A system is provided for identifying consumer packaged goods (CPGs). The system comprises an imaging device mounted on a mobile platform; a CPG detector which is equipped with a neural network and which (a) utilizes the imaging device to obtain an image containing a plurality of CPGs, (b) detects a set of CPG superclass features in the image, and (c) generates a CPG feature map which maps the location of CPG features in the image, wherein said neural network has been trained on a set of images of CPGs to recognize which of a set of superclasses a detected CPG belongs to; a region proposal network which accepts the CPG feature map as input and which returns a first set of regions in the image where a CPG could be located; a superclassifier which examines each region in the first set of regions to determine if the region contains an instance of a superclass of a CPG, and which outputs a second set of regions containing a CPG; and a superclass proposal layer which operates on each member of the second set of regions and returns a set of superclass proposals for each region.