimal query selection to provide high-quality initial queries to the decoder, thereby improving accuracy. In addition, RT-DETR supports flexible speed tuning by adjusting the number of decoder layers to adapt to various scenarios without retraining. Our RT-DETR-R50 / R101 achieves 53.1% / 54.3% AP on COCO and 108 / 74 FPS on T4 GPU, outperforming previously advanced YOLOs in both speed and accuracy. We also develop scaled RT-DETRs that outperform the lighter YOLO detectors (S and M models). Furthermore, RT-DETR-R50 outperforms DINO-R50 by 2.2% AP in accuracy and about 21 times in FPS. After pre-training with Objects365, RT-DETR-R50 / R101 achieves 55.3% / 56.2% AP. The project page: https://zhao-yian.github.io/RTDETR.

Real-time object detection has achieved substantial progress through meticulously designed architectures and optimization strategies. However, the pursuit of high-speed inference via lightweight network designs often leads to degraded feature representation, which hinders further performance improvements and practical on-device deployment. In this paper, we propose a cost-effective and highly adaptable distillation framework that harnesses the rapidly evolving capabilities of Vision Foundation Models (VFMs) to enhance lightweight object detectors. Given the significant architectural and learning objective disparities between VFMs and resource-constrained detectors, achieving stable and task-aligned semantic transfer is challenging. To address this, on one hand, we introduce a Deep Semantic Injector (DSI) module that facilitates the integration of high-level representations from VFMs into the deep layers of the detector. On the other hand, we devise a Gradient-guided Adaptive Modulation (GAM) strategy, which dynamically adjusts the intensity of semantic transfer based on gradient norm ratios. Without increasing deployment and inference overhead, our approach painlessly delivers striking and consistent performance gains across diverse DETR-based models, underscoring its practical utility for real-time detection. Our new model family, RT-DETRv4, achieves state-of-the-art results on COCO, attaining AP scores of 49.7/53.5/55.4/57.0 at corresponding speeds of 273/169/124/78 FPS.

As of today, the best accuracy in line segment detection (LSD) is achieved by algorithms based on convolutional neural networks - CNNs. Unfortunately, these methods utilize deep, heavy networks and are slower than traditional model-based detectors. In this paper we build an accurate yet fast CNN- based detector, LSDNet, by incorporating a lightweight CNN into a classical LSD detector. Specifically, we replace the first step of the original LSD algorithm - construction of line segments heatmap and tangent field from raw image gradients - with a lightweight CNN, which is able to calculate more complex and rich features. The second part of the LSD algorithm is used with only minor modifications. Compared with several modern line segment detectors on standard Wireframe dataset, the proposed LSDNet provides the highest speed (among CNN-based detectors) of 214 FPS with a competitive accuracy of 78 Fh . Although the best-reported accuracy is 83 Fh at 33 FPS, we speculate that the observed accuracy gap is caused by errors in annotations and the actual gap is significantly lower. We point out systematic inconsistencies in the annotations of popular line detection benchmarks - Wireframe and York Urban, carefully reannotate a subset of images and show that (i) existing detectors have improved quality on updated annotations without retraining, suggesting that new annotations correlate better with the notion of correct line segment detection; (ii) the gap between accuracies of our detector and others diminishes to negligible 0.2 Fh , with our method being the fastest.

As DenseNet conserves intermediate features with diverse receptive fields by aggregating them with dense connection, it shows good performance on the object detection task. Although feature reuse enables DenseNet to produce strong features with a small number of model parameters and FLOPs, the detector with DenseNet backbone shows rather slow speed and low energy efficiency. We find the linearly increasing input channel by dense connection leads to heavy memory access cost, which causes computation overhead and more energy consumption. To solve the inefficiency of DenseNet, we propose an energy and computation efficient architecture called VoVNet comprised of One-Shot Aggregation (OSA). The OSA not only adopts the strength of DenseNet that represents diversified features with multi receptive fields but also overcomes the inefficiency of dense connection by aggregating all features only once in the last feature maps. To validate the effectiveness of VoVNet as a backbone network, we design both lightweight and large-scale VoVNet and apply them to one-stage and two-stage object detectors. Our VoVNet based detectors outperform DenseNet based ones with 2x faster speed and the energy consumptions are reduced by 1.6x - 4.1x. In addition to DenseNet, VoVNet also outperforms widely used ResNet backbone with faster speed and better energy efficiency. In particular, the small object detection performance has been significantly improved over DenseNet and ResNet.

With the rapid advancement of real-time deepfake generation techniques, forged content is becoming increasingly realistic and widespread across applications like video conferencing and social media. Although state-of-the-art detectors achieve high accuracy on standard benchmarks, their heavy computational cost hinders real-time deployment in practical applications. To address this, we propose the Spatial-Frequency Aware Multi-Scale Fusion Network (SFMFNet), a lightweight yet effective architecture for real-time deepfake detection. We design a spatial-frequency hybrid aware module that jointly leverages spatial textures and frequency artifacts through a gated mechanism, enhancing sensitivity to subtle manipulations. A token-selective cross attention mechanism enables efficient multi-level feature interaction, while a residual-enhanced blur pooling structure helps retain key semantic cues during downsampling. Experiments on several benchmark datasets show that SFMFNet achieves a favorable balance between accuracy and efficiency, with strong generalization and practical value for real-time applications.

The edge computing paradigm places compute-capable devices - edge servers - at the network edge to assist mobile devices in executing data analysis tasks. Intuitively, offloading compute-intense tasks to edge servers can reduce their execution time. However, poor conditions of the wireless channel connecting the mobile devices to the edge servers may degrade the overall capture-to-output delay achieved by edge offloading. Herein, we focus on edge computing supporting remote object detection by means of Deep Neural Networks (DNNs), and develop a framework to reduce the amount of data transmitted over the wireless link. The core idea we propose builds on recent approaches splitting DNNs into sections - namely head and tail models - executed by the mobile device and edge server, respectively. The wireless link, then, is used to transport the output of the last layer of the head model to the edge server, instead of the DNN input. Most prior work focuses on classification tasks and leaves the DNN structure unaltered. Herein, our focus is on DNNs for three different object detection tasks, which present a much more convoluted structure, and modify the architecture of the network to: (i) achieve in-network compression by introducing a bottleneck layer in the early layers on the head model, and (ii) prefilter pictures that do not contain objects of interest using a convolutional neural network. Results show that the proposed technique represents an effective intermediate option between local and edge computing in a parameter region where these extreme point solutions fail to provide satisfactory performance. The code and trained models are available at https://github.com/yoshitomo-matsubara/hnd-ghnd-object-detectors .

In this paper, we propose a novel top-down instance segmentation framework based on explicit shape encoding, named ESE-Seg. It largely reduces the computational consumption of the instance segmentation by explicitly decoding the multiple object shapes with tensor operations, thus performs the instance segmentation at almost the same speed as the object detection. ESE-Seg is based on a novel shape signature Inner-center Radius (IR), Chebyshev polynomial fitting and the strong modern object detectors. ESE-Seg with YOLOv3 outperforms the Mask R-CNN on Pascal VOC 2012 at mAP^[email protected] while 7 times faster.

This study presents a comprehensive analysis of Ultralytics YOLO26, highlighting its key architectural enhancements and performance benchmarking for real-time object detection. YOLO26, released in September 2025, stands as the newest and most advanced member of the YOLO family, purpose-built to deliver efficiency, accuracy, and deployment readiness on edge and low-power devices. The paper sequentially details architectural innovations of YOLO26, including the removal of Distribution Focal Loss (DFL), adoption of end-to-end NMS-free inference, integration of ProgLoss and Small-Target-Aware Label Assignment (STAL), and the introduction of the MuSGD optimizer for stable convergence. Beyond architecture, the study positions YOLO26 as a multi-task framework, supporting object detection, instance segmentation, pose/keypoints estimation, oriented detection, and classification. We present performance benchmarks of YOLO26 on edge devices such as NVIDIA Jetson Nano and Orin, comparing its results with YOLOv8, YOLOv11, YOLOv12, YOLOv13, and transformer-based detectors(RF-DETR and RT-DETR). This paper further explores real-time deployment pathways, flexible export options (ONNX, TensorRT, CoreML, TFLite), and quantization for INT8/FP16. Practical use cases of YOLO26 across robotics, manufacturing, and IoT are highlighted to demonstrate cross-industry adaptability. Finally, insights on deployment efficiency and broader implications are discussed, with future directions for YOLO26 and the YOLO lineage outlined.

The Mixture of Experts (MoE) architecture has excelled in Large Vision-Language Models (LVLMs), yet its potential in real-time open-vocabulary object detectors, which also leverage large-scale vision-language datasets but smaller models, remains unexplored. This work investigates this domain, revealing intriguing insights. In the shallow layers, experts tend to cooperate with diverse peers to expand the search space. While in the deeper layers, fixed collaborative structures emerge, where each expert maintains 2-3 fixed partners and distinct expert combinations are specialized in processing specific patterns. Concretely, we propose Dynamic-DINO, which extends Grounding DINO 1.5 Edge from a dense model to a dynamic inference framework via an efficient MoE-Tuning strategy. Additionally, we design a granularity decomposition mechanism to decompose the Feed-Forward Network (FFN) of base model into multiple smaller expert networks, expanding the subnet search space. To prevent performance degradation at the start of fine-tuning, we further propose a pre-trained weight allocation strategy for the experts, coupled with a specific router initialization. During inference, only the input-relevant experts are activated to form a compact subnet. Experiments show that, pretrained with merely 1.56M open-source data, Dynamic-DINO outperforms Grounding DINO 1.5 Edge, pretrained on the private Grounding20M dataset.

Real-time detection of out-of-context LLM outputs is crucial for enterprises looking to safely adopt RAG applications. In this work, we train lightweight models to discriminate LLM-generated text that is semantically out-of-context from retrieved text documents. We preprocess a combination of summarisation and semantic textual similarity datasets to construct training data using minimal resources. We find that DeBERTa is not only the best-performing model under this pipeline, but it is also fast and does not require additional text preprocessing or feature engineering. While emerging work demonstrates that generative LLMs can also be fine-tuned and used in complex data pipelines to achieve state-of-the-art performance, we note that speed and resource limits are important considerations for on-premise deployment.

Event-based cameras (EBCs) have emerged as a bio-inspired alternative to traditional cameras, offering advantages in power efficiency, temporal resolution, and high dynamic range. However, the development of image analysis methods for EBCs is challenging due to the sparse and asynchronous nature of the data. This work addresses the problem of object detection for EBC cameras. The current approaches to EBC object detection focus on constructing complex data representations and rely on specialized architectures. We introduce I2EvDet (Image-to-Event Detection), a novel adaptation framework that bridges mainstream object detection with temporal event data processing. First, we demonstrate that a Real-Time DEtection TRansformer, or RT-DETR, a state-of-the-art natural image detector, trained on a simple image-like representation of the EBC data achieves performance comparable to specialized EBC methods. Next, as part of our framework, we develop an efficient adaptation technique that transforms image-based detectors into event-based detection models by modifying their frozen latent representation space through minimal architectural additions. The resulting EvRT-DETR model reaches state-of-the-art performance on the standard benchmark datasets Gen1 (mAP +2.3) and 1Mpx/Gen4 (mAP +1.4). These results demonstrate a fundamentally new approach to EBC object detection through principled adaptation of mainstream architectures, offering an efficient alternative with potential applications to other temporal visual domains. The code is available at: https://github.com/realtime-intelligence/evrt-detr

Slow inference speed is one of the most crucial concerns for deploying multi-view 3D detectors to tasks with high real-time requirements like autonomous driving. Although many sparse query-based methods have already attempted to improve the efficiency of 3D detectors, they neglect to consider the backbone, especially when using Vision Transformers (ViT) for better performance. To tackle this problem, we explore the efficient ViT backbones for multi-view 3D detection via token compression and propose a simple yet effective method called TokenCompression3D (ToC3D). By leveraging history object queries as foreground priors of high quality, modeling 3D motion information in them, and interacting them with image tokens through the attention mechanism, ToC3D can effectively determine the magnitude of information densities of image tokens and segment the salient foreground tokens. With the introduced dynamic router design, ToC3D can weigh more computing resources to important foreground tokens while compressing the information loss, leading to a more efficient ViT-based multi-view 3D detector. Extensive results on the large-scale nuScenes dataset show that our method can nearly maintain the performance of recent SOTA with up to 30% inference speedup, and the improvements are consistent after scaling up the ViT and input resolution. The code will be made at https://github.com/DYZhang09/ToC3D.

