revised object detection mechanism
revised object detection mechanism

Musi13/bwi_experimental,Musi13/bwi_experimental,Musi13/bwi_experimental,pato/bwi_experimental,pato/bwi_experimental,Musi13/bwi_experimental,pato/bwi_experimental,pato/bwi_experimental,pato/bwi_experimental,utexas-bwi/bwi_experimental,pato/bwi_experimental,utexas-bwi/bwi_experimental,Musi13/bwi_experimental,Musi13/bwi_experimental,utexas-bwi/bwi_experimental,utexas-bwi/bwi_experimental,utexas-bwi/bwi_experimental,utexas-bwi/bwi_experimental