Table 2. Model performance in pedestrian detection with average processing time per image.

Image processing time includes reading the file from disc and model prediction.

Model	MAE	RMSE	Time (s)
SSD	9.87	14.32	1.46
Faster R—CNN	5.38	9.16	8.35
YOLO	5.48	10.23	0.75
YOLOtiled (proposed)	4.28	7.96	3.28