Table 10.
Ablation experiment results.
| Model | mAP@0.5 (95% CI) | mAP@0.95 (95% CI) | P | R | Wsz | Latency |
|---|---|---|---|---|---|---|
| YOLOv10 | 95.61% (95.29–95.93) | 74.77% (74.11–75.45) | 92.17% | 92.18% | 5.51 MB | 35.71 ms |
| YOLOv11 | 94.88% (94.53–95.22) | 65.13% (64.21–66.01) | 92.62% | 89.57% | 5.30 MB | 35.66 ms |
| YOLOv5 | 91.26% (90.88–91.63) | 57.69% (56.79–58.60) | 88.53% | 83.89% | 7.25 MB | 41.2 ms |
| YOLOv8 | 95.39% (95.05–95.72) | 62.38% (61.44–63.32) | 89.79% | 90.00% | 5.49 MB | 37.8 ms |
| YOLOv9-t | 95.35% (95.01–95.68) | 71.27% (70.35–72.16) | 97.66% | 86.52% | 5.98 MB | 39.5 ms |
| SSD | 93.33% (93.00–93.64) | 69.20% (68.29–70.09) | 90.75% | 93.64% | 14.30 MB | 54.7 ms |
| Full model (all modules) | 97.69% (97.46–97.91) | 79.39% (78.83–79.94) | 94.41% | 95.65% | 5.37 MB | 32.02 ms |
The meaning of the 95% CI is as follows: under the same data and analysis procedure, if the study were repeated and the interval recalculated each time, about 95% of such intervals would cover the true value of the fold-averaged metric. This interval reflects the uncertainty arising from sample and fold-to-fold variation; it is not equivalent to an individual prediction interval, nor does it guarantee external generalization.
Values shown in bold are from the Full model with all modules enabled.