Table 4.

Precision comparison of the C2f module and its variants in the YOLOv8 baseline model.

Module	Param. (M)	mAP@0.5	mAP@0.5–0.95	Recall	FPS
C2f	3.01	70.8	38.7	65.5	110.64
C3	2.68	71.9	39.3	64.5	124.26
C3k2	2.53	73.0	39.7	66.2	130.55
A2C2f	3.11	73.1	39.4	68.2	107.64
C2f_gl (Ours)	3.43	73.1	40.1	68.9	101.32