Table 4.

Network performance with noisy dataset (image tested on GTX 1660 SUPER)

Network structure	mAP without noise	mAP with noise	mAP dropped	Process speed per image
CSPDarknet(YOLOV5)	0.753	0.745	0.008	7.4ms
GhostNet	0.735	0.726	0.009	7.5ms
MobileNetv3	0.701	0.694	0.007	3.0ms
Darknet-53	0.755	0.747	0.008	7.4ms
EfficientNet-B1	0.757	0.745	0.012	9.5ms
TinyNet	0.703	0.701	0.002	3.1ms
CSPDarknet-P6	0.776	0.769	0.007	9.5ms
RGRNet (ours)	0.782	0.771	0.011	9.7ms