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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 (<tex>$R^3$</tex>) metrics for object detection systems. The <tex>$R^3$</tex> 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.

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