Model

P (%)

R (%)

F1 (%)

mAP (%)

Average Detection Time (ms)

YOLOv3

85.34

83.22

84.26

86.02

23.82

YOLOv4-tiny

84.13

82.64

83.37

85.60

22.87

YOLOv4

84.87

82.75

83.80

85.44

23.04

YOLOv5s

86.45

83.39

84.89

87.91

18.91

YOLOv6

86.10

84.55

85.32

86.73

20.48

YOLOv7-tiny

88.24

83.57

85.84

88.32

18.54

YOLOv7

87.02

85.64

86.32

89.57

19.76

Ours

91.27

88.47

89.85

92.45

21.95