Table 1.
Comparative experimental results on VisDrone dataset.
| Model | AP | AP50 | AP75 | APs | APm | APl | Param(M) | GFLOPs | FPS |
|---|---|---|---|---|---|---|---|---|---|
| YOLOv5n | 18.1 | 33.9 | 17.2 | 11.5 | 31.6 | 36.8 | 2.5 | 7.1 | 209 |
| YOLOv5s | 22.3 | 39.9 | 20.5 | 15.1 | 37.8 | 38.1 | 9.1 | 23.8 | 156 |
| YOLOv5m | 24.1 | 42.3 | 22.5 | 17.3 | 40.5 | 44.2 | 25.0 | 64.0 | 103 |
| YOLOv8n | 18.4 | 34.2 | 17.1 | 11.8 | 31.3 | 37.2 | 3.0 | 8.1 | 220 |
| YOLOv8s | 22.1 | 40.1 | 20.6 | 15.2 | 37.7 | 37.8 | 11.1 | 28.5 | 192 |
| YOLOv8m | 23.9 | 42.7 | 22.4 | 17.2 | 39.9 | 44.5 | 25.8 | 78.7 | 95 |
| RT-DETR-R18 | 24.5 | 43.8 | 23.9 | 17.9 | 43.1 | 46.8 | 20.0 | 60.0 | 98 |
| RT-DETR-R34 | 25.2 | 44.5 | 24.1 | 18.1 | 42.6 | 51.2 | 31.0 | 92.0 | 84 |
| YOLOv10n29 | 18.5 | 34.6 | 17.5 | 12.3 | 31.5 | 37.4 | 2.2 | 6.5 | 197 |
| YOLOv10s | 22.7 | 40.7 | 21.4 | 15.1 | 38.0 | 38.6 | 7.2 | 21.4 | 131 |
| YOLOv10m | 24.5 | 43.8 | 23.5 | 17.6 | 41.5 | 44.9 | 15.3 | 58.9 | 94 |
| YOLOv11n | 18.2 | 34.6 | 17.0 | 11.3 | 31.7 | 37.5 | 2.6 | 6.3 | 205 |
| YOLOv11s | 22.3 | 40.6 | 20.9 | 15.6 | 38.4 | 38.9 | 9.4 | 21.3 | 141 |
| YOLOv11m | 24.3 | 43.1 | 22.2 | 16.9 | 39.5 | 44.2 | 20.0 | 67.7 | 83 |
| YOLOv13n31 | 13.7 | 34.6 | 17.8 | 12.3 | 32.2 | 37.3 | 2.5 | 6.2 | 221 |
| YOLOv13s | 22.4 | 40.5 | 21.4 | 15.9 | 37.8 | 40.1 | 9.0 | 20.1 | 159 |
| LUD-YOLO | 19.3 | 35.2 | 18.5 | 13.7 | 34.9 | 37.1 | 2.8 | 9.3 | 89 |
| SAD-YOLO | 19.1 | 34.1 | 17.9 | 12.8 | 33.7 | 36.2 | 3.4 | 10.1 | 76 |
| KL-YOLO | 20.5 | 37.5 | 19.1 | 13.5 | 35.8 | 37.8 | 3.1 | 19.6 | 23 |
| MFA-YOLOn | 20.8 | 37.8 | 19.3 | 14.1 | 36.2 | 38.4 | 2.5 | 9.1 | 125 |
| MFA-YOLOs | 23.9 | 42.6 | 22.4 | 16.8 | 40.5 | 42.9 | 9.6 | 34.0 | 85 |
| MFA-YOLOm | 25.5 | 45.0 | 24.3 | 18.3 | 43.4 | 50.5 | 24.2 | 100.6 | 49 |