Table 4. Performance comparison of different feature fusion modules in the S2TLD dataset.

Model	New detection head	BiFPN	CA	mAP/%	Parameter/million	t/s
YOLOv4				95.32	63.96	0.025
Version-1				95.45	52.51	0.023
Version-2	√			96.43	44.61	0.024
Version-3		√		95.61	52.58	0.023
Version-4			√	95.60	52.56	0.026
Version-5	√	√		96.68	44.74	0.025
Version-6	√		√	96.50	44.64	0.028
Version-7		√	√	96.30	52.62	0.026
YOLOv4-ours	√	√	√	96.98	44.77	0.028

Note:

The best results are in bold.