Table 6.

Ablation study on MSF&ACS modules in YOLO variants.

Model	MSF&ACS	Param.(M)	mAP@0.5	mAP@0.5:0.95	Recall	FPS
YOLOv6		4.24	71.0	38.6	62.1	111.31
		4.96	71.7	38.6	66.2	102.94
YOLOv10		2.70	69.9	37.6	62.5	99.55
		3.24	70.9	38.9	65.5	90.08
YOLO11		2.96	73.1	39.6	67.6	122.11
		3.84	73.4	41.0	69.2	107.64
YOLOv12		2.56	72.8	40.0	67.2	111.69
		3.02	72.8	40.2	67.5	103.17