Methods AP AP@0.75 AP@0.5 AP-String AP-Good AP-Broken AP-FlashD
YOLO v3 (MobileNet) 35.50% 35.20% 64.30% 39.50% 49.10% 18.40% 35.10%
YOLO v3 (DarkNet53) 58.30% 68.90% 90.70% 54.00% 66.20% 50.90% 62.20%
YOLO v4 (MobileNet) 59.70% 72.70% 90.20% 62.60% 63.50% 50.80% 61.80%
YOLO v4 (DarkNet53) 64.10% 79.10% 92.70% 60.70% 68.60% 58.10% 69.10%
YOLO v5 (DarkNet53) 72.20% 87.00% 91.00% 71.70% 79.30% 63.00% 75.00%
Faster RCNN 76.04 % 88.08 % 92.66 % 84.24 % 77.04 % 66.15% 76.72 %
Pi-GS 77.01% 87.25% 91.43% 82.61% 78.14% 67.13% 80.14%
Pi-FT 76.66% 87.41% 90.92% 81.15% 76.84% 67.89% 80.74%
Ours 79.57% 89.45% 92.64% 83.85% 82.13% 68.96% 83.36%