Table 2.

F1 Scores and detection time for several models.

	SSD	Faster R-CNN	YOLOv3	IMPROVE YOLOv3
F1	0.854	0.902	0.911	0.923
computational cost (ops)	31.75 B	129.26 B	65.86 B	45.03 B
detection time	15.9 ms	50.1 ms	12.7 ms	7.9 ms