The goal of this paper is to serve as a guide for selecting a detection architecture that achieves the right speed/memory/accuracy balance for a given application and platform. To this end, we investigate various ways to trade accuracy for speed and memory usage in modern convolutional object detection systems. A number of successful systems have been proposed in recent years, but apples-to-apples comparisons are difficult due to different base feature extractors (e.g., VGG, Residual Networks), different default image resolutions, as well as different hardware and software platforms. We present a unified implementation of the Faster R-CNN [Ren et al., 2015], R-FCN [Dai et al., 2016] and SSD [Liu et al., 2015] systems, which we view as "meta-architectures" and trace out the speed/accuracy trade-off curve created by using alternative feature extractors and varying other critical parameters such as image size within each of these meta-architectures. On one extreme end of this spectrum where speed and memory are critical, we present a detector that achieves real time speeds and can be deployed on a mobile device. On the opposite end in which accuracy is critical, we present a detector that achieves state-of-the-art performance measured on the COCO detection task.

Autonomous driving requires an accurate and fast 3D perception system that includes 3D object detection, tracking, and segmentation. Although recent low-cost camera-based approaches have shown promising results, they are susceptible to poor illumination or bad weather conditions and have a large localization error. Hence, fusing camera with low-cost radar, which provides precise long-range measurement and operates reliably in all environments, is promising but has not yet been thoroughly investigated. In this paper, we propose Camera Radar Net (CRN), a novel camera-radar fusion framework that generates a semantically rich and spatially accurate bird's-eye-view (BEV) feature map for various tasks. To overcome the lack of spatial information in an image, we transform perspective view image features to BEV with the help of sparse but accurate radar points. We further aggregate image and radar feature maps in BEV using multi-modal deformable attention designed to tackle the spatial misalignment between inputs. CRN with real-time setting operates at 20 FPS while achieving comparable performance to LiDAR detectors on nuScenes, and even outperforms at a far distance on 100m setting. Moreover, CRN with offline setting yields 62.4% NDS, 57.5% mAP on nuScenes test set and ranks first among all camera and camera-radar 3D object detectors.

The real-time detection of small objects in complex scenes, such as the unmanned aerial vehicle (UAV) photography captured by drones, has dual challenges of detecting small targets (<32 pixels) and maintaining real-time efficiency on resource-constrained platforms. While YOLO-series detectors have achieved remarkable success in real-time large object detection, they suffer from significantly higher false negative rates for drone-based detection where small objects dominate, compared to large object scenarios. This paper proposes HierLight-YOLO, a hierarchical feature fusion and lightweight model that enhances the real-time detection of small objects, based on the YOLOv8 architecture. We propose the Hierarchical Extended Path Aggregation Network (HEPAN), a multi-scale feature fusion method through hierarchical cross-level connections, enhancing the small object detection accuracy. HierLight-YOLO includes two innovative lightweight modules: Inverted Residual Depthwise Convolution Block (IRDCB) and Lightweight Downsample (LDown) module, which significantly reduce the model's parameters and computational complexity without sacrificing detection capabilities. Small object detection head is designed to further enhance spatial resolution and feature fusion to tackle the tiny object (4 pixels) detection. Comparison experiments and ablation studies on the VisDrone2019 benchmark demonstrate state-of-the-art performance of HierLight-YOLO.

One-stage object detectors such as the YOLO family achieve state-of-the-art performance in real-time vision applications but remain heavily reliant on large-scale labeled datasets for training. In this work, we present a systematic study of contrastive self-supervised learning (SSL) as a means to reduce this dependency by pretraining YOLOv5 and YOLOv8 backbones on unlabeled images using the SimCLR framework. Our approach introduces a simple yet effective pipeline that adapts YOLO's convolutional backbones as encoders, employs global pooling and projection heads, and optimizes a contrastive loss using augmentations of the COCO unlabeled dataset (120k images). The pretrained backbones are then fine-tuned on a cyclist detection task with limited labeled data. Experimental results show that SSL pretraining leads to consistently higher mAP, faster convergence, and improved precision-recall performance, especially in low-label regimes. For example, our SimCLR-pretrained YOLOv8 achieves a mAP@50:95 of 0.7663, outperforming its supervised counterpart despite using no annotations during pretraining. These findings establish a strong baseline for applying contrastive SSL to one-stage detectors and highlight the potential of unlabeled data as a scalable resource for label-efficient object detection.

Rising maintenance costs of ageing infrastructure necessitate innovative monitoring techniques. This paper presents a new approach for axle detection, enabling real-time application of Bridge Weigh-In-Motion (BWIM) systems without dedicated axle detectors. The proposed method adapts the Virtual Axle Detector (VAD) model to handle raw acceleration data, which allows the receptive field to be increased. The proposed Virtual Axle Detector with Enhanced Receptive field (VADER) improves the \(F_1\) score by 73\% and spatial accuracy by 39\%, while cutting computational and memory costs by 99\% compared to the state-of-the-art VAD. VADER reaches a \(F_1\) score of 99.4\% and a spatial error of 4.13~cm when using a representative training set and functional sensors. We also introduce a novel receptive field (RF) rule for an object-size driven design of Convolutional Neural Network (CNN) architectures. Based on this rule, our results suggest that models using raw data could achieve better performance than those using spectrograms, offering a compelling reason to consider raw data as input.

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are inefficient and require additional post-processing. In this paper, we eliminate anchors and model an object as a single point--the center point of its bounding box. Based on the center point, we propose an anchor-free CenterNet3D network that performs 3D object detection without anchors. Our CenterNet3D uses keypoint estimation to find center points and directly regresses 3D bounding boxes. However, because inherent sparsity of point clouds, 3D object center points are likely to be in empty space which makes it difficult to estimate accurate boundaries. To solve this issue, we propose an extra corner attention module to enforce the CNN backbone to pay more attention to object boundaries. Besides, considering that one-stage detectors suffer from the discordance between the predicted bounding boxes and corresponding classification confidences, we develop an efficient keypoint-sensitive warping operation to align the confidences to the predicted bounding boxes. Our proposed CenterNet3D is non-maximum suppression free which makes it more efficient and simpler. We evaluate CenterNet3D on the widely used KITTI dataset and more challenging nuScenes dataset. Our method outperforms all state-of-the-art anchor-based one-stage methods and has comparable performance to two-stage methods as well. It has an inference speed of 20 FPS and achieves the best speed and accuracy trade-off. Our source code will be released at https://github.com/wangguojun2018/CenterNet3d.

Recent developments in transformer models for visual data have led to significant improvements in recognition and detection tasks. In particular, using learnable queries in place of region proposals has given rise to a new class of one-stage detection models, spearheaded by the Detection Transformer (DETR). Variations on this one-stage approach have since dominated human-object interaction (HOI) detection. However, the success of such one-stage HOI detectors can largely be attributed to the representation power of transformers. We discovered that when equipped with the same transformer, their two-stage counterparts can be more performant and memory-efficient, while taking a fraction of the time to train. In this work, we propose the Unary-Pairwise Transformer, a two-stage detector that exploits unary and pairwise representations for HOIs. We observe that the unary and pairwise parts of our transformer network specialise, with the former preferentially increasing the scores of positive examples and the latter decreasing the scores of negative examples. We evaluate our method on the HICO-DET and V-COCO datasets, and significantly outperform state-of-the-art approaches. At inference time, our model with ResNet50 approaches real-time performance on a single GPU.

We here propose a machine learning approach for monitoring particle detectors in real-time. The goal is to assess the compatibility of incoming experimental data with a reference dataset, characterising the data behaviour under normal circumstances, via a likelihood-ratio hypothesis test. The model is based on a modern implementation of kernel methods, nonparametric algorithms that can learn any continuous function given enough data. The resulting approach is efficient and agnostic to the type of anomaly that may be present in the data. Our study demonstrates the effectiveness of this strategy on multivariate data from drift tube chamber muon detectors.

Balancing efficiency and accuracy is a long-standing problem for deploying deep learning models. The trade-off is even more important for real-time safety-critical systems like autonomous vehicles. In this paper, we propose an effective approach for accelerating transformer-based 3D object detectors by dynamically halting tokens at different layers depending on their contribution to the detection task. Although halting a token is a non-differentiable operation, our method allows for differentiable end-to-end learning by leveraging an equivalent differentiable forward-pass. Furthermore, our framework allows halted tokens to be reused to inform the model's predictions through a straightforward token recycling mechanism. Our method significantly improves the Pareto frontier of efficiency versus accuracy when compared with the existing approaches. By halting tokens and increasing model capacity, we are able to improve the baseline model's performance without increasing the model's latency on the Waymo Open Dataset.

We present the development of the miniTimeCube (mTC), a novel compact neutrino detector. The mTC is a multipurpose detector, aiming to detect not only neutrinos but also fast/thermal neutrons. Potential applications include the counterproliferation of nuclear materials and the investigation of antineutrino short-baseline effects. The mTC is a plastic 0.2% ^{10}B - doped scintillator (13 cm)^3 cube surrounded by 24 Micro-Channel Plate (MCP) photon detectors, each with an 8times8 anode totaling 1536 individual channels/pixels viewing the scintillator. It uses custom-made electronics modules which mount on top of the MCPs, making our detector compact and able to both distinguish different types of events and reject noise in real time. The detector is currently deployed and being tested at the National Institute of Standards and Technology (NIST) Center for Neutron Research (NCNR) nuclear reactor (20 MW_th) in Gaithersburg, MD. A shield for further tests is being constructed, and calibration and upgrades are ongoing. The mTC's improved spatiotemporal resolution will allow for determination of incident particle directions beyond previous capabilities.

Deep neural network (DNN) based perception models are indispensable in the development of autonomous vehicles (AVs). However, their reliance on large-scale, high-quality data is broadly recognized as a burdensome necessity due to the substantial cost of data acquisition and labeling. Further, the issue is not a one-time concern, as AVs might need a new dataset if they are to be deployed to another region (real-target domain) that the in-hand dataset within the real-source domain cannot incorporate. To mitigate this burden, we propose leveraging synthetic environments as an auxiliary domain where the characteristics of real domains are reproduced. This approach could enable indirect experience about the real-target domain in a time- and cost-effective manner. As a practical demonstration of our methodology, nuScenes and South Korea are employed to represent real-source and real-target domains, respectively. That means we construct digital twins for several regions of South Korea, and the data-acquisition framework of nuScenes is reproduced. Blending the aforementioned components within a simulator allows us to obtain a synthetic-fusion domain in which we forge our novel driving dataset, MORDA: Mixture Of Real-domain characteristics for synthetic-data-assisted Domain Adaptation. To verify the value of synthetic features that MORDA provides in learning about driving environments of South Korea, 2D/3D detectors are trained solely on a combination of nuScenes and MORDA. Afterward, their performance is evaluated on the unforeseen real-world dataset (AI-Hub) collected in South Korea. Our experiments present that MORDA can significantly improve mean Average Precision (mAP) on AI-Hub dataset while that on nuScenes is retained or slightly enhanced.

Transformer-based detectors (DETRs) are becoming popular for their simple framework, but the large model size and heavy time consumption hinder their deployment in the real world. While knowledge distillation (KD) can be an appealing technique to compress giant detectors into small ones for comparable detection performance and low inference cost. Since DETRs formulate object detection as a set prediction problem, existing KD methods designed for classic convolution-based detectors may not be directly applicable. In this paper, we propose DETRDistill, a novel knowledge distillation method dedicated to DETR-families. Specifically, we first design a Hungarian-matching logits distillation to encourage the student model to have the exact predictions as that of teacher DETRs. Next, we propose a target-aware feature distillation to help the student model learn from the object-centric features of the teacher model. Finally, in order to improve the convergence rate of the student DETR, we introduce a query-prior assignment distillation to speed up the student model learning from well-trained queries and stable assignment of the teacher model. Extensive experimental results on the COCO dataset validate the effectiveness of our approach. Notably, DETRDistill consistently improves various DETRs by more than 2.0 mAP, even surpassing their teacher models.

