Table 2.

Average precision values to AP50 and to classes manhole (${\mathbf{AP}}_{mh}$) and storm-drain (${\mathbf{AP}}_{sd}$).

Division	Method	Backbone	$\mathbf{A}\mathbf{P}\mathbf{50}\mathbf{(}\mathbf{\%}\mathbf{)}$	${\mathbf{A}\mathbf{P}}_{\mathit{m}\mathit{h}}\mathbf{(}\mathbf{\%}\mathbf{)}$	${\mathbf{A}\mathbf{P}}_{\mathit{s}\mathit{d}}\mathbf{(}\mathbf{\%}\mathbf{)}$
76-12-12	Faster-RCNN	ResNet-50	$88.30$	$95.24$	$71.93$
		ResNet-101	$86.32$	$95.24$	$71.15$
	RetinaNet	ResNet-50	$92.08$	$100.00$	$84.21$
		ResNet-101	$92.08$	$95.24$	$89.47$
66-15-19	Faster-RCNN	ResNet-50	$88.62$	$97.22$	$80.86$
		ResNet-101	$85.22$	$96.95$	$73.85$
	RetinaNet	ResNet-50	$88.85$	$94.01$	$84.42$
		ResNet-101	$89.69$	$94.22$	$85.93$