Table 5. Experimental results after improving the semantic segmentation head and replacing the activation function.

YOLOv5s+segmentation head(C3) is Group 8 of Table 4, YOLOv5s+segmentation head(GhostC3) means replace C3 in the segmentation head with GhostC3, YOLOv5s +segmentation head (GhostC3)+HardSwish means replacing C3 in the segmentation head with GhostC3 and replacing the original Swish activation function with the HardSwish activation function.

Group	Precision	Recall	F1-score	mAP@0.5	Seg Acc	Seg mIoU	FPS
YOLOv5s+segmentation head(C3)	0.954	0.917	0.935	0.976	0.985	0.984	115.1
YOLOv5s+segmentation head(GhostC3)	0.952	0.927	0.939	0.975	0.985	0.983	116.0
YOLOv5s+segmentation head(GhostC3)+ HardSwish	0.954	0.930	0.942	0.976	0.985	0.983	116.6