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I found out what was happening. When I passed empty objsGPU to detectMultiScale than it will allocate place for 100 detections:

const int defaultObjSearchNum = 100;
if (objectsBuf.empty())
{
    objectsBuf.create(1, defaultObjSearchNum, DataType<Rect>::type);
}

And further if number of detection more than allocated then assertion described above happens. So if I allocate memory for detections

objsGPU.create(1, 10000, cv::DataType<cv::Rect>::type);

everything will work