# How to Evaluate the Generalization of Detection? A Benchmark for Comprehensive Open-Vocabulary Detection

arXiv: https://arxiv.org/abs/2308.13177 · HTML: https://mlsanity.com/paper/2308.13177/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- Placed in Driving VLMs and open-vocabulary detection, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 30 of its 34 references that are in the map.
- First posted on arXiv 25 Aug 2023.

## Placed in

- Multimodal LLMs / vision-language models / [Driving VLMs and open-vocabulary detection](https://mlsanity.com/mllm/driving-vlms-and-open-vocabulary-detection/)

## Builds on (most cited first, 30 of 30)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Microsoft COCO: Common Objects in Context](https://mlsanity.com/paper/1405.0312/) (2014)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [LAION-400M: Open Dataset of CLIP-Filtered 400 Million Image-Text Pairs](https://mlsanity.com/paper/2111.02114/) (2021)
- [Flickr30k Entities: Collecting Region-to-Phrase Correspondences for Richer Image-to-Sentence Models](https://mlsanity.com/paper/1505.04870/) (2015)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [LVIS: A Dataset for Large Vocabulary Instance Segmentation](https://mlsanity.com/paper/1908.03195/) (2019)
- [Oscar: Object-Semantics Aligned Pre-training for Vision-Language Tasks](https://mlsanity.com/paper/2004.06165/) (2020)
- [HuggingGPT: Solving AI Tasks with ChatGPT and its Friends in Hugging Face](https://mlsanity.com/paper/2303.17580/) (2023)
- [Grounded Language-Image Pre-training](https://mlsanity.com/paper/2112.03857/) (2021)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [Beyond Accuracy: Behavioral Testing of NLP models with CheckList](https://mlsanity.com/paper/2005.04118/) (2020)
- [MDETR -- Modulated Detection for End-to-End Multi-Modal Understanding](https://mlsanity.com/paper/2104.12763/) (2021)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [Otter: A Multi-Modal Model with In-Context Instruction Tuning](https://mlsanity.com/paper/2305.03726/) (2023)
- [LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action](https://mlsanity.com/paper/2207.04429/) (2022)
- [Learning to Detect Human-Object Interactions](https://mlsanity.com/paper/1702.05448/) (2017)
- [PPDM: Parallel Point Detection and Matching for Real-time Human-Object Interaction Detection](https://mlsanity.com/paper/1912.12898/) (2019)
- [ELEVATER: A Benchmark and Toolkit for Evaluating Language-Augmented Visual Models](https://mlsanity.com/paper/2204.08790/) (2022)
- [PhraseCut: Language-based Image Segmentation in the Wild](https://mlsanity.com/paper/2008.01187/) (2020)
- [VL-CheckList: Evaluating Pre-trained Vision-Language Models with Objects, Attributes and Relations](https://mlsanity.com/paper/2207.00221/) (2022)
- [Coarse-to-Fine Vision-Language Pre-training with Fusion in the Backbone](https://mlsanity.com/paper/2206.07643/) (2022)
- [Learning to Predict Visual Attributes in the Wild](https://mlsanity.com/paper/2106.09707/) (2021)
- [V3Det: Vast Vocabulary Visual Detection Dataset](https://mlsanity.com/paper/2304.03752/) (2023)
- [X-DETR: A Versatile Architecture for Instance-wise Vision-Language Tasks](https://mlsanity.com/paper/2204.05626/) (2022)
- [Vision Checklist: Towards Testable Error Analysis of Image Models to Help System Designers Interrogate Model Capabilities](https://mlsanity.com/paper/2201.11674/) (2022)

## Built on by (most cited first, 15 of 15)

- [VLM-R1: A Stable and Generalizable R1-style Large Vision-Language Model](https://mlsanity.com/paper/2504.07615/) (2025)
- [GRIT: Teaching MLLMs to Think with Images](https://mlsanity.com/paper/2505.15879/) (2025)
- [One RL to See Them All: Visual Triple Unified Reinforcement Learning](https://mlsanity.com/paper/2505.18129/) (2025)
- [SIFThinker: Spatially-Aware Image Focus for Visual Reasoning](https://mlsanity.com/paper/2508.06259/) (2025)
- [Real-time Transformer-based Open-Vocabulary Detection with Efficient Fusion Head](https://mlsanity.com/paper/2403.06892/) (2024)
- [OpenScan: A Benchmark for Generalized Open-Vocabulary 3D Scene Understanding](https://mlsanity.com/paper/2408.11030/) (2024)
- [Leveraging Vision-Language Models for Open-Vocabulary Instance Segmentation and Tracking](https://mlsanity.com/paper/2503.16538/) (2025)
- [Re-Aligning Language to Visual Objects with an Agentic Workflow](https://mlsanity.com/paper/2503.23508/) (2025)
- [LLM-wrapper: Black-Box Semantic-Aware Adaptation of Vision-Language Models for Referring Expression Comprehension](https://mlsanity.com/paper/2409.11919/) (2024)
- [Open-Vocabulary Object Detection in UAV Imagery: A Review and Future Perspectives](https://mlsanity.com/paper/2507.13359/) (2025)
- [ELSA: Evaluating Localization of Social Activities in Urban Streets using Open-Vocabulary Detection](https://mlsanity.com/paper/2406.01551/) (2024)
- [What "Not" to Detect: Negation-Aware VLMs via Structured Reasoning and Token Merging](https://mlsanity.com/paper/2510.13232/) (2025)
- [Anticipating Future Object Compositions without Forgetting](https://mlsanity.com/paper/2407.10723/) (2024)
- [Towards Open-World Referring Expression Comprehension: A Benchmark with Training-free Multi-task Consistency Checker](https://mlsanity.com/paper/2605.25706/) (2026)
- [Pro-Bench: Prompt-Robust Open-Vocabulary Visual Grounding Across Real-World Heterogeneous Environments](https://mlsanity.com/paper/2609.27076/) (2026)

## Abstract (arXiv)

Object detection (OD) in computer vision has made significant progress in recent years, transitioning from closed-set labels to open-vocabulary detection (OVD) based on large-scale vision-language pre-training (VLP). However, current evaluation methods and datasets are limited to testing generalization over object types and referral expressions, which do not provide a systematic, fine-grained, and accurate benchmark of OVD models' abilities. In this paper, we propose a new benchmark named OVDEval, which includes 9 sub-tasks and introduces evaluations on commonsense knowledge, attribute understanding, position understanding, object relation comprehension, and more. The dataset is meticulously created to provide hard negatives that challenge models' true understanding of visual and linguistic input. Additionally, we identify a problem with the popular Average Precision (AP) metric when benchmarking models on these fine-grained label datasets and propose a new metric called Non-Maximum Suppression Average Precision (NMS-AP) to address this issue. Extensive experimental results show that existing top OVD models all fail on the new tasks except for simple object types, demonstrating the value of the proposed dataset in pinpointing the weakness of current OVD models and guiding future research. Furthermore, the proposed NMS-AP metric is verified by experiments to provide a much more truthful evaluation of OVD models, whereas traditional AP metrics yield deceptive results. Data is available at urlhttps://github.com/om-ai-lab/OVDEval