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Comparison of experimental data for each algorithmon target moderately distributed images.
| Model | Model parameters (M) | P (%) | R (%) | mAP 0.5 (%) | F1 (%) |
|---|---|---|---|---|---|
| YOLOv5 | 46.1 | 93.4 | 88.9 | 91.7 | 91.1 |
| YOLOv6 | 58.3 | 90.4 | 87.6 | 90.7 | 89.0 |
| YOLOv7 | 37.2 | 92.2 | 95.7 | 96.7 | 93.9 |
| YOLOv8 | 43.6 | 94.7 | 91.6 | 94.8 | 93.0 |
| YOLOv11 | 25.3 | 93.8 | 89.3 | 90.2 | 91.5 |
| YOLOv12 | 26.4 | 94.0 | 91.8 | 92.0 | 92.9 |
| Ours | 46.2 | 95.4 | 95.9 | 97.4 | 95.6 |
