mlsanityData to 7 Oct 2026

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

arXiv 2106.04146 ↗First posted 8 Jun 2021cs.RO cs.AI cs.LGcited by 10

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Abstract (arXiv)

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). This work introduces the Risk Ranked Recall (R3) metrics for object detection systems. The R3 metrics categorize objects within three ranks. Ranks are assigned based on an objective cyber-physical model for the risk of collision. Recall is measured for each rank.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 4 of its 19 references that are in the map. First posted on arXiv 8 Jun 2021.

Builds on

4 of 19 references.

References · 4

  1. 2018YOLOv3: An Incremental Improvementcited by 2,652
  2. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  3. 2019Agent Prioritization for Autonomous Navigationcited by 8
  4. 2018Dynamic Risk Assessment for Vehicles of Higher Automation Levels by Deep Learningcited by 5

Built on by

Cited by year

Citing papers per year: 2021: 1; 2022: 3; 2023: 2; 2024: 3; 2025: 1.

10 papers.

  1. 2023On Offline Evaluation of 3D Object Detection for Autonomous Drivingcited by 11
  2. 2022Evaluating Object (mis)Detection from a Safety and Reliability Perspective: Discussion and Measurescited by 8
  3. 2024Real-time Vehicle-to-Vehicle Communication Based Network Cooperative Control System through Distributed Database and Multimodal Perception: Demonstrated in Crossroadscited by 6
  4. 2021LiDAR Cluster First and Camera Inference Later: A New Perspective Towards Autonomous Drivingcited by 4
  5. 2022Verifiable Obstacle Detectioncited by 3
  6. 2024A Safety-Adapted Loss for Pedestrian Detection in Automated Drivingcited by 2
  7. 2022Perception Simplex: Verifiable Collision Avoidance in Autonomous Vehicles Amidst Obstacle Detection Faultscited by 1
  8. 2024Object criticality for safer navigationcited by 1
  9. 2023Checklist to Define the Identification of TP, FP, and FN Object Detections in Automated Drivingcited by 0
  10. 2025A Machine Learning Perspective on Automated Driving Corner Casescited by 0