In this report, we present RT-DETRv2, an improved Real-Time DEtection TRansformer (RT-DETR). RT-DETRv2 builds upon the previous state-of-the-art real-time detector, RT-DETR, and opens up a set of bag-of-freebies for flexibility and practicality, as well as optimizing the training strategy to achieve enhanced performance. To improve the flexibility, we suggest setting a distinct number of sampling points for features at different scales in the deformable attention to achieve selective multi-scale feature extraction by the decoder. To enhance practicality, we propose an optional discrete sampling operator to replace the grid_sample operator that is specific to RT-DETR compared to YOLOs. This removes the deployment constraints typically associated with DETRs. For the training strategy, we propose dynamic data augmentation and scale-adaptive hyperparameters customization to improve performance without loss of speed. Source code and pre-trained models will be available at https://github.com/lyuwenyu/RT-DETR.

Drones have revolutionized various domains, including agriculture. Recent advances in deep learning have propelled among other things object detection in computer vision. This study utilized YOLO, a real-time object detector, to identify and count coconut palm trees in Ghanaian farm drone footage. The farm presented has lost track of its trees due to different planting phases. While manual counting would be very tedious and error-prone, accurately determining the number of trees is crucial for efficient planning and management of agricultural processes, especially for optimizing yields and predicting production. We assessed YOLO for palm detection within a semi-automated framework, evaluated accuracy augmentations, and pondered its potential for farmers. Data was captured in September 2022 via drones. To optimize YOLO with scarce data, synthetic images were created for model training and validation. The YOLOv7 model, pretrained on the COCO dataset (excluding coconut palms), was adapted using tailored data. Trees from footage were repositioned on synthetic images, with testing on distinct authentic images. In our experiments, we adjusted hyperparameters, improving YOLO's mean average precision (mAP). We also tested various altitudes to determine the best drone height. From an initial [email protected] of 0.65, we achieved 0.88, highlighting the value of synthetic images in agricultural scenarios.

Previous deep learning-based line segment detection (LSD) suffers from the immense model size and high computational cost for line prediction. This constrains them from real-time inference on computationally restricted environments. In this paper, we propose a real-time and light-weight line segment detector for resource-constrained environments named Mobile LSD (M-LSD). We design an extremely efficient LSD architecture by minimizing the backbone network and removing the typical multi-module process for line prediction found in previous methods. To maintain competitive performance with a light-weight network, we present novel training schemes: Segments of Line segment (SoL) augmentation, matching and geometric loss. SoL augmentation splits a line segment into multiple subparts, which are used to provide auxiliary line data during the training process. Moreover, the matching and geometric loss allow a model to capture additional geometric cues. Compared with TP-LSD-Lite, previously the best real-time LSD method, our model (M-LSD-tiny) achieves competitive performance with 2.5% of model size and an increase of 130.5% in inference speed on GPU. Furthermore, our model runs at 56.8 FPS and 48.6 FPS on the latest Android and iPhone mobile devices, respectively. To the best of our knowledge, this is the first real-time deep LSD available on mobile devices. Our code is available.

With the development of aerospace technology, the increasing population of space debris has posed a great threat to the safety of spacecraft. However, the low intensity of reflected light and high angular velocity of space debris impede the extraction. Besides, due to the limitations of the ground observation methods, small space debris can hardly be detected, making it necessary to enhance the spacecraft's capacity for space situational awareness (SSA). Considering that traditional methods have some defects in low-SNR target detection, such as low effectiveness and large time consumption, this paper proposes a method for low-SNR streak extraction based on local contrast and maximum likelihood estimation (MLE), which can detect space objects with SNR 2.0 efficiently. In the proposed algorithm, local contrast will be applied for crude classifications, which will return connected components as preliminary results, and then MLE will be performed to reconstruct the connected components of targets via orientated growth, further improving the precision. The algorithm has been verified with both simulated streaks and real star tracker images, and the average centroid error of the proposed algorithm is close to the state-of-the-art method like ODCC. At the same time, the algorithm in this paper has significant advantages in efficiency compared with ODCC. In conclusion, the algorithm in this paper is of high speed and precision, which guarantees its promising applications in the extraction of high dynamic targets.

This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the drone detection task. Even with slightly lower resolution, the performance is just as good as a camera in visible range. The detector performance as a function of the sensor-to-target distance is also investigated. In addition, using sensor fusion, the system is made more robust than the individual sensors, helping to reduce false detections. To counteract the lack of public datasets, a novel video dataset containing 650 annotated infrared and visible videos of drones, birds, airplanes and helicopters is also presented (https://github.com/DroneDetectionThesis/Drone-detection-dataset). The database is complemented with an audio dataset of the classes drones, helicopters and background noise.

We propose a simple yet efficient anchor-free instance segmentation, called CenterMask, that adds a novel spatial attention-guided mask (SAG-Mask) branch to anchor-free one stage object detector (FCOS) in the same vein with Mask R-CNN. Plugged into the FCOS object detector, the SAG-Mask branch predicts a segmentation mask on each box with the spatial attention map that helps to focus on informative pixels and suppress noise. We also present an improved backbone networks, VoVNetV2, with two effective strategies: (1) residual connection for alleviating the optimization problem of larger VoVNet lee2019energy and (2) effective Squeeze-Excitation (eSE) dealing with the channel information loss problem of original SE. With SAG-Mask and VoVNetV2, we deign CenterMask and CenterMask-Lite that are targeted to large and small models, respectively. Using the same ResNet-101-FPN backbone, CenterMask achieves 38.3%, surpassing all previous state-of-the-art methods while at a much faster speed. CenterMask-Lite also outperforms the state-of-the-art by large margins at over 35fps on Titan Xp. We hope that CenterMask and VoVNetV2 can serve as a solid baseline of real-time instance segmentation and backbone network for various vision tasks, respectively. The Code is available at https://github.com/youngwanLEE/CenterMask.

Multi-Object Tracking (MOT) poses significant challenges in computer vision. Despite its wide application in robotics, autonomous driving, and smart manufacturing, there is limited literature addressing the specific challenges of running MOT on embedded devices. State-of-the-art MOT trackers designed for high-end GPUs often experience low processing rates (<11fps) when deployed on embedded devices. Existing MOT frameworks for embedded devices proposed strategies such as fusing the detector model with the feature embedding model to reduce inference latency or combining different trackers to improve tracking accuracy, but tend to compromise one for the other. This paper introduces HopTrack, a real-time multi-object tracking system tailored for embedded devices. Our system employs a novel discretized static and dynamic matching approach along with an innovative content-aware dynamic sampling technique to enhance tracking accuracy while meeting the real-time requirement. Compared with the best high-end GPU modified baseline Byte (Embed) and the best existing baseline on embedded devices MobileNet-JDE, HopTrack achieves a processing speed of up to 39.29 fps on NVIDIA AGX Xavier with a multi-object tracking accuracy (MOTA) of up to 63.12% on the MOT16 benchmark, outperforming both counterparts by 2.15% and 4.82%, respectively. Additionally, the accuracy improvement is coupled with the reduction in energy consumption (20.8%), power (5%), and memory usage (8%), which are crucial resources on embedded devices. HopTrack is also detector agnostic allowing the flexibility of plug-and-play.

A significant number of traffic crashes are secondary crashes that occur because of an earlier incident on the road. Thus, early detection of traffic incidents is crucial for road users from safety perspectives with a potential to reduce the risk of secondary crashes. The wide availability of GPS devices now-a-days gives an opportunity of tracking and recording vehicle trajectories. The objective of this study is to use vehicle trajectory data for advance real-time detection of traffic incidents on highways using machine learning-based algorithms. The study uses three days of unevenly sequenced vehicle trajectory data and traffic incident data on I-10, one of the most crash-prone highways in Louisiana. Vehicle trajectories are converted to trajectories based on virtual detector locations to maintain spatial uniformity as well as to generate historical traffic data for machine learning algorithms. Trips matched with traffic incidents on the way are separated and along with other trips with similar spatial attributes are used to build a database for modeling. Multiple machine learning algorithms such as Logistic Regression, Random Forest, Extreme Gradient Boost, and Artificial Neural Network models are used to detect a trajectory that is likely to face an incident in the downstream road section. Results suggest that the Random Forest model achieves the best performance for predicting an incident with reasonable recall value and discrimination capability.

Recently, segmentation-based scene text detection methods have drawn extensive attention in the scene text detection field, because of their superiority in detecting the text instances of arbitrary shapes and extreme aspect ratios, profiting from the pixel-level descriptions. However, the vast majority of the existing segmentation-based approaches are limited to their complex post-processing algorithms and the scale robustness of their segmentation models, where the post-processing algorithms are not only isolated to the model optimization but also time-consuming and the scale robustness is usually strengthened by fusing multi-scale feature maps directly. In this paper, we propose a Differentiable Binarization (DB) module that integrates the binarization process, one of the most important steps in the post-processing procedure, into a segmentation network. Optimized along with the proposed DB module, the segmentation network can produce more accurate results, which enhances the accuracy of text detection with a simple pipeline. Furthermore, an efficient Adaptive Scale Fusion (ASF) module is proposed to improve the scale robustness by fusing features of different scales adaptively. By incorporating the proposed DB and ASF with the segmentation network, our proposed scene text detector consistently achieves state-of-the-art results, in terms of both detection accuracy and speed, on five standard benchmarks.

Recently, segmentation-based methods are quite popular in scene text detection, as the segmentation results can more accurately describe scene text of various shapes such as curve text. However, the post-processing of binarization is essential for segmentation-based detection, which converts probability maps produced by a segmentation method into bounding boxes/regions of text. In this paper, we propose a module named Differentiable Binarization (DB), which can perform the binarization process in a segmentation network. Optimized along with a DB module, a segmentation network can adaptively set the thresholds for binarization, which not only simplifies the post-processing but also enhances the performance of text detection. Based on a simple segmentation network, we validate the performance improvements of DB on five benchmark datasets, which consistently achieves state-of-the-art results, in terms of both detection accuracy and speed. In particular, with a light-weight backbone, the performance improvements by DB are significant so that we can look for an ideal tradeoff between detection accuracy and efficiency. Specifically, with a backbone of ResNet-18, our detector achieves an F-measure of 82.8, running at 62 FPS, on the MSRA-TD500 dataset. Code is available at: https://github.com/MhLiao/DB

This paper presents a generalized model for real-time detection of flying objects that can be used for transfer learning and further research, as well as a refined model that is ready for implementation. We achieve this by training our first generalized model on a data set containing 40 different classes of flying objects, forcing the model to extract abstract feature representations. We then perform transfer learning with these learned parameters on a data set more representative of real world environments (i.e., higher frequency of occlusion, small spatial sizes, rotations, etc.) to generate our refined model. Object detection of flying objects remains challenging due to large variance object spatial sizes/aspect ratios, rate of speed, occlusion, and clustered backgrounds. To address some of the presented challenges while simultaneously maximizing performance, we utilize the current state of the art single-shot detector, YOLOv8, in an attempt to find the best tradeoff between inference speed and mAP. While YOLOv8 is being regarded as the new state-of-the-art, an official paper has not been provided. Thus, we provide an in-depth explanation of the new architecture and functionality that YOLOv8 has adapted. Our final generalized model achieves an mAP50-95 of 0.685 and average inference speed on 1080p videos of 50 fps. Our final refined model maintains this inference speed and achieves an improved mAP50-95 of 0.835.

We present a real-time on-device hand tracking pipeline that predicts hand skeleton from single RGB camera for AR/VR applications. The pipeline consists of two models: 1) a palm detector, 2) a hand landmark model. It's implemented via MediaPipe, a framework for building cross-platform ML solutions. The proposed model and pipeline architecture demonstrates real-time inference speed on mobile GPUs and high prediction quality. MediaPipe Hands is open sourced at https://mediapipe.dev.

In this report, we present a fast and accurate object detection method dubbed DAMO-YOLO, which achieves higher performance than the state-of-the-art YOLO series. DAMO-YOLO is extended from YOLO with some new technologies, including Neural Architecture Search (NAS), efficient Reparameterized Generalized-FPN (RepGFPN), a lightweight head with AlignedOTA label assignment, and distillation enhancement. In particular, we use MAE-NAS, a method guided by the principle of maximum entropy, to search our detection backbone under the constraints of low latency and high performance, producing ResNet-like / CSP-like structures with spatial pyramid pooling and focus modules. In the design of necks and heads, we follow the rule of "large neck, small head". We import Generalized-FPN with accelerated queen-fusion to build the detector neck and upgrade its CSPNet with efficient layer aggregation networks (ELAN) and reparameterization. Then we investigate how detector head size affects detection performance and find that a heavy neck with only one task projection layer would yield better results. In addition, AlignedOTA is proposed to solve the misalignment problem in label assignment. And a distillation schema is introduced to improve performance to a higher level. Based on these new techs, we build a suite of models at various scales to meet the needs of different scenarios, i.e., DAMO-YOLO-Tiny/Small/Medium. They can achieve 43.0/46.8/50.0 mAPs on COCO with the latency of 2.78/3.83/5.62 ms on T4 GPUs respectively. The code is available at https://github.com/tinyvision/damo-yolo.

