Table 6. Compare the detection performance, detection speed, number of parameters of YOLOv4 and the proposed model (YOLOv4-ours) on the S2TLD dataset.
| Model | Class | P/% | R/% | mAP/% | Parameter/million | t/s |
|---|---|---|---|---|---|---|
| YOLOv4 | All | 92.50 | 94.80 | 95.32 | 63.96 | 0.025 |
| Red | 97.16 | 96.54 | 98.15 | |||
| Yellow | 86.74 | 96.08 | 93.78 | |||
| Green | 94.97 | 96.10 | 97.33 | |||
| Off | 89.20 | 93.84 | 92.52 | |||
| Wait_on | 94.45 | 91.43 | 94.79 | |||
| YOLOv4-ours | All | 93.35 | 96.10 | 96.98 | 44.77 | 0.028 |
| Red | 95.88 | 97.21 | 98.54 | |||
| Yellow | 96.13 | 97.31 | 98.66 | |||
| Green | 94.54 | 96.48 | 97.88 | |||
| Off | 84.52 | 94.32 | 93.79 | |||
| Wait_on | 95.69 | 95.17 | 96.03 |