Table 4.

Statistical results of indicators of models.

Indicators	YOLO5	YOLO8	YOLO9	YOLO10	YOLO11
Training_box_loss	1.6 (1.5–1.7)	1.6 (1.5–1.7)	1.6 (1.5–1.7)	3.3 (3.1–3.5)	1.6 (1.5–1.7)
Training_cls_loss	1.1 (0.8–1.4)	1 (0.7–1.4)	1.1 (0.8–1.4)	2.3 (1.7–3)	1.1 (0.8–1.4)
Training_dfl_loss	1.5 (1.4–1.5)	1.5 (1.4–1.5)	1.5 (1.4–1.5)	3 (2.8–3.1)	1.5 (1.4–1.5)
Testing_box_loss	1.6 (1.5–1.7)	1.6 (1.4–1.7)	1.5 (1.4–1.6)	3.2 (2.9–3.4)	1.6 (1.5–1.7)
Testing_cls_loss	1 (0.6–1.4)	0.9 (0.5–1.3)	0.9 (0.6–1.3)	2 (1.3–2.7)	1 (0.6–1.5)
Testing_dfl_loss	1.6 (1.5–1.6)	1.6 (1.5–1.6)	1.5 (1.5–1.6)	3.1 (3–3.3)	1.6 (1.5–1.6)
Precision	0.7 (0.5–0.9)	0.8 (0.6–0.9)	0.7 (0.6–0.9)	0.7 (0.5–0.8)	0.7 (0.5–0.9)
Recall	0.7 (0.5–0.8)	0.7 (0.5–0.9)	0.7 (0.5–0.9)	0.6 (0.5–0.8)	0.7 (0.5–0.8)
mAP50	0.7 (0.5–0.9)	0.8 (0.5–1)	0.7 (0.5–1)	0.7 (0.5–0.9)	0.7 (0.5–0.9)
mAP50-95	0.4 (0.3–0.5)	0.4 (0.3–0.6)	0.4 (0.3–0.6)	0.4 (0.3–0.5)	0.4 (0.3–0.5)