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Open Access

ARTICLE

Inference and Performance Analysis of Optimized YOLOv9 for Indoor Object Detection & Classification

Muhammad Asim1,#, Muhammad Amin Shahid1,#, Abdullah Khan1, Muhammad Ishaq1, Jawad Khan2,*, Syed Qamrun Nisa3, Muhammad Amir Khan4, Ines Hilali Jaghdam5
1 Institute of Computer Sciences and Information Technology, Faculty of Management and Computer Sciences, The University of Agriculture, Peshawar, Pakistan
2 School of Computing, Gachon University, Seongnam, Republic of Korea
3 Faculty of Computing and Informatics, Multimedia University, Cyberjaya, Malaysia
4 Faculty of Computer and Mathematical Sciences, Universiti Teknologi MARA, Shah Alam, Selangor, Malaysia
5 Department of Computer Science and Information Technology, Applied College, Princess Nourah bint Abdulrahman University, P.O. Box 84428, Riyadh 11671, Saudi Arabia
* Corresponding Author: Jawad Khan. Email: email
# These authors contributed equally to this work
(This article belongs to the Special Issue: Advances in Object Detection and Recognition)

Computers, Materials & Continua https://doi.org/10.32604/cmc.2026.083596

Received 07 April 2026; Accepted 27 May 2026; Published online 29 June 2026

Abstract

Indoor object detection presents unique challenges such as occlusions, varying lighting conditions, and cluttered environments. While several object detection frameworks, including RetinaNet, Faster R-CNN, SSD, and EfficientDet, have been proposed, they often suffer from high computational cost, reduced inference speed, and limited accuracy in terms of mean Average Precision (mAP), particularly in real-time scenarios. In this study, lightweight YOLO variants, namely YOLOv7, YOLOv8s, YOLOv9s, and a fine-tuned YOLOv9s which considers the optimized training strategy based on albumentations. All the models are evaluated for indoor object detection using the RGB TUT Indoor dataset. The models are assessed using precision, recall, mAP@0.5, and mAP@0.5:0.95. The experimental results demonstrate that the fine-tuned YOLOv9s consistently outperforms the baseline YOLOv9s model across all evaluation metrics, confirming the effectiveness of proposed training optimizations. Specifically, the fine-tuned YOLOv9s achieves a precision of 97.9%, recall of 96.1%, mAP@0.5 of 99.1%, and mAP@0.5:0.95 of 88.7%. These improvements highlight the impact of systematic training refinement beyond standard model configuration. Among the evaluated models, YOLOv8s achieves the highest inference speed of 90 FPS in 11.1 ms, making it suitable for ultra-low-latency applications such as smart homes, assistive systems, and robotics. In contrast, the fine-tuned YOLOv9s provides a superior balance between accuracy and efficiency, making it more suitable for accuracy-sensitive indoor environments where detection reliability is critical. Overall, the study demonstrates that carefully optimized training strategies can significantly enhance the performance of YOLOv9s without architectural modifications, providing practical insights for real-time indoor object detection systems.

Keywords

Image classification; deep learning; indoor object detection; You Only Look Once (YOLO)

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