Real-time construction demolition waste detection using state-of-the-art deep learning methods; single-stage vs two-stage detectors.

Central to the development of a successful waste sorting robot lies an accurate and fast object detection system. This study assesses the performance of the most representative deep-learning models for the real-time localisation and classification of Construction and Demolition Waste (CDW). For the investigation, both single-stage (SSD, YOLO) and two-stage (Faster-RCNN) detector architectures coupled with various backbone feature extractors (ResNet, MobileNetV2, efficientDet) were considered. A total of 18 models of variable depth were trained and tested on the first openly accessible CDW dataset developed by the authors of this study. This dataset consists of images of 6600 samples of CDW belonging to three object categories: brick, concrete, and tile. For an in-depth examination of the performance of the developed models under working conditions, two testing datasets containing normally and heavily stacked and adhered samples of CDW were developed. A comprehensive comparison between the different models yields that the latest version of the YOLO series (YoloV7) attains the best accuracy (mAP ≈ 70%) at the highest inference speed (<30 ms), while also exhibiting enough precision to deal with severely stacked and adhered samples of CDW. Additionally, it was observed that despite the rising popularity of single-stage detectors, apart from YoloV7, Faster-RCNN models remain the most robust in terms of exhibiting the least mAP fluctuations over the testing datasets considered.