| 模型 | P/% | R/% | mAP@0.5/% | m AP@0.5:0.95/% | FPS/(帧∙s-1) |
| Faster RCNN | 85.3 | 85.4 | 75.9 | 45.2 | 7.17 |
| SSD | 89.1 | 87.9 | 77.4 | 65.0 | 10.25 |
| YOLOv5 | 90.8 | 90.5 | 88.2 | 61.3 | 20.68 |
| YOLOv7 | 92.7 | 93.6 | 86.9 | 62.7 | 26.80 |
| YOLOE | 96.9 | 95.9 | 88.3 | 67.9 | 24.02 |
| 本文算法 | 97.8 | 96.9 | 90.3 | 71.1 | 29.89 |