Table 2. Accuracy comparison between YOLOv5 and SDG-YOLOv5 on datasets BDD100K and KITTI.

BDD100K	Person	Rider	Car	Bus	Truck	Bike	Motor	TL_G	TL_R	TL_Y	TL_N	TS	mAP@.5(%)
YOLOv5	57.1	41.5	75.5	57.8	59.1	44.6	40.5	59.8	52.7	21.7	48.4	64	51.9
Ours	60.4	44.5	77.7	60	60.6	48.2	43.6	64.3	56.7	24.6	54.7	67.7	55.3
KITTI	Car	Pedestrian	Cyclist										mAP@.5(%)
YOLOv5	98.1	88	94.5										93.6
Ours	98.4	89.6	96										94.6