  While state-of-the-art general object detectors are getting better and
better, there are not many systems specifically designed to take advantage of
the instance detection problem. For many applications, such as household
robotics, a system may need to recognize a few very specific instances at a
time. Speed can be critical in these applications, as can the need to recognize
previously unseen instances. We introduce a Target Driven Instance
Detector(TDID), which modifies existing general object detectors for the
instance recognition setting. TDID not only improves performance on instances
seen during training, with a fast runtime, but is also able to generalize to
detect novel instances.
