Table 9.

Detection results after the introduction of different improvement strategies. (The bold data in the table indicate the best results.)

Baseline	WIoU v3	BiFormer	B1-FFNB	B2-FFNB	Precision/%	Recall/%	mAP0.5/%	mAP0.5:0.95/%	Model Size/MB	Detection Time/ms	Parameter/106
YOLOv8s					50.9	38.2	39.3	23.5	22.5	7.7	11.1
	√				50.7	38.7	40.0	23.6	22.5	7.2	11.1
	√	√			50.6	39.2	40.5	24.1	22.1	7.8	10.9
	√	√	√		55.8	42.8	44.8	27.2	21.6	11.2	10.6
	√	√	√	√	54.4	45.6	47.0	29.2	21.5	19.5	10.3