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wansn't R-CNN already superseded by YOLO[1]? didn't read the article, but no mention of it to compare itself to, so seems outdated maybe.

anyone had the time to dig deeper into this?

Tradeoffs: RCNN has better accuracy. YOLO is faster.

rcnn is two steps and ssd is single step.

Take a look at SSD instead; it seems to be more precise than YOLO and a bit faster. R-CNN variants are usually 10x slower than either of these two.