Methods AP AP@0.75 AP@0.5 AP-String AP-Good AP-Broken AP-FlashD
YOLO v3 (MobileNet) 31.90% 29.80% 59.80% 35.70% 47.90% 14.30% 29.60%
YOLO v3 (DarkNet53) 52.30% 57.00% 86.60% 49.60% 59.70% 45.30% 54.60%
YOLO v4 (MobileNet) 54.50% 62.40% 87.20% 54.20% 62.40% 48.50% 52.90%
YOLO v4 (DarkNet53) 59.80% 70.80% 88.50% 54.10% 68.40% 53.80% 62.90%
YOLO v5 (DarkNet53) 62.20% 76.90% 85.50% 59.00% 71.40% 56.40% 61.90%
Faster RCNN 69.35 % 80.88 % 88.85 % 75.42 % 71.04 % 59.34 % 71.60 %
Pi-GS 69.90% 81.86% 88.56% 74.23% 73.26% 59.40% 72.69%
Pi-FT 70.45% 83.12% 91.06% 73.86% 74.34% 59.73% 73.85%
Ours 73.49% 84.43% 89.22% 79.74% 78.33% 62.45% 73.42%