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Comparative experiments of different model.
| Model | Precision % | Recall % | mAP@0.5 % | Parameter | GFLOPs |
|---|---|---|---|---|---|
| YOLOv5s | 79.5 | 78.7 | 81.1 | 7012822 | 15.8 |
| YOLOv6n | 80.5 | 73.3 | 79.1 | 4233843 | 11.8 |
| YOLOv7-tiny | 73.4 | 65.1 | 69.8 | 6007596 | 13.0 |
| YOLOv8n | 80.5 | 76.0 | 82.3 | 3005843 | 8.1 |
| RT-DETR-R18 | 77.0 | 74.5 | 77.8 | 20184464 | 58.6 |
| YOLOv9s | 83.8 | 76.0 | 82.4 | 7167475 | 26.7 |
| YOLOv10s | 85.2 | 75.6 | 82.8 | 8035734 | 24.4 |
| YOLOv11s | 79.6 | 80.0 | 85.0 | 9413187 | 21.3 |
| Ours | 84.3 | 76.0 | 85.1 | 2965955 | 7.2 |
