Table 3.

Detection performance comparison of five models.

Models	Average precision AP/%	F 1 score/%	Recall R/%	Precision P/%	Detection time/ms	Model size/MB
SSD	89.2	84.5	78.2	93.4	20.7	91.2
YOLOv4-Tiny	89.6	85.6	86.4	88.4	7.62	23.4
YOLOv5s	91.2	89.1	87.5	90.2	9.07	40.7
YOLOX-Tiny	90.5	88.7	88.1	91.6	13.4	20.1
the improved YOLOX-Tiny model	92.2	90.2	89.1	92.4	15.6	18.6