Mitotic figure (MF) detection in histopathology images is challenging due to large variations in slide scanners, staining protocols, tissue types, and the presence of artifacts. This paper presents a collection of training techniques - a bag of tricks - that enable robust, real-time MF detection across diverse domains. We build on the efficient RTMDet single stage object detector to achieve high inference speed suitable for clinical deployment. Our method addresses scanner variability and tumor heterogeneity via extensive multi-domain training data, balanced sampling, and careful augmentation. Additionally, we employ targeted, hard negative mining on necrotic and debris tissue to reduce false positives. In a grouped 5-fold cross-validation across multiple MF datasets, our model achieves an F1 score between 0.78 and 0.84. On the preliminary test set of the MItosis DOmain Generalization (MIDOG) 2025 challenge, our single-stage RTMDet-S based approach reaches an F1 of 0.81, outperforming larger models and demonstrating adaptability to new, unfamiliar domains. The proposed solution offers a practical trade-off between accuracy and speed, making it attractive for real-world clinical adoption.

The YOLO series models reign supreme in real-time object detection due to their superior accuracy and computational efficiency. However, both the convolutional architectures of YOLO11 and earlier versions and the area-based self-attention mechanism introduced in YOLOv12 are limited to local information aggregation and pairwise correlation modeling, lacking the capability to capture global multi-to-multi high-order correlations, which limits detection performance in complex scenarios. In this paper, we propose YOLOv13, an accurate and lightweight object detector. To address the above-mentioned challenges, we propose a Hypergraph-based Adaptive Correlation Enhancement (HyperACE) mechanism that adaptively exploits latent high-order correlations and overcomes the limitation of previous methods that are restricted to pairwise correlation modeling based on hypergraph computation, achieving efficient global cross-location and cross-scale feature fusion and enhancement. Subsequently, we propose a Full-Pipeline Aggregation-and-Distribution (FullPAD) paradigm based on HyperACE, which effectively achieves fine-grained information flow and representation synergy within the entire network by distributing correlation-enhanced features to the full pipeline. Finally, we propose to leverage depthwise separable convolutions to replace vanilla large-kernel convolutions, and design a series of blocks that significantly reduce parameters and computational complexity without sacrificing performance. We conduct extensive experiments on the widely used MS COCO benchmark, and the experimental results demonstrate that our method achieves state-of-the-art performance with fewer parameters and FLOPs. Specifically, our YOLOv13-N improves mAP by 3.0\% over YOLO11-N and by 1.5\% over YOLOv12-N. The code and models of our YOLOv13 model are available at: https://github.com/iMoonLab/yolov13.

The goal of Online Domain Adaptation for semantic segmentation is to handle unforeseeable domain changes that occur during deployment, like sudden weather events. However, the high computational costs associated with brute-force adaptation make this paradigm unfeasible for real-world applications. In this paper we propose HAMLET, a Hardware-Aware Modular Least Expensive Training framework for real-time domain adaptation. Our approach includes a hardware-aware back-propagation orchestration agent (HAMT) and a dedicated domain-shift detector that enables active control over when and how the model is adapted (LT). Thanks to these advancements, our approach is capable of performing semantic segmentation while simultaneously adapting at more than 29FPS on a single consumer-grade GPU. Our framework's encouraging accuracy and speed trade-off is demonstrated on OnDA and SHIFT benchmarks through experimental results.

Frequency-modulated continuous wave radars have gained increasing popularity in the automotive industry. Its robustness against adverse weather conditions makes it a suitable choice for radar object detection in advanced driver assistance systems. These real-time embedded systems have requirements for the compactness and efficiency of the model, which have been largely overlooked in previous work. In this work, we propose mRadNet, a novel radar object detection model with compactness in mind. mRadNet employs a U-net style architecture with MetaFormer blocks, in which separable convolution and attention token mixers are used to capture both local and global features effectively. More efficient token embedding and merging strategies are introduced to further facilitate the lightweight design of the model. The performance of mRadNet is validated on the CRUW dataset, improving state-of-the-art performance.

Spoken dialogue systems powered by large language models have demonstrated remarkable abilities in understanding human speech and generating appropriate spoken responses. However, these systems struggle with end-turn detection (ETD) -- the ability to distinguish between user turn completion and hesitation. This limitation often leads to premature or delayed responses, disrupting the flow of spoken conversations. In this paper, we introduce the ETD Dataset, the first public dataset for end-turn detection. The ETD dataset consists of both synthetic speech data generated with text-to-speech models and real-world speech data collected from web sources. We also propose SpeculativeETD, a novel collaborative inference framework that balances efficiency and accuracy to improve real-time ETD in resource-constrained environments. Our approach jointly employs a lightweight GRU-based model, which rapidly detects the non-speaking units in real-time on local devices, and a high-performance Wav2vec-based model running on the server to make a more challenging classification of distinguishing turn ends from mere pauses. Experiments demonstrate that the proposed SpeculativeETD significantly improves ETD accuracy while keeping the required computations low. Datasets and code will be available after the review.

In the past years, YOLO-series models have emerged as the leading approaches in the area of real-time object detection. Many studies pushed up the baseline to a higher level by modifying the architecture, augmenting data and designing new losses. However, we find previous models still suffer from information fusion problem, although Feature Pyramid Network (FPN) and Path Aggregation Network (PANet) have alleviated this. Therefore, this study provides an advanced Gatherand-Distribute mechanism (GD) mechanism, which is realized with convolution and self-attention operations. This new designed model named as Gold-YOLO, which boosts the multi-scale feature fusion capabilities and achieves an ideal balance between latency and accuracy across all model scales. Additionally, we implement MAE-style pretraining in the YOLO-series for the first time, allowing YOLOseries models could be to benefit from unsupervised pretraining. Gold-YOLO-N attains an outstanding 39.9% AP on the COCO val2017 datasets and 1030 FPS on a T4 GPU, which outperforms the previous SOTA model YOLOv6-3.0-N with similar FPS by +2.4%. The PyTorch code is available at https://github.com/huawei-noah/Efficient-Computing/tree/master/Detection/Gold-YOLO, and the MindSpore code is available at https://gitee.com/mindspore/models/tree/master/research/cv/Gold_YOLO.

This study presents a detailed analysis of the YOLOv8 object detection model, focusing on its architecture, training techniques, and performance improvements over previous iterations like YOLOv5. Key innovations, including the CSPNet backbone for enhanced feature extraction, the FPN+PAN neck for superior multi-scale object detection, and the transition to an anchor-free approach, are thoroughly examined. The paper reviews YOLOv8's performance across benchmarks like Microsoft COCO and Roboflow 100, highlighting its high accuracy and real-time capabilities across diverse hardware platforms. Additionally, the study explores YOLOv8's developer-friendly enhancements, such as its unified Python package and CLI, which streamline model training and deployment. Overall, this research positions YOLOv8 as a state-of-the-art solution in the evolving object detection field.

Realtime multi-person 2D pose estimation is a key component in enabling machines to have an understanding of people in images and videos. In this work, we present a realtime approach to detect the 2D pose of multiple people in an image. The proposed method uses a nonparametric representation, which we refer to as Part Affinity Fields (PAFs), to learn to associate body parts with individuals in the image. This bottom-up system achieves high accuracy and realtime performance, regardless of the number of people in the image. In previous work, PAFs and body part location estimation were refined simultaneously across training stages. We demonstrate that a PAF-only refinement rather than both PAF and body part location refinement results in a substantial increase in both runtime performance and accuracy. We also present the first combined body and foot keypoint detector, based on an internal annotated foot dataset that we have publicly released. We show that the combined detector not only reduces the inference time compared to running them sequentially, but also maintains the accuracy of each component individually. This work has culminated in the release of OpenPose, the first open-source realtime system for multi-person 2D pose detection, including body, foot, hand, and facial keypoints.

Though tremendous strides have been made in uncontrolled face detection, accurate and efficient face localisation in the wild remains an open challenge. This paper presents a robust single-stage face detector, named RetinaFace, which performs pixel-wise face localisation on various scales of faces by taking advantages of joint extra-supervised and self-supervised multi-task learning. Specifically, We make contributions in the following five aspects: (1) We manually annotate five facial landmarks on the WIDER FACE dataset and observe significant improvement in hard face detection with the assistance of this extra supervision signal. (2) We further add a self-supervised mesh decoder branch for predicting a pixel-wise 3D shape face information in parallel with the existing supervised branches. (3) On the WIDER FACE hard test set, RetinaFace outperforms the state of the art average precision (AP) by 1.1% (achieving AP equal to 91.4%). (4) On the IJB-C test set, RetinaFace enables state of the art methods (ArcFace) to improve their results in face verification (TAR=89.59% for FAR=1e-6). (5) By employing light-weight backbone networks, RetinaFace can run real-time on a single CPU core for a VGA-resolution image. Extra annotations and code have been made available at: https://github.com/deepinsight/insightface/tree/master/RetinaFace.

Camera-based 3D object detection in BEV (Bird's Eye View) space has drawn great attention over the past few years. Dense detectors typically follow a two-stage pipeline by first constructing a dense BEV feature and then performing object detection in BEV space, which suffers from complex view transformations and high computation cost. On the other side, sparse detectors follow a query-based paradigm without explicit dense BEV feature construction, but achieve worse performance than the dense counterparts. In this paper, we find that the key to mitigate this performance gap is the adaptability of the detector in both BEV and image space. To achieve this goal, we propose SparseBEV, a fully sparse 3D object detector that outperforms the dense counterparts. SparseBEV contains three key designs, which are (1) scale-adaptive self attention to aggregate features with adaptive receptive field in BEV space, (2) adaptive spatio-temporal sampling to generate sampling locations under the guidance of queries, and (3) adaptive mixing to decode the sampled features with dynamic weights from the queries. On the test split of nuScenes, SparseBEV achieves the state-of-the-art performance of 67.5 NDS. On the val split, SparseBEV achieves 55.8 NDS while maintaining a real-time inference speed of 23.5 FPS. Code is available at https://github.com/MCG-NJU/SparseBEV.

In the rapidly evolving field of speech generative models, there is a pressing need to ensure audio authenticity against the risks of voice cloning. We present AudioSeal, the first audio watermarking technique designed specifically for localized detection of AI-generated speech. AudioSeal employs a generator/detector architecture trained jointly with a localization loss to enable localized watermark detection up to the sample level, and a novel perceptual loss inspired by auditory masking, that enables AudioSeal to achieve better imperceptibility. AudioSeal achieves state-of-the-art performance in terms of robustness to real life audio manipulations and imperceptibility based on automatic and human evaluation metrics. Additionally, AudioSeal is designed with a fast, single-pass detector, that significantly surpasses existing models in speed - achieving detection up to two orders of magnitude faster, making it ideal for large-scale and real-time applications.

Mitigating methane emissions is the fastest way to stop global warming in the short-term and buy humanity time to decarbonise. Despite the demonstrated ability of remote sensing instruments to detect methane plumes, no system has been available to routinely monitor and act on these events. We present MARS-S2L, an automated AI-driven methane emitter monitoring system for Sentinel-2 and Landsat satellite imagery deployed operationally at the United Nations Environment Programme's International Methane Emissions Observatory. We compile a global dataset of thousands of super-emission events for training and evaluation, demonstrating that MARS-S2L can skillfully monitor emissions in a diverse range of regions globally, providing a 216% improvement in mean average precision over a current state-of-the-art detection method. Running this system operationally for six months has yielded 457 near-real-time detections in 22 different countries of which 62 have already been used to provide formal notifications to governments and stakeholders.

Real-time object detection is a crucial problem to solve when in comes to computer vision systems that needs to make appropriate decision based on detection in a timely manner. I have chosen the YOLO v1 architecture to implement it using PyTorch framework, with goal to familiarize with entire object detection pipeline I attempted different techniques to modify the original architecture to improve the results. Finally, I compare the metrics of my implementation to the original.

