Table 4. Comparison of different models’ detection results.

Model	mAP50 (%)	Weights (M)	GFLOPs	Single image detection time (ms)
SSD	71.5	97.6	273.4	22.1
YOLOv5s	77.5	14.4	16.0	12.1
YOLOv7-tiny	77.1	12.5	13.2	14.8
Faster-RCNN	75.1	109.5	370.2	25.2
YOLOv8n	75.9	6.3	8.2	7.2
RT-DETR	80.3	32.8	110.2	15.8
Literatures (Chen et al., 2023b)	80.2	16.6	20.5	26.8
YOLOv8n-Improve	80.5	7.6	9.1	9.1