T-rexnet—a hardware-aware neural network for real-time detection of small moving objects

Abstract

This paper presents the T-RexNet approach to detect small moving objects in videos by using a deep neural network. T-RexNet combines the advantages of Single-Shot-Detectors with a specific feature-extraction network, thus overcoming the known shortcomings of Single-Shot-Detectors in detecting small objects. The deep convolutional neural network includes two parallel paths: the first path processes both the original picture, in gray-scale format, and differences between consecutive frames; in the second path, differences between a set of three consecutive frames is only handled. As compared with generic object detectors, the method limits the depth of the convolutional network to make it less sensible to high-level features and easier to train on small objects. The simple, Hardware-efficient architecture attains its highest accuracy in the presence of videos with static framing. Deploying our architecture on the NVIDIA Jetson Nano edge-device shows its suitability to embedded systems. To prove the effectiveness and general applicability of the approach, real-world tests assessed the method performances in different scenarios, namely, aerial surveillance with the WPAFB 2009 dataset, civilian surveillance using the Chinese University of Hong Kong (CUHK) Square dataset, and fast tennis-ball tracking, involving a custom dataset. Experimental results prove that T-RexNet is a valid, general solution to detect small moving objects, which outperforms in this task generic existing object-detection approaches. The method also compares favourably with application-specific approaches in terms of the accuracy vs. speed trade-off.