With the increased applications of automatic speech recognition (ASR) in recent years, it is essential to automatically insert punctuation marks and remove disfluencies in transcripts, to improve the readability of the transcripts as well as the performance of subsequent applications, such as machine translation, dialogue systems, and so forth. In this paper, we propose a Controllable Time-delay Transformer (CT-Transformer) model that jointly completes the punctuation prediction and disfluency detection tasks in real time. The CT-Transformer model facilitates freezing partial outputs with controllable time delay to fulfill the real-time constraints in partial decoding required by subsequent applications. We further propose a fast decoding strategy to minimize latency while maintaining competitive performance. Experimental results on the IWSLT2011 benchmark dataset and an in-house Chinese annotated dataset demonstrate that the proposed approach outperforms the previous state-of-the-art models on F-scores and achieves a competitive inference speed.

Poor sitting posture can lead to various work-related musculoskeletal disorders (WMSDs). Office employees spend approximately 81.8% of their working time seated, and sedentary behavior can result in chronic diseases such as cervical spondylosis and cardiovascular diseases. To address these health concerns, we present SitPose, a sitting posture and sedentary detection system utilizing the latest Kinect depth camera. The system tracks 3D coordinates of bone joint points in real-time and calculates the angle values of related joints. We established a dataset containing six different sitting postures and one standing posture, totaling 33,409 data points, by recruiting 36 participants. We applied several state-of-the-art machine learning algorithms to the dataset and compared their performance in recognizing the sitting poses. Our results show that the ensemble learning model based on the soft voting mechanism achieves the highest F1 score of 98.1%. Finally, we deployed the SitPose system based on this ensemble model to encourage better sitting posture and to reduce sedentary habits.

Scams exploiting real-time social engineering -- such as phishing, impersonation, and phone fraud -- remain a persistent and evolving threat across digital platforms. Existing defenses are largely reactive, offering limited protection during active interactions. We propose a privacy-preserving, AI-in-the-loop framework that proactively detects and disrupts scam conversations in real time. The system combines instruction-tuned artificial intelligence with a safety-aware utility function that balances engagement with harm minimization, and employs federated learning to enable continual model updates without raw data sharing. Experimental evaluations show that the system produces fluent and engaging responses (perplexity as low as 22.3, engagement approx0.80), while human studies confirm significant gains in realism, safety, and effectiveness over strong baselines. In federated settings, models trained with FedAvg sustain up to 30 rounds while preserving high engagement (approx0.80), strong relevance (approx0.74), and low PII leakage (leq0.0085). Even with differential privacy, novelty and safety remain stable, indicating that robust privacy can be achieved without sacrificing performance. The evaluation of guard models (LlamaGuard, LlamaGuard2/3, MD-Judge) shows a straightforward pattern: stricter moderation settings reduce the chance of exposing personal information, but they also limit how much the model engages in conversation. In contrast, more relaxed settings allow longer and richer interactions, which improve scam detection, but at the cost of higher privacy risk. To our knowledge, this is the first framework to unify real-time scam-baiting, federated privacy preservation, and calibrated safety moderation into a proactive defense paradigm.

An accurate and efficient epileptic seizure onset detection can significantly benefit patients. Traditional diagnostic methods, primarily relying on electroencephalograms (EEGs), often result in cumbersome and non-portable solutions, making continuous patient monitoring challenging. The video-based seizure detection system is expected to free patients from the constraints of scalp or implanted EEG devices and enable remote monitoring in residential settings. Previous video-based methods neither enable all-day monitoring nor provide short detection latency due to insufficient resources and ineffective patient action recognition techniques. Additionally, skeleton-based action recognition approaches remain limitations in identifying subtle seizure-related actions. To address these challenges, we propose a novel Video-based Seizure detection model via a skeleton-based spatiotemporal Vision Graph neural network (VSViG) for its efficient, accurate and timely purpose in real-time scenarios. Our experimental results indicate VSViG outperforms previous state-of-the-art action recognition models on our collected patients' video data with higher accuracy (5.9% error), lower FLOPs (0.4G), and smaller model size (1.4M). Furthermore, by integrating a decision-making rule that combines output probabilities and an accumulative function, we achieve a 5.1 s detection latency after EEG onset, a 13.1 s detection advance before clinical onset, and a zero false detection rate. The project homepage is available at: https://github.com/xuyankun/VSViG/

Effective monitoring of wildlife is critical for assessing biodiversity and ecosystem health, as declines in key species often signal significant environmental changes. Birds, particularly ground-nesting species, serve as important ecological indicators due to their sensitivity to environmental pressures. Camera traps have become indispensable tools for monitoring nesting bird populations, enabling data collection across diverse habitats. However, the manual processing and analysis of such data are resource-intensive, often delaying the delivery of actionable conservation insights. This study presents an AI-driven approach for real-time species detection, focusing on the curlew (Numenius arquata), a ground-nesting bird experiencing significant population declines. A custom-trained YOLOv10 model was developed to detect and classify curlews and their chicks using 3/4G-enabled cameras linked to the Conservation AI platform. The system processes camera trap data in real-time, significantly enhancing monitoring efficiency. Across 11 nesting sites in Wales, the model achieved high performance, with a sensitivity of 90.56%, specificity of 100%, and F1-score of 95.05% for curlew detections, and a sensitivity of 92.35%, specificity of 100%, and F1-score of 96.03% for curlew chick detections. These results demonstrate the capability of AI-driven monitoring systems to deliver accurate, timely data for biodiversity assessments, facilitating early conservation interventions and advancing the use of technology in ecological research.

Accurate whole-body multi-person pose estimation and tracking is an important yet challenging topic in computer vision. To capture the subtle actions of humans for complex behavior analysis, whole-body pose estimation including the face, body, hand and foot is essential over conventional body-only pose estimation. In this paper, we present AlphaPose, a system that can perform accurate whole-body pose estimation and tracking jointly while running in realtime. To this end, we propose several new techniques: Symmetric Integral Keypoint Regression (SIKR) for fast and fine localization, Parametric Pose Non-Maximum-Suppression (P-NMS) for eliminating redundant human detections and Pose Aware Identity Embedding for jointly pose estimation and tracking. During training, we resort to Part-Guided Proposal Generator (PGPG) and multi-domain knowledge distillation to further improve the accuracy. Our method is able to localize whole-body keypoints accurately and tracks humans simultaneously given inaccurate bounding boxes and redundant detections. We show a significant improvement over current state-of-the-art methods in both speed and accuracy on COCO-wholebody, COCO, PoseTrack, and our proposed Halpe-FullBody pose estimation dataset. Our model, source codes and dataset are made publicly available at https://github.com/MVIG-SJTU/AlphaPose.

Tracking and following objects of interest is critical to several robotics use cases, ranging from industrial automation to logistics and warehousing, to healthcare and security. In this paper, we present a robotic system to detect, track, and follow any object in real-time. Our approach, dubbed ``follow anything'' (FAn), is an open-vocabulary and multimodal model -- it is not restricted to concepts seen at training time and can be applied to novel classes at inference time using text, images, or click queries. Leveraging rich visual descriptors from large-scale pre-trained models (foundation models), FAn can detect and segment objects by matching multimodal queries (text, images, clicks) against an input image sequence. These detected and segmented objects are tracked across image frames, all while accounting for occlusion and object re-emergence. We demonstrate FAn on a real-world robotic system (a micro aerial vehicle) and report its ability to seamlessly follow the objects of interest in a real-time control loop. FAn can be deployed on a laptop with a lightweight (6-8 GB) graphics card, achieving a throughput of 6-20 frames per second. To enable rapid adoption, deployment, and extensibility, we open-source all our code on our project webpage at https://github.com/alaamaalouf/FollowAnything . We also encourage the reader the watch our 5-minutes explainer video in this https://www.youtube.com/watch?v=6Mgt3EPytrw .

We introduce YOLO9000, a state-of-the-art, real-time object detection system that can detect over 9000 object categories. First we propose various improvements to the YOLO detection method, both novel and drawn from prior work. The improved model, YOLOv2, is state-of-the-art on standard detection tasks like PASCAL VOC and COCO. At 67 FPS, YOLOv2 gets 76.8 mAP on VOC 2007. At 40 FPS, YOLOv2 gets 78.6 mAP, outperforming state-of-the-art methods like Faster RCNN with ResNet and SSD while still running significantly faster. Finally we propose a method to jointly train on object detection and classification. Using this method we train YOLO9000 simultaneously on the COCO detection dataset and the ImageNet classification dataset. Our joint training allows YOLO9000 to predict detections for object classes that don't have labelled detection data. We validate our approach on the ImageNet detection task. YOLO9000 gets 19.7 mAP on the ImageNet detection validation set despite only having detection data for 44 of the 200 classes. On the 156 classes not in COCO, YOLO9000 gets 16.0 mAP. But YOLO can detect more than just 200 classes; it predicts detections for more than 9000 different object categories. And it still runs in real-time.

In the rapidly evolving landscape of 5G technology, the adoption of cloud-based infrastructure for the deployment of 5G services has become increasingly common. Using a service-based architecture, critical 5G components, such as the Access and Mobility Management Function (AMF), Session Management Function (SMF), and User Plane Function (UPF), now run as containerized pods on Kubernetes clusters. Although this approach improves scalability, flexibility, and resilience, it also introduces new security challenges, particularly to ensure the integrity and trustworthiness of these components. Current 5G security specifications (for example, 3GPP TS 33.501) focus on communication security and assume that network functions remain trustworthy after authentication, consequently lacking mechanisms to continuously validate the integrity of NVFs at runtime. To close this gap, and to align with Zero Trust principles of 'never trust, always verify', we present a TPM 2.0-based continuous remote attestation solution for core 5G components deployed on Kubernetes. Our approach uses the Linux Integrity Measurement Architecture (IMA) and a Trusted Platform Module (TPM) to provide hardware-based runtime validation. We integrate the open-source Keylime framework with a custom IMA template that isolates pod-level measurements, allowing per-pod integrity verification. A prototype on a k3s cluster (consisting of 1 master, 2 worker nodes) was implemented to attest to core functions, including AMF, SMF and UPF. The experimental results show that the system detects unauthorized modifications in real time, labels each pod's trust state, and generates detailed audit logs. This work provides hardware-based continuous attestation for cloud native and edge deployments, strengthening the resilience of 5G as critical infrastructure in multi-vendor and mission-critical scenarios of 5G.

We describe the design and commissioning tests for the DSA-110 Not-So-Fast Radio Burst (NSFRB) search pipeline, a 1.4 GHz image-plane single-pulse search sensitive to 134 ms-160.8 s radio bursts. Extending the pulse width range of the Fast Radio Burst (FRB) search by 3 orders of magnitude, the NSFRB search is sensitive to the recently-discovered Galactic Long Period Radio Transients (LPRTs). The NSFRB search operates in real-time, utilizing a custom GPU-accelerated search code, cerberus, implemented in Python with JAX. We summarize successful commissioning sensitivity tests with continuum sources and pulsar B0329+54, estimating the 6sigma flux (fluence) threshold to be ~290 mJy (~40 Jy ms). Future tests of recovery of longer timescale transients, e.g. CHIME J1634+44, are planned to supplement injection testing and B0329+54 observations. An offline DSA-110 NSFRB Galactic Plane Survey was conducted to search for LPRTs, covering -3.5^circ<b<5.7^circ and 141^circ<l<225^circ (~770 square degrees) in Galactic coordinates. We estimate an upper limit Poissonian burst rate ~1 hr^{-1} per square degree (~7 hr^{-1} per 3^circtimes3^circ survey grid cell) maximized across the inner |b|<0.25^circ of the surveyed region. By imposing the ~290 mJy flux limit on two representative models (the magnetar plastic flow model and the White Dwarf-M Dwarf binary model), we reject with 95% confidence the presence of White Dwarf-M Dwarf binary LPRTs with periods between ~10-70s within ~95% of the surveyed region. Combined with the prevalence of LPRTs in the Galactic Plane, our results motivate further consideration of both White Dwarf-M Dwarf binary models and isolated magnetar models. We will continue to explore novel LPRT search strategies during real-time operations, such as triggered periodicity searches and additional targeted surveys.

