Table 6.

Comparison of the ablation experiment results.

Model	K-Means++	SIoU	GAM	CBAM	Precision/%	Recall/%	mAP0.5/%	mAP0.5:0.95/%
YOLOv5s	×	×	×	×	90.3	86.2	89.8	57.1
YOLOv5s-K	√	×	×	×	89.7	86.9	90.5	58.5
YOLOv5s-KS	√	√	×	×	90.6	87.0	91.6	58.5
YOLOv5s-KSG	√	√	√	×	89.9	87.5	92.0	58.9
YOLOv5s-KSGC	√	√	√	√	91.3	87.3	92.4	59.2