| Models | Precision/% | Recall/% | mAP@0.5/% | mAP@.5:.95/% | FPS | Parameters/M |
| Faster R-CNN | 61.4 | 51.3 | 53.1 | 42.7 | 14 | 138.68 |
| YOLOv3-tiny | 66 | 45.8 | 52.7 | 40.6 | 256 | 12.15 |
| YOLOv5s | 70.3 | 61.1 | 65.5 | 51.2 | 212 | 9.14 |
| YOLOv6s | 65 | 60.1 | 65.7 | 51.1 | 208 | 16.31 |
| YOLOv8s | 77.8 | 68.7 | 77.1 | 60.4 | 204 | 11.15 |
| Ours | 87.5 | 80.4 | 88.6 | 69.1 | 120 | 4.52 |