Table 5.

Comparison of experimental data of different algorithms on the thermal infrared dataset.

Model	Model parameters (M)	P (%)	R (%)	mAP 0.5 (%)	F1 (%)
Faster-RCNN	136.8	87.5	88.1	87.1	87.8
YOLOv5	46.1	92.2	87.6	91.1	89.8
YOLOv6	58.3	90.4	89.1	91.3	89.7
YOLOv7	37.2	90.2	91.1	91.5	90.6
YOLOv8	43.6	90.4	87.0	90.6	88.7
YOLOv11	25.3	91.7	87.8	91.8	89.7
YOLOv12	26.4	92.1	89.4	92.6	90.7
RetinaNet	36.4	90.2	90.7	91.2	90.4
Ours	46.2	94.5	92.9	95.7	93.7

Significant values are in bold.