| 类别 | SSD [19] | Faster R-CNN [14] | DETR [24] | S-C-DETR |
| PL | 80.9 | 74.7 | 85.3 | 85.8 |
| BD | 70.3 | 66.4 | 77.4 | 78.2 |
| BR | 18.2 | 14.0 | 46.1 | 51.9 |
| GTF | 68.7 | 63.7 | 68.7 | 69.8 |
| SV | 22.0 | 8.8 | 22.1 | 22.8 |
| LV | 58.4 | 38.0 | 41.2 | 44.2 |
| SH | 34.6 | 13.2 | 35.2 | 37.0 |
| TC | 88.0 | 84.6 | 90.3 | 88.7 |
| BC | 61.2 | 53.2 | 59.8 | 58.6 |
| ST | 23.5 | 17.4 | 59.2 | 60.6 |
| SBF | 65.3 | 57.3 | 64.9 | 63.8 |
| RA | 32.5 | 28.2 | 65.6 | 68.9 |
| HA | 70.8 | 56.3 | 60.7 | 61.7 |
| SP | 38.4 | 25.7 | 57.4 | 60.9 |
| HC | 53.5 | 27.8 | 39.7 | 50.8 |
| mAP | 52.4 | 42.0 | 58.2 | 60.2 |