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 |