Table 17. Worst F1-score and mAP50 average performance degradation for the corresponding “worst” variability considered in each of the experiments.

Variability	Category	No. Experiment	F1-score Degradation (%)	mAP50 Degradation (%)
Impulse noise	0.05	2	270.8	73.1
Shrinking	nearest	6	29.8	21.4
Occlusion	1 × 30%	3	20.3	23.6
Darkening	5	5	22.8	19.9
Blur	k = 13	4	5.6	4.2