Table 2.

Test results of pose parameters determination.

Site	YOLOv4		ECA5-YOLOv4		SENet5-YOLOv4		CBAM5-YOLOv4
	Heading Angle φe/°	Lateral Deviation λe/m	Heading Angle φe/°	Lateral Deviation λe/m	Heading Angle φe/°	Lateral Deviation λe/m	Heading Angle φe/°	Lateral Deviation λe/m
1	152.9	0.48	151.1	0.50	151.9	0.46	152.2	0.48
2	156.2	0.45	158.0	0.49	156.7	0.52	157.5	0.45
3	161.6	0.50	160.7	0.55	159.6	0.48	159.9	0.46
mean value of error	2.07	0.03	0.57	0.02	1.43	0.05	1.17	0.05