Table 3.

Results of ablation experiments.

Case	CLAHE	Transformer	CA Block	Precision	Recall	mAPIOU=0.5	mAPIOU=0.5:0.95	Time
1	x	x	x	79.7%	71.1%	76.5%	38.5%	16.2 ms
2	√	x	x	78.1%	73.5%	75.4%	37.7%	18.7 ms
3	x	√	x	80.5%	71.8%	78.2%	40.3%	17.3 ms
4	x	x	√	81.2%	72.9%	78.6%	41.2%	16.5 ms
5	√	√	x	80.4%	74.2%	77.6%	39.5%	19.4 ms
6	√	x	√	80.9%	74.8%	79.6%	42.3%	18.8 ms
7	x	√	√	81.6%	75.1%	80.5%	43.5%	17.5 ms
8	√	√	√	82.9%	76.8%	83.1%	45.6%	19.7 ms