Table 4.

Comparison of detection results.

Lighting conditions	Model	Quantity	The number of correct detections	The number of false detections	The number of missed detections
strong light intensity	YOLOv7-PD	639	562	72	77
	YOLOv4-tiny (Li et al., 2021)	639	553	70	86
	YOLOv5l (Nan et al., 2023)	639	559	92	80
low light intensity	YOLOv7-PD	491	428	55	63
	YOLOv4-tiny (Li et al., 2021)	491	420	63	71
	YOLOv5l (Nan et al., 2023)	491	427	61	64
backlight	YOLOv7-PD	582	527	49	55
	YOLOv4-tiny (Li et al., 2021)	582	499	55	83
	YOLOv5l (Nan et al., 2023)	582	513	47	71