Table 8.

Comparison with baseline and prior state-of-the-art methods (all values rounded to 1 decimal place for consistency)

Method	Person	Bicycle	Car	mAP
Baseline	54.7	39.7	67.6	54.0
MMTOD-UNIT(MSCOCO) [12]	64.5	49.4	70.7	61.5
Transfer learning on SSD $+$ VGG16 [15]	61.9	46.1	85.1	64.4
ODSC (SSD512 $+$ VGG16) [34]	71.0	55.5	82.3	69.6
BU(LT, T) [25]	75.6	57.4	86.5	73.2
ThermalDet [6]	78.2	60.0	85.5	74.6
PMBW(D2, 3) (ours)	80.6	66.5	84.5	77.2
PMBW(D3, 3) (ours)	81.2	64.0	86.5	77.3