Table 2.

Xiaomila detection results under different lighting conditions.

Lighting conditions	Model	Quantity	The number of correct detections	The number of false detections	The number of failed detections
strong light intensity	YOLOv7-PD	639	562	72	77
	YOLOv7-tiny	639	559	83	80
	YOLOv5s	639	550	110	89
	Mobilenetv3	639	524	132	115
low light intensity	YOLOv7-PD	491	428	55	63
	YOLOv7-tiny	491	423	71	68
	YOLOv5s	491	426	63	65
	Mobilenetv3	491	410	78	81
backlight	YOLOv7-PD	582	527	49	55
	YOLOv7-tiny	582	509	58	73
	YOLOv5s	582	501	61	81
	Mobilenetv3	582	479	53	103