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As the number of objects increases from 1 to 30, the library size increases by more than 150×, while the average detection time increases by 3.3× (plier), 4.8× (claw) and 5.5× (charger). For the object ‘tape’ (right), the average detection time increases by 10×, particularly when objects with a circular shape are learnt (headphone, mug, apple, and scissors).
