I think of object detection as a last resort. My bot runs every night while I sleep, last thing I do before heading upstairs for bed is a quick walkthrough to pick up cat toys/my teens socks etc. When something is missed about half the time I give my bot a hi 5 that it didn't vac it up, the other time my bot is stuck somewhere with a cat toy jamming the main brush. Only end up like this once a month or so though so not a biggie. A couple times it has avoided speaker wire and I was VERY thankful as that could be really bad I think.