This paper presents a computationally efficient method for vehicle speed estimation from traffic camera footage. Building upon previous work that utilizes 3D bounding boxes derived from 2D detections and vanishing point geometry, we introduce several improvements to enhance real-time performance. We evaluate our method in several variants on the BrnoCompSpeed dataset in terms of vehicle detection and speed estimation accuracy. Our extensive evaluation across various hardware platforms, including edge devices, demonstrates significant gains in frames per second (FPS) compared to the prior state-of-the-art, while maintaining comparable or improved speed estimation accuracy. We analyze the trade-off between accuracy and computational cost, showing that smaller models utilizing post-training quantization offer the best balance for real-world deployment. Our best performing model beats previous state-of-the-art in terms of median vehicle speed estimation error (0.58 km/h vs. 0.60 km/h), detection precision (91.02% vs 87.08%) and recall (91.14% vs. 83.32%) while also being 5.5 times faster.

Many image-based perception tasks can be formulated as detecting, associating and tracking semantic keypoints, e.g., human body pose estimation and tracking. In this work, we present a general framework that jointly detects and forms spatio-temporal keypoint associations in a single stage, making this the first real-time pose detection and tracking algorithm. We present a generic neural network architecture that uses Composite Fields to detect and construct a spatio-temporal pose which is a single, connected graph whose nodes are the semantic keypoints (e.g., a person's body joints) in multiple frames. For the temporal associations, we introduce the Temporal Composite Association Field (TCAF) which requires an extended network architecture and training method beyond previous Composite Fields. Our experiments show competitive accuracy while being an order of magnitude faster on multiple publicly available datasets such as COCO, CrowdPose and the PoseTrack 2017 and 2018 datasets. We also show that our method generalizes to any class of semantic keypoints such as car and animal parts to provide a holistic perception framework that is well suited for urban mobility such as self-driving cars and delivery robots.

Event cameras offer unparalleled advantages for real-time perception in dynamic environments, thanks to their microsecond-level temporal resolution and asynchronous operation. Existing event-based object detection methods, however, are limited by fixed-frequency paradigms and fail to fully exploit the high-temporal resolution and adaptability of event cameras. To address these limitations, we propose FlexEvent, a novel event camera object detection framework that enables detection at arbitrary frequencies. Our approach consists of two key components: FlexFuser, an adaptive event-frame fusion module that integrates high-frequency event data with rich semantic information from RGB frames, and FAL, a frequency-adaptive learning mechanism that generates frequency-adjusted labels to enhance model generalization across varying operational frequencies. This combination allows our method to detect objects with high accuracy in both fast-moving and static scenarios, while adapting to dynamic environments. Extensive experiments on large-scale event camera datasets demonstrate that our approach surpasses state-of-the-art methods, achieving significant improvements in both standard and high-frequency settings. Notably, our method maintains robust performance when scaling from 20 Hz to 90 Hz and delivers accurate detection up to 180 Hz, proving its effectiveness in extreme conditions. Our framework sets a new benchmark for event-based object detection and paves the way for more adaptable, real-time vision systems.

Recent camera-based 3D object detection methods have introduced sequential frames to improve the detection performance hoping that multiple frames would mitigate the large depth estimation error. Despite improved detection performance, prior works rely on naive fusion methods (e.g., concatenation) or are limited to static scenes (e.g., temporal stereo), neglecting the importance of the motion cue of objects. These approaches do not fully exploit the potential of sequential images and show limited performance improvements. To address this limitation, we propose a novel 3D object detection model, P2D (Predict to Detect), that integrates a prediction scheme into a detection framework to explicitly extract and leverage motion features. P2D predicts object information in the current frame using solely past frames to learn temporal motion features. We then introduce a novel temporal feature aggregation method that attentively exploits Bird's-Eye-View (BEV) features based on predicted object information, resulting in accurate 3D object detection. Experimental results demonstrate that P2D improves mAP and NDS by 3.0% and 3.7% compared to the sequential image-based baseline, illustrating that incorporating a prediction scheme can significantly improve detection accuracy.

Object detection, as of one the most fundamental and challenging problems in computer vision, has received great attention in recent years. Over the past two decades, we have seen a rapid technological evolution of object detection and its profound impact on the entire computer vision field. If we consider today's object detection technique as a revolution driven by deep learning, then back in the 1990s, we would see the ingenious thinking and long-term perspective design of early computer vision. This paper extensively reviews this fast-moving research field in the light of technical evolution, spanning over a quarter-century's time (from the 1990s to 2022). A number of topics have been covered in this paper, including the milestone detectors in history, detection datasets, metrics, fundamental building blocks of the detection system, speed-up techniques, and the recent state-of-the-art detection methods.

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous "events" instead of intensity frames. They offer significant advantages with respect to conventional cameras: high dynamic range (HDR), high temporal resolution, and no motion blur. Recently, novel learning approaches operating on event data have achieved impressive results. Yet, these methods require a large amount of event data for training, which is hardly available due the novelty of event sensors in computer vision research. In this paper, we present a method that addresses these needs by converting any existing video dataset recorded with conventional cameras to synthetic event data. This unlocks the use of a virtually unlimited number of existing video datasets for training networks designed for real event data. We evaluate our method on two relevant vision tasks, i.e., object recognition and semantic segmentation, and show that models trained on synthetic events have several benefits: (i) they generalize well to real event data, even in scenarios where standard-camera images are blurry or overexposed, by inheriting the outstanding properties of event cameras; (ii) they can be used for fine-tuning on real data to improve over state-of-the-art for both classification and semantic segmentation.

The rapid rise of accessibility of unmanned aerial vehicles or drones pose a threat to general security and confidentiality. Most of the commercially available or custom-built drones are multi-rotors and are comprised of multiple propellers. Since these propellers rotate at a high-speed, they are generally the fastest moving parts of an image and cannot be directly "seen" by a classical camera without severe motion blur. We utilize a class of sensors that are particularly suitable for such scenarios called event cameras, which have a high temporal resolution, low-latency, and high dynamic range. In this paper, we model the geometry of a propeller and use it to generate simulated events which are used to train a deep neural network called EVPropNet to detect propellers from the data of an event camera. EVPropNet directly transfers to the real world without any fine-tuning or retraining. We present two applications of our network: (a) tracking and following an unmarked drone and (b) landing on a near-hover drone. We successfully evaluate and demonstrate the proposed approach in many real-world experiments with different propeller shapes and sizes. Our network can detect propellers at a rate of 85.1% even when 60% of the propeller is occluded and can run at upto 35Hz on a 2W power budget. To our knowledge, this is the first deep learning-based solution for detecting propellers (to detect drones). Finally, our applications also show an impressive success rate of 92% and 90% for the tracking and landing tasks respectively.

This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing tracking performance, where changing the detector can improve tracking by up to 18.9%. Despite only using a rudimentary combination of familiar techniques such as the Kalman Filter and Hungarian algorithm for the tracking components, this approach achieves an accuracy comparable to state-of-the-art online trackers. Furthermore, due to the simplicity of our tracking method, the tracker updates at a rate of 260 Hz which is over 20x faster than other state-of-the-art trackers.

This work addresses the challenge of sub-pixel accuracy in detecting 2D local features, a cornerstone problem in computer vision. Despite the advancements brought by neural network-based methods like SuperPoint and ALIKED, these modern approaches lag behind classical ones such as SIFT in keypoint localization accuracy due to their lack of sub-pixel precision. We propose a novel network that enhances any detector with sub-pixel precision by learning an offset vector for detected features, thereby eliminating the need for designing specialized sub-pixel accurate detectors. This optimization directly minimizes test-time evaluation metrics like relative pose error. Through extensive testing with both nearest neighbors matching and the recent LightGlue matcher across various real-world datasets, our method consistently outperforms existing methods in accuracy. Moreover, it adds only around 7 ms to the time of a particular detector. The code is available at https://github.com/KimSinjeong/keypt2subpx .

In static monitoring cameras, useful contextual information can stretch far beyond the few seconds typical video understanding models might see: subjects may exhibit similar behavior over multiple days, and background objects remain static. Due to power and storage constraints, sampling frequencies are low, often no faster than one frame per second, and sometimes are irregular due to the use of a motion trigger. In order to perform well in this setting, models must be robust to irregular sampling rates. In this paper we propose a method that leverages temporal context from the unlabeled frames of a novel camera to improve performance at that camera. Specifically, we propose an attention-based approach that allows our model, Context R-CNN, to index into a long term memory bank constructed on a per-camera basis and aggregate contextual features from other frames to boost object detection performance on the current frame. We apply Context R-CNN to two settings: (1) species detection using camera traps, and (2) vehicle detection in traffic cameras, showing in both settings that Context R-CNN leads to performance gains over strong baselines. Moreover, we show that increasing the contextual time horizon leads to improved results. When applied to camera trap data from the Snapshot Serengeti dataset, Context R-CNN with context from up to a month of images outperforms a single-frame baseline by 17.9% mAP, and outperforms S3D (a 3d convolution based baseline) by 11.2% mAP.

This is the paper for the first place winning solution of the Drone vs. Bird Challenge, organized by AVSS 2021. As the usage of drones increases with lowered costs and improved drone technology, drone detection emerges as a vital object detection task. However, detecting distant drones under unfavorable conditions, namely weak contrast, long-range, low visibility, requires effective algorithms. Our method approaches the drone detection problem by fine-tuning a YOLOv5 model with real and synthetically generated data using a Kalman-based object tracker to boost detection confidence. Our results indicate that augmenting the real data with an optimal subset of synthetic data can increase the performance. Moreover, temporal information gathered by object tracking methods can increase performance further.

Video synopsis, summarizing a video to generate a shorter video by exploiting the spatial and temporal redundancies, is important for surveillance and archiving. Existing trajectory-based video synopsis algorithms will not able to work in real time, because of the complexity due to the number of object tubes that need to be included in the complex energy minimization algorithm. We propose a real-time algorithm by using a method that incrementally stitches each frame of the synopsis by extracting object frames from the user specified number of tubes in the buffer in contrast to global energy-minimization based systems. This also gives flexibility to the user to set the threshold of maximum number of objects in the synopsis video according his or her tracking ability and creates collision-free summarized videos which are visually pleasing. Experiments with six common test videos, indoors and outdoors with many moving objects, show that the proposed video synopsis algorithm produces better frame reduction rates than existing approaches.

The continued release of new and better image generation models increases the demand for synthetic image detectors. In such a dynamic field, detectors need to be able to generalize widely and be robust to uncontrolled alterations. The present work is motivated by this setting, when looking at the role of time, image transformations and data sources, for detector generalization. In these experiments, none of the evaluated detectors is found universal, but results indicate an ensemble could be. Experiments on data collected in the wild show this task to be more challenging than the one defined by large-scale datasets, pointing to a gap between experimentation and actual practice. Finally, we observe a race equilibrium effect, where better generators lead to better detectors, and vice versa. We hypothesize this pushes the field towards a perpetually close race between generators and detectors.

Designing activity detection systems that can be successfully deployed in daily-living environments requires datasets that pose the challenges typical of real-world scenarios. In this paper, we introduce a new untrimmed daily-living dataset that features several real-world challenges: Toyota Smarthome Untrimmed (TSU). TSU contains a wide variety of activities performed in a spontaneous manner. The dataset contains dense annotations including elementary, composite activities and activities involving interactions with objects. We provide an analysis of the real-world challenges featured by our dataset, highlighting the open issues for detection algorithms. We show that current state-of-the-art methods fail to achieve satisfactory performance on the TSU dataset. Therefore, we propose a new baseline method for activity detection to tackle the novel challenges provided by our dataset. This method leverages one modality (i.e. optic flow) to generate the attention weights to guide another modality (i.e RGB) to better detect the activity boundaries. This is particularly beneficial to detect activities characterized by high temporal variance. We show that the method we propose outperforms state-of-the-art methods on TSU and on another popular challenging dataset, Charades.

Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving system, algorithms that excel not only in accuracy but also in speed and low latency are essential. However, existing algorithms fail to meet these requirements due to the latency and bandwidth limitations of fixed frame rate sensors, e.g., LiDAR and camera. To address this limitation, we introduce asynchronous event cameras into 3D object detection for the first time. We leverage their high temporal resolution and low bandwidth to enable high-speed 3D object detection. Our method enables detection even during inter-frame intervals when synchronized data is unavailable, by retrieving previous 3D information through the event camera. Furthermore, we introduce the first event-based 3D object detection dataset, DSEC-3DOD, which includes ground-truth 3D bounding boxes at 100 FPS, establishing the first benchmark for event-based 3D detectors. The code and dataset are available at https://github.com/mickeykang16/Ev3DOD.

