Risk Ranked Recall: Collision Safety Metric for Object Detection Systems in Autonomous Vehicles

Abstract--Commonly used metrics for evaluation of object detection systems (precision, recall, mAP) do not give complete information about their suitability of use in safety critical tasks, like obstacle detection for collision avoidance in Autonomous Vehicles (AV). Ranks are assigned based on an objective cyber-physical model for the risk of collision. Recall is measured for each rank. A front view scene from BDD100K [1] dataset with 4 labeled vehicles. Intuitively, the closer vehicles are more important to detect than those farther away.