Table 3. Performance comparison of different feature fusion modules in the VisDrone2019 dataset.

Model	New detection head	BiFPN	CA	mAP/%	Parameter/million	t/s
YOLOv4				42.79	63.99	0.025
Version-1				43.73	52.54	0.023
Version-2	√			52.13	44.62	0.024
Version-3		√		44.04	52.61	0.023
Version-4			√	43.93	52.58	0.026
Version-5	√	√		52.40	44.76	0.025
Version-6	√		√	52.51	44.65	0.028
Version-7		√	√	44.06	52.65	0.026
YOLOv4-ours	√	√	√	52.76	44.79	0.028

Note:

The best results are in bold.