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Comprehensive performance comparison.
| Algorithm name | mAP (%) | Time/(ms) | False detection rate (%) | Missed detection rate (%) |
| SSD | 84.32 | 25.69 | 1.38 | 1.29 |
| Faster R-CNN | 90.67 | 2868.94 | 1.87 | 1.97 |
| YOLO v3 | 88.31 | 21.18 | 1.05 | 1.14 |
| YOLO-Dense | 96.41 | 20.28 | 0.61 | 0.96 |
Bold values highlight the performance of the proposed algorithm.
