Table 4.

Comparison with other algorithms.

Method	Backbone	Input Size	mAP/%	Params/M	FPS
YOLOv3 [11]	Darknet-53	608 × 608	87.37	61.53	42.14
YOLOv4 [39]	CSPDarknet-53	608 × 608	90.72	64.36	47.58
YOLOv5-L	CSPDarknet-53	640 × 640	92.63	46.52	70.21
YOLOv8-L	CSPDarknet-53-c2f	640 × 640	93.38	43.74	65.19
YOLOP [40]	CSPDarknet-53	640 × 640	92.16	51.36	43.58
SSD300 [9]	VGG-16	300 × 300	83.47	24.26	47.72
RetinaNet [41]	ResNet-50	500 × 500	88.68	37.23	36.53
YOLOX-L [18]	CSPDarknet-53	640 × 640	92.27	54.15	68.94
ShuffYOLOX	ShuffDet	640 × 640	92.20	35.43	113.90