模型

Precision (%)

Recall (%)

mAP50 (%)

FPS

Faster R-CNN

93.34

92.24

98.20

15.70

YOLOv4s

91.23

88.24

93.15

17.14

YOLOv5s

95.14

92.54

97.65

80.23

SSD

88.23

85.23

90.23

9.71

YOLOX

95.25

94.24

96.58

75.25

BH-YOLOX

96.72

96.52

98.90

104.51