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Comparative results of detection performance and model complexity.
| Models | Precision | Recall | mAP@0.5 | mAP@0.5:0.95 | GFLOPs | Params/M | FPS |
|---|---|---|---|---|---|---|---|
| YOLOv8s | 95.71 | 94.36 | 97.65 | 87.43 | 21.45 | 11.47 | 314.91 |
| YOLOv8n | 94.27 | 94.72 | 97.33 | 87.36 | 6.53 | 3.22 | 398.21 |
| YOLOv9 | 96.23 | 94.46 | 96.18 | 92.26 | 19.80 | 7.14 | 324.13 |
| YOLOv10 | 96.62 | 95.41 | 97.12 | 93.45 | 16.24 | 7.26 | 343.98 |
| BR-YOLOv9 | 98.04 | 95.65 | 98.21 | 95.97 | 23.41 | 8.43 | 304.97 |
