Methods AP AP@0.75 AP@0.5 AP-String AP-Good AP-Broken AP-FlashD
YOLO v3 (MobileNet) 25.30% 23.10% 49.39% 26.90% 45.10% 7.50% 21.70%
YOLO v3 (DarkNet53) 47.20% 52.30% 78.00% 48.10% 59.00% 36.90% 44.80%
YOLO v4 (MobileNet) 46.20% 51.90% 77.80% 47.40% 58.20% 34.40% 44.90%
YOLO v4 (DarkNet53) 53.40% 63.20% 80.40% 50.80% 65.50% 40.40% 56.90%
YOLO v5 (DarkNet53) 50.00% 58.60% 74.90% 41.40% 66.00% 42.50% 50.00%
Faster RCNN 58.57 % 70.41 % 81.02 % 64.52 % 62.98 % 41.92 % 62.30 %
Pi-GS 60.74% 72.15% 81.72% 65.24% 67.82% 48.37% 61.53%
Pi-FT 59.38% 70.00% 80.13% 66.25% 68.22% 44.25% 58.81%
Ours 63.82% 75.37% 83.16% 72.2% 71.71% 47.55% 63.81%