Table 2. Performance results of validation dataset for each class.

Class	Images	P	R	F1	mAP@0.5	mAP@0.5:0.95
Total	125	0.947	0.932	0.939	0.989	0.772
Green	125	0.977	0.733	0.838	0.966	0.561
White	125	0.992	0.857	0.920	0.988	0.742
Early-turning	125	0.873	1.000	0.932	0.995	0.796
Turning	125	0.957	1.000	0.978	0.995	0.823
Late-turning	125	0.886	1.000	0.940	0.995	0.895
Red	125	0.995	1.000	0.997	0.995	0.813