Table 2.

The recognition results of YOLOv5s with different attention mechanisms in KITTI dataset.

Model	AP			mAP@0.5
	Car	Pedestrian	Cyclist
YOLOv5	0.963	0.82	0.835	0.873
YOLOv5 with
Coordinate Attention	0.961	0.826	0.862	0.883
YOLOv5 with
transformer	0.962	0.824	0.853	0.879
YOLOv5 with
transformer and CA	0.958	0.805	0.863	0.875
YOLOv5 with
C3SE	0.960	0.803	0.862	0.875
YOLOv5 with
CBAM	0.963	0.818	0.852	0.877
YOLOv5 with
CBAM and C3SE	0.960	0.804	0.875	0.879