Video Anomaly Detection (VAD) automatically identifies anomalous events from video, mitigating the need for human operators in large-scale surveillance deployments. However, three fundamental obstacles hinder real-world adoption: domain dependency and real-time constraints -- requiring near-instantaneous processing of incoming video. To this end, we propose Flashback, a zero-shot and real-time video anomaly detection paradigm. Inspired by the human cognitive mechanism of instantly judging anomalies and reasoning in current scenes based on past experience, Flashback operates in two stages: Recall and Respond. In the offline recall stage, an off-the-shelf LLM builds a pseudo-scene memory of both normal and anomalous captions without any reliance on real anomaly data. In the online respond stage, incoming video segments are embedded and matched against this memory via similarity search. By eliminating all LLM calls at inference time, Flashback delivers real-time VAD even on a consumer-grade GPU. On two large datasets from real-world surveillance scenarios, UCF-Crime and XD-Violence, we achieve 87.3 AUC (+7.0 pp) and 75.1 AP (+13.1 pp), respectively, outperforming prior zero-shot VAD methods by large margins.

Humans can incrementally learn to do new visual detection tasks, which is a huge challenge for today's computer vision systems. Incrementally trained deep learning models lack backwards transfer to previously seen classes and suffer from a phenomenon known as "catastrophic forgetting." In this paper, we pioneer online streaming learning for object detection, where an agent must learn examples one at a time with severe memory and computational constraints. In object detection, a system must output all bounding boxes for an image with the correct label. Unlike earlier work, the system described in this paper can learn this task in an online manner with new classes being introduced over time. We achieve this capability by using a novel memory replay mechanism that efficiently replays entire scenes. We achieve state-of-the-art results on both the PASCAL VOC 2007 and MS COCO datasets.

This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D, and the speed of the camera. In other words, this transformation generates a lookup image that remains invariant despite the changing projection of the 3D scene and camera motion. In the new domain, projections of 3D points that deviate from the values of the predefined lookup image can be clearly identified as moving relative to the stationary 3D environment, making them seamlessly detectable. The method does not require prior knowledge of the direction of motion or speed of the camera, nor does it necessitate 3D point range information. It is well-suited for real-time parallel processing, rendering it highly practical for implementation. We have validated the effectiveness of the new domain through simulations and experiments, demonstrating its robustness in scenarios involving rectilinear camera motion, both in simulations and with real-world data. This approach introduces new ways for moving objects detection during camera motion, and also lays the foundation for future research in the context of moving object detection during six-degrees-of-freedom camera motion.

We propose a fully convolutional one-stage object detector (FCOS) to solve object detection in a per-pixel prediction fashion, analogue to semantic segmentation. Almost all state-of-the-art object detectors such as RetinaNet, SSD, YOLOv3, and Faster R-CNN rely on pre-defined anchor boxes. In contrast, our proposed detector FCOS is anchor box free, as well as proposal free. By eliminating the predefined set of anchor boxes, FCOS completely avoids the complicated computation related to anchor boxes such as calculating overlapping during training. More importantly, we also avoid all hyper-parameters related to anchor boxes, which are often very sensitive to the final detection performance. With the only post-processing non-maximum suppression (NMS), FCOS with ResNeXt-64x4d-101 achieves 44.7% in AP with single-model and single-scale testing, surpassing previous one-stage detectors with the advantage of being much simpler. For the first time, we demonstrate a much simpler and flexible detection framework achieving improved detection accuracy. We hope that the proposed FCOS framework can serve as a simple and strong alternative for many other instance-level tasks. Code is available at:Code is available at: https://tinyurl.com/FCOSv1

Efficient detectors for edge devices are often optimized for parameters or speed count metrics, which remain in weak correlation with the energy of detectors. However, some vision applications of convolutional neural networks, such as always-on surveillance cameras, are critical for energy constraints. This paper aims to serve as a baseline by designing detectors to reach tradeoffs between energy and performance from two perspectives: 1) We extensively analyze various CNNs to identify low-energy architectures, including selecting activation functions, convolutions operators, and feature fusion structures on necks. These underappreciated details in past work seriously affect the energy consumption of detectors; 2) To break through the dilemmatic energy-performance problem, we propose a balanced detector driven by energy using discovered low-energy components named FemtoDet. In addition to the novel construction, we improve FemtoDet by considering convolutions and training strategy optimizations. Specifically, we develop a new instance boundary enhancement (IBE) module for convolution optimization to overcome the contradiction between the limited capacity of CNNs and detection tasks in diverse spatial representations, and propose a recursive warm-restart (RecWR) for optimizing training strategy to escape the sub-optimization of light-weight detectors by considering the data shift produced in popular augmentations. As a result, FemtoDet with only 68.77k parameters achieves a competitive score of 46.3 AP50 on PASCAL VOC and 1.11 W & 64.47 FPS on Qualcomm Snapdragon 865 CPU platforms. Extensive experiments on COCO and TJU-DHD datasets indicate that the proposed method achieves competitive results in diverse scenes.

Detection identifies objects as axis-aligned boxes in an image. Most successful object detectors enumerate a nearly exhaustive list of potential object locations and classify each. This is wasteful, inefficient, and requires additional post-processing. In this paper, we take a different approach. We model an object as a single point --- the center point of its bounding box. Our detector uses keypoint estimation to find center points and regresses to all other object properties, such as size, 3D location, orientation, and even pose. Our center point based approach, CenterNet, is end-to-end differentiable, simpler, faster, and more accurate than corresponding bounding box based detectors. CenterNet achieves the best speed-accuracy trade-off on the MS COCO dataset, with 28.1% AP at 142 FPS, 37.4% AP at 52 FPS, and 45.1% AP with multi-scale testing at 1.4 FPS. We use the same approach to estimate 3D bounding box in the KITTI benchmark and human pose on the COCO keypoint dataset. Our method performs competitively with sophisticated multi-stage methods and runs in real-time.

We propose to improve the time-sensitive video understanding (TSV) capability of video large language models (Video-LLMs) with grounded objects (GO). We hypothesize that TSV tasks can benefit from GO within frames, which is supported by our preliminary experiments on LITA, a state-of-the-art Video-LLM for reasoning temporal localization. While augmenting prompts with textual description of these object annotations improves the performance of LITA, it also introduces extra token length and susceptibility to the noise in object level information. To address this, we propose GO-Tokenizer, a lightweight add-on module for Video-LLMs leveraging off-the-shelf object detectors to encode compact object information on the fly. Experimental results demonstrate that pretraining with GO-Tokenizer outperforms the vanilla Video-LLM and its counterpart utilizing textual description of objects in the prompt. The gain generalizes across different models, datasets and video understanding tasks such as reasoning temporal localization and dense captioning.

Most visual models are designed for sRGB images, yet RAW data offers significant advantages for object detection by preserving sensor information before ISP processing. This enables improved detection accuracy and more efficient hardware designs by bypassing the ISP. However, RAW object detection is challenging due to limited training data, unbalanced pixel distributions, and sensor noise. To address this, we propose SimROD, a lightweight and effective approach for RAW object detection. We introduce a Global Gamma Enhancement (GGE) module, which applies a learnable global gamma transformation with only four parameters, improving feature representation while keeping the model efficient. Additionally, we leverage the green channel's richer signal to enhance local details, aligning with the human eye's sensitivity and Bayer filter design. Extensive experiments on multiple RAW object detection datasets and detectors demonstrate that SimROD outperforms state-of-the-art methods like RAW-Adapter and DIAP while maintaining efficiency. Our work highlights the potential of RAW data for real-world object detection. Code is available at https://ocean146.github.io/SimROD2025/.

Active Real-time interaction with video LLMs introduces a new paradigm for human-computer interaction, where the model not only understands user intent but also responds while continuously processing streaming video on the fly. Unlike offline video LLMs, which analyze the entire video before answering questions, active real-time interaction requires three capabilities: 1) Perception: real-time video monitoring and interaction capturing. 2) Decision: raising proactive interaction in proper situations, 3) Reaction: continuous interaction with users. However, inherent conflicts exist among the desired capabilities. The Decision and Reaction require a contrary Perception scale and grain, and the autoregressive decoding blocks the real-time Perception and Decision during the Reaction. To unify the conflicted capabilities within a harmonious system, we present Dispider, a system that disentangles Perception, Decision, and Reaction. Dispider features a lightweight proactive streaming video processing module that tracks the video stream and identifies optimal moments for interaction. Once the interaction is triggered, an asynchronous interaction module provides detailed responses, while the processing module continues to monitor the video in the meantime. Our disentangled and asynchronous design ensures timely, contextually accurate, and computationally efficient responses, making Dispider ideal for active real-time interaction for long-duration video streams. Experiments show that Dispider not only maintains strong performance in conventional video QA tasks, but also significantly surpasses previous online models in streaming scenario responses, thereby validating the effectiveness of our architecture. The code and model are released at https://github.com/Mark12Ding/Dispider.

Advanced video analytic systems, including scene classification and object detection, have seen widespread success in various domains such as smart cities and autonomous transportation. With an ever-growing number of powerful client devices, there is incentive to move these heavy video analytics workloads from the cloud to mobile devices to achieve low latency and real-time processing and to preserve user privacy. However, most video analytic systems are heavyweight and are trained offline with some pre-defined latency or accuracy requirements. This makes them unable to adapt at runtime in the face of three types of dynamism -- the input video characteristics change, the amount of compute resources available on the node changes due to co-located applications, and the user's latency-accuracy requirements change. In this paper we introduce ApproxDet, an adaptive video object detection framework for mobile devices to meet accuracy-latency requirements in the face of changing content and resource contention scenarios. To achieve this, we introduce a multi-branch object detection kernel (layered on Faster R-CNN), which incorporates a data-driven modeling approach on the performance metrics, and a latency SLA-driven scheduler to pick the best execution branch at runtime. We couple this kernel with approximable video object tracking algorithms to create an end-to-end video object detection system. We evaluate ApproxDet on a large benchmark video dataset and compare quantitatively to AdaScale and YOLOv3. We find that ApproxDet is able to adapt to a wide variety of contention and content characteristics and outshines all baselines, e.g., it achieves 52% lower latency and 11.1% higher accuracy over YOLOv3.

Most existing video anomaly detectors rely solely on RGB frames, which lack the temporal resolution needed to capture abrupt or transient motion cues, key indicators of anomalous events. To address this limitation, we propose Image-Event Fusion for Video Anomaly Detection (IEF-VAD), a framework that synthesizes event representations directly from RGB videos and fuses them with image features through a principled, uncertainty-aware process. The system (i) models heavy-tailed sensor noise with a Student`s-t likelihood, deriving value-level inverse-variance weights via a Laplace approximation; (ii) applies Kalman-style frame-wise updates to balance modalities over time; and (iii) iteratively refines the fused latent state to erase residual cross-modal noise. Without any dedicated event sensor or frame-level labels, IEF-VAD sets a new state of the art across multiple real-world anomaly detection benchmarks. These findings highlight the utility of synthetic event representations in emphasizing motion cues that are often underrepresented in RGB frames, enabling accurate and robust video understanding across diverse applications without requiring dedicated event sensors. Code and models are available at https://github.com/EavnJeong/IEF-VAD.

This paper introduces SFSORT, the world's fastest multi-object tracking system based on experiments conducted on MOT Challenge datasets. To achieve an accurate and computationally efficient tracker, this paper employs a tracking-by-detection method, following the online real-time tracking approach established in prior literature. By introducing a novel cost function called the Bounding Box Similarity Index, this work eliminates the Kalman Filter, leading to reduced computational requirements. Additionally, this paper demonstrates the impact of scene features on enhancing object-track association and improving track post-processing. Using a 2.2 GHz Intel Xeon CPU, the proposed method achieves an HOTA of 61.7\% with a processing speed of 2242 Hz on the MOT17 dataset and an HOTA of 60.9\% with a processing speed of 304 Hz on the MOT20 dataset. The tracker's source code, fine-tuned object detection model, and tutorials are available at https://github.com/gitmehrdad/SFSORT.

