Table 4.

The performance comparison of the different object detection algorithms.

	${\mathrm{mAP}}_{50}$ (%)	${\mathrm{mAP}}_{50:90}$ (%)	mAP75 (%)	FPS/s
SSD	87.30	49.17	35.19	29.31
YOLOv3	79.69	47.89	44.63	17.76
YOLOv4	88.57	51.81	49.99	15.45
Faster-RCNN	79.28	53.06	54.18	1.56
SSD + MFA	90.57	64.96	69.00	26.11