Papers › R-TOD: Real-Time Object Detector with Minimized End-to-End Delay for Autonomous Driving
R-TOD: Real-Time Object Detector with Minimized End-to-End Delay for Autonomous Driving
Wonseok Jang, Hansaem Jeong, Kyungtae Kang, Nikil Dutt, Jong-Chan Kim
For realizing safe autonomous driving, the end-to-end delays of real-time object detection systems should be thoroughly analyzed and minimized. However, despite recent development of neural networks with minimized inference delays, surprisingly little attention has been paid to their end-to-end delays from an object's appearance until its detection is reported. With this motivation, this paper aims to provide more comprehensive understanding of the end-to-end delay, through which precise best- and worst-case delay predictions are formulated, and three optimization methods are implemented: (i) on-demand capture, (ii) zero-slack pipeline, and (iii) contention-free pipeline. Our experimental results show a 76% reduction in the end-to-end delay of Darknet YOLO (You Only Look Once) v3 (from 1070 ms to 261 ms), thereby demonstrating the great potential of exploiting the end-to-end delay analysis for autonomous driving. Furthermore, as we only modify the system architecture and do not change the neural network architecture itself, our approach incurs no penalty on the detection accuracy.
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Methods
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections