Table 3.

Comparison of the precision, recall, F1-score, and processing time of four methods using NightFire-DB. SSD, single-shot detector.

Methods	Precision (%)	Recall (%)	F1-Score (%)	Processing Time (ms)
SSD [38]	99.0	67.7	80.4	22.5
Faster R-CNN [47]	81.7	94.5	87.2	45
YOLOv3 [36]	97.9	91.2	94.3	15.9
ELASTIC-YOLOv3	98.5	96.9	97.7	16