Table 3.

Real-time performance of pedestrian detectors.

Method	mAP (%)	Inference Time (s)
Faster R-CNN [13]	42.1–42.7	0.145/0.116/0.108
YOLOv4 [14]	41.2–43.5	0.048/0.050/0.050

The mAP indicates mean average precision. The inference time reports the mean inference time for Oxford Town Center/Train Station/Mall datasets, respectively.