TABLE 2.

Test performance comparison of different models.

Methods	RMSE	MAE	Recall	mAP@.0.5	Map@.0.5:0.95
YOLOv5s	53.23	41.24	0.887	0.949	0.526
YOLOv5m	51.56	40.83	0.894	0.949	0.522
YOLOv5l	49.71	38.87	0.888	0.947	0.525
YOLOv5x	44.51	33.62	0.913	0.950	0.541
Improved YOLOv5s	43.94	34.36	0.911	0.951	0.545
Faster R-CNN	94.57	87.10	0.819	0.862	0.355