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Table 2 Detector comparison on COCO’07 datasets

From: Cloud Control System Architectures, Technologies and Applications on Intelligent and Connected Vehicles: a Review

Algorithm

AP50

APS

APL

FPS

YOLOv4608

65.7

26.7

53.3

65

YOLOv4416

62.8

20.4

56.0

96

YOLOv3608

57.9

18.3

41.9

50

Faster-RCNN

42.7

–

–

–

Mask-RCNN

62.3

22.1

51.2

–

SSD513

50.4

10.2

49.8

–

RetinaNet800

59.1

22.8

50.2

–

R-FCN

51.9

10.8

45

–