Table 5.

Comparative experimental results.

Model	P	Q	D	MD	mAP (%)	Size (MB)	FPS (img/s)
YOLOv5	×	×	×	×	83.4	16.03	16.5
YOLOv5	√	×	×	×	25.7	15.08	24.0
YOLOv5	×	√	×	×	40.7	13.3	19.5
YOLOv5-master	×	×	√	×	89.4	16.8	15.5
YOLOv5-master	×	×	×	√	85.1	4.49	14.9
YOLOv5-master	×	×	√	√	86.5	3.20	14.0