Tiny Robotics Dataset and Benchmark for Continual Object Detection

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.

Replay Consolidation with Label Propagation for Continual Object Detection

Object Detection is a highly relevant computer vision problem with many applications such as robotics and autonomous driving. Continual Learning~(CL) considers a setting where a model incrementally learns new information while retaining previously acquired knowledge. This is particularly challenging since Deep Learning models tend to catastrophically forget old knowledge while training on new data. In particular, Continual Learning for Object Detection~(CLOD) poses additional difficulties compared to CL for Classification. In CLOD, images from previous tasks may contain unknown classes that could reappear labeled in future tasks. These missing annotations cause task interference issues for replay-based approaches. As a result, most works in the literature have focused on distillation-based approaches. However, these approaches are effective only when there is a strong overlap of classes across tasks. To address the issues of current methodologies, we propose a novel technique to solve CLOD called Replay Consolidation with Label Propagation for Object Detection (RCLPOD). Based on the replay method, our solution avoids task interference issues by enhancing the buffer memory samples. Our method is evaluated against existing techniques in CLOD literature, demonstrating its superior performance on established benchmarks like VOC and COCO.