Disclosed herein is an object detection system, including apparatuses and methods for object detection. An implementation may include receiving a first class of a first object depicted in an image frame from a classification model and subsequently receiving a second image frame. The implementation further includes predicting, using a classification tracking model, that the classification model will output the first class for the second image frame and then detecting whether the first class is in fact outputted. The implementation includes determining that the second image frame should be added to a training dataset for the classification model when detecting that the classification model did not generate the first class for the second image frame as predicted and re-training the classification model using the training dataset.