Methods AP AP@0.75 AP@0.5 AP-String AP-Good AP-Broken AP-FlashD
YOLO v3 (MobileNet) 42.92% 46.18% 72.94% 45.60% 50.90% 25.70% 49.40%
YOLO v3 (DarkNet53) 62.20% 76.30% 94.80% 59.80% 65.60% 55.70% 67.70%
YOLO v4 (MobileNet) 62.40% 77.10% 92.90% 64.60% 66.40% 54.60% 63.80%
YOLO v4 (DarkNet53) 66.10% 82.50% 95.40% 64.30% 69.90% 60.50% 69.80%
YOLO v5 (DarkNet53) 84.50% 96.20% 98.30% 84.60% 87.30% 79.10% 86.80%
Faster RCNN 87.19% 95.12% 97.23% 91.77% 87.08% 80.13% 89.79%
Pi-GS[38] 87.70% 95.33% 97.28% 92.07% 87.51% 80.60 % 90.62%
Pi-FT[24] 87.93% 95.59% 97.54% 92.37% 88.08% 80.72% 90.56%
Ours 88.11% 96.35% 97.98% 93.14% 88.06% 81.03% 90.20%