In recent years, Few-Shot Object Detection (FSOD) has gained widespread attention and made significant progress due to its ability to build models with a good generalization power using extremely limited annotated data. The fine-tuning based paradigm is currently dominating this field, where detectors are initially pre-trained on base classes with sufficient samples and then fine-tuned on novel ones with few samples, but the scarcity of labeled samples of novel classes greatly interferes precisely fitting their data distribution, thus hampering the performance. To address this issue, we propose a new framework for FSOD, namely Prototype-based Soft-labels and Test-Time Learning (PS-TTL). Specifically, we design a Test-Time Learning (TTL) module that employs a mean-teacher network for self-training to discover novel instances from test data, allowing detectors to learn better representations and classifiers for novel classes. Furthermore, we notice that even though relatively low-confidence pseudo-labels exhibit classification confusion, they still tend to recall foreground. We thus develop a Prototype-based Soft-labels (PS) strategy through assessing similarities between low-confidence pseudo-labels and category prototypes as soft-labels to unleash their potential, which substantially mitigates the constraints posed by few-shot samples. Extensive experiments on both the VOC and COCO benchmarks show that PS-TTL achieves the state-of-the-art, highlighting its effectiveness. The code and model are available at https://github.com/gaoyingjay/PS-TTL.

We wish to automatically predict the "speediness" of moving objects in videos---whether they move faster, at, or slower than their "natural" speed. The core component in our approach is SpeedNet---a novel deep network trained to detect if a video is playing at normal rate, or if it is sped up. SpeedNet is trained on a large corpus of natural videos in a self-supervised manner, without requiring any manual annotations. We show how this single, binary classification network can be used to detect arbitrary rates of speediness of objects. We demonstrate prediction results by SpeedNet on a wide range of videos containing complex natural motions, and examine the visual cues it utilizes for making those predictions. Importantly, we show that through predicting the speed of videos, the model learns a powerful and meaningful space-time representation that goes beyond simple motion cues. We demonstrate how those learned features can boost the performance of self-supervised action recognition, and can be used for video retrieval. Furthermore, we also apply SpeedNet for generating time-varying, adaptive video speedups, which can allow viewers to watch videos faster, but with less of the jittery, unnatural motions typical to videos that are sped up uniformly.

Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of RGB cameras, which suffer from motion blur and fail to provide real-time responsiveness. Event cameras, with their asynchronous operation, and low-latency sensing, offer a promising alternative for high-speed robotic perception. In this work, we introduce MTevent, a dataset designed for 6D pose estimation and moving object detection in highly dynamic environments with large detection distances. Our setup consists of a stereo-event camera and an RGB camera, capturing 75 scenes, each on average 16 seconds, and featuring 16 unique objects under challenging conditions such as extreme viewing angles, varying lighting, and occlusions. MTevent is the first dataset to combine high-speed motion, long-range perception, and real-world object interactions, making it a valuable resource for advancing event-based vision in robotics. To establish a baseline, we evaluate the task of 6D pose estimation using NVIDIA's FoundationPose on RGB images, achieving an Average Recall of 0.22 with ground-truth masks, highlighting the limitations of RGB-based approaches in such dynamic settings. With MTevent, we provide a novel resource to improve perception models and foster further research in high-speed robotic vision. The dataset is available for download https://huggingface.co/datasets/anas-gouda/MTevent

Event cameras have recently gained significant traction since they open up new avenues for low-latency and low-power solutions to complex computer vision problems. To unlock these solutions, it is necessary to develop algorithms that can leverage the unique nature of event data. However, the current state-of-the-art is still highly influenced by the frame-based literature, and usually fails to deliver on these promises. In this work, we take this into consideration and propose a novel self-supervised learning pipeline for the sequential estimation of event-based optical flow that allows for the scaling of the models to high inference frequencies. At its core, we have a continuously-running stateful neural model that is trained using a novel formulation of contrast maximization that makes it robust to nonlinearities and varying statistics in the input events. Results across multiple datasets confirm the effectiveness of our method, which establishes a new state of the art in terms of accuracy for approaches trained or optimized without ground truth.

Reliable usage of object detectors require them to be calibrated -- a crucial problem that requires careful attention. Recent approaches towards this involve (1) designing new loss functions to obtain calibrated detectors by training them from scratch, and (2) post-hoc Temperature Scaling (TS) that learns to scale the likelihood of a trained detector to output calibrated predictions. These approaches are then evaluated based on a combination of Detection Expected Calibration Error (D-ECE) and Average Precision. In this work, via extensive analysis and insights, we highlight that these recent evaluation frameworks, evaluation metrics, and the use of TS have notable drawbacks leading to incorrect conclusions. As a step towards fixing these issues, we propose a principled evaluation framework to jointly measure calibration and accuracy of object detectors. We also tailor efficient and easy-to-use post-hoc calibration approaches such as Platt Scaling and Isotonic Regression specifically for object detection task. Contrary to the common notion, our experiments show that once designed and evaluated properly, post-hoc calibrators, which are extremely cheap to build and use, are much more powerful and effective than the recent train-time calibration methods. To illustrate, D-DETR with our post-hoc Isotonic Regression calibrator outperforms the recent train-time state-of-the-art calibration method Cal-DETR by more than 7 D-ECE on the COCO dataset. Additionally, we propose improved versions of the recently proposed Localization-aware ECE and show the efficacy of our method on these metrics as well. Code is available at: https://github.com/fiveai/detection_calibration.

The highest accuracy object detectors to date are based on a two-stage approach popularized by R-CNN, where a classifier is applied to a sparse set of candidate object locations. In contrast, one-stage detectors that are applied over a regular, dense sampling of possible object locations have the potential to be faster and simpler, but have trailed the accuracy of two-stage detectors thus far. In this paper, we investigate why this is the case. We discover that the extreme foreground-background class imbalance encountered during training of dense detectors is the central cause. We propose to address this class imbalance by reshaping the standard cross entropy loss such that it down-weights the loss assigned to well-classified examples. Our novel Focal Loss focuses training on a sparse set of hard examples and prevents the vast number of easy negatives from overwhelming the detector during training. To evaluate the effectiveness of our loss, we design and train a simple dense detector we call RetinaNet. Our results show that when trained with the focal loss, RetinaNet is able to match the speed of previous one-stage detectors while surpassing the accuracy of all existing state-of-the-art two-stage detectors. Code is at: https://github.com/facebookresearch/Detectron.

Detecting changes between images is a fundamental problem in computer vision with broad applications in situational awareness, infrastructure assessment, environment monitoring, and industrial automation. Existing supervised models are typically limited to detecting specific types of changes, necessitating retraining for new tasks. To address these limitations with a single approach, we propose a novel change detection method that is the first to utilize unaligned images and textual prompts to output a binary segmentation of changes relevant to user-provided text. Our architecture not only enables flexible detection across diverse change detection use cases, but also yields state-of-the art performance on established benchmarks. Additionally, we release an accompanying dataset comprising of 100,311 pairs of images with text prompts and the corresponding change detection labels. We demonstrate the effectiveness of our method both quantitatively and qualitatively on datasets with a wide variety of viewpoints in indoor, outdoor, street level, synthetic, and satellite images.

We introduce MCUBench, a benchmark featuring over 100 YOLO-based object detection models evaluated on the VOC dataset across seven different MCUs. This benchmark provides detailed data on average precision, latency, RAM, and Flash usage for various input resolutions and YOLO-based one-stage detectors. By conducting a controlled comparison with a fixed training pipeline, we collect comprehensive performance metrics. Our Pareto-optimal analysis shows that integrating modern detection heads and training techniques allows various YOLO architectures, including legacy models like YOLOv3, to achieve a highly efficient tradeoff between mean Average Precision (mAP) and latency. MCUBench serves as a valuable tool for benchmarking the MCU performance of contemporary object detectors and aids in model selection based on specific constraints.

With the emergence of foundation models, deep learning-based object detectors have shown practical usability in closed set scenarios. However, for real-world tasks, object detectors often operate in open environments, where crucial factors (e.g., data distribution, objective) that influence model learning are often changing. The dynamic and intricate nature of the open environment poses novel and formidable challenges to object detectors. Unfortunately, current research on object detectors in open environments lacks a comprehensive analysis of their distinctive characteristics, challenges, and corresponding solutions, which hinders their secure deployment in critical real-world scenarios. This paper aims to bridge this gap by conducting a comprehensive review and analysis of object detectors in open environments. We initially identified limitations of key structural components within the existing detection pipeline and propose the open environment object detector challenge framework that includes four quadrants (i.e., out-of-domain, out-of-category, robust learning, and incremental learning) based on the dimensions of the data / target changes. For each quadrant of challenges in the proposed framework, we present a detailed description and systematic analysis of the overarching goals and core difficulties, systematically review the corresponding solutions, and benchmark their performance over multiple widely adopted datasets. In addition, we engage in a discussion of open problems and potential avenues for future research. This paper aims to provide a fresh, comprehensive, and systematic understanding of the challenges and solutions associated with open-environment object detectors, thus catalyzing the development of more solid applications in real-world scenarios. A project related to this survey can be found at https://github.com/LiangSiyuan21/OEOD_Survey.

The proliferation of large language models has raised growing concerns about their misuse, particularly in cases where AI-generated text is falsely attributed to human authors. Machine-generated content detectors claim to effectively identify such text under various conditions and from any language model. This paper critically evaluates these claims by assessing several popular detectors (RADAR, Wild, T5Sentinel, Fast-DetectGPT, PHD, LogRank, Binoculars) on a range of domains, datasets, and models that these detectors have not previously encountered. We employ various prompting strategies to simulate practical adversarial attacks, demonstrating that even moderate efforts can significantly evade detection. We emphasize the importance of the true positive rate at a specific false positive rate (TPR@FPR) metric and demonstrate that these detectors perform poorly in certain settings, with [email protected] as low as 0%. Our findings suggest that both trained and zero-shot detectors struggle to maintain high sensitivity while achieving a reasonable true positive rate.

For years, the YOLO series has been the de facto industry-level standard for efficient object detection. The YOLO community has prospered overwhelmingly to enrich its use in a multitude of hardware platforms and abundant scenarios. In this technical report, we strive to push its limits to the next level, stepping forward with an unwavering mindset for industry application. Considering the diverse requirements for speed and accuracy in the real environment, we extensively examine the up-to-date object detection advancements either from industry or academia. Specifically, we heavily assimilate ideas from recent network design, training strategies, testing techniques, quantization, and optimization methods. On top of this, we integrate our thoughts and practice to build a suite of deployment-ready networks at various scales to accommodate diversified use cases. With the generous permission of YOLO authors, we name it YOLOv6. We also express our warm welcome to users and contributors for further enhancement. For a glimpse of performance, our YOLOv6-N hits 35.9% AP on the COCO dataset at a throughput of 1234 FPS on an NVIDIA Tesla T4 GPU. YOLOv6-S strikes 43.5% AP at 495 FPS, outperforming other mainstream detectors at the same scale~(YOLOv5-S, YOLOX-S, and PPYOLOE-S). Our quantized version of YOLOv6-S even brings a new state-of-the-art 43.3% AP at 869 FPS. Furthermore, YOLOv6-M/L also achieves better accuracy performance (i.e., 49.5%/52.3%) than other detectors with a similar inference speed. We carefully conducted experiments to validate the effectiveness of each component. Our code is made available at https://github.com/meituan/YOLOv6.

We introduce SSMRadNet, the first multi-scale State Space Model (SSM) based detector for Frequency Modulated Continuous Wave (FMCW) radar that sequentially processes raw ADC samples through two SSMs. One SSM learns a chirp-wise feature by sequentially processing samples from all receiver channels within one chirp, and a second SSM learns a representation of a frame by sequentially processing chirp-wise features. The latent representations of a radar frame are decoded to perform segmentation and detection tasks. Comprehensive evaluations on the RADIal dataset show SSMRadNet has 10-33x fewer parameters and 60-88x less computation (GFLOPs) while being 3.7x faster than state-of-the-art transformer and convolution-based radar detectors at competitive performance for segmentation tasks.

In the recent years, we have witnessed a paradigm shift in the field of Computer Vision, with the forthcoming of the transformer architecture. Detection Transformers has become a state of the art solution to object detection and is a potential candidate for Road Object Detection in Autonomous Vehicles. Despite the abundance of object detection schemes, real-time DETR models are shown to perform significantly better on inference times, with minimal loss of accuracy and performance. In our work, we used Real-Time DETR (RTDETR) object detection on the BadODD Road Object Detection dataset based in Bangladesh, and performed necessary experimentation and testing. Our results gave a mAP50 score of 0.41518 in the public 60% test set, and 0.28194 in the private 40% test set.