Table 5 Comparisons with state-of-the-art methods on submarine garbage test set.
Method | Backbone | Mask | Can | Cellphone | Electronics | Gbottle | Glove | Metal | Misc | Net | Pbag | Pbottle | Plastic | Rod | Sunglasses | Tire | mAP (%) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Two-stage | |||||||||||||||||
 Cascade RCNN20 | ResNet101 | 48.3 | 25.9 | 79.9 | 42.5 | 41.9 | 59.1 | 22.5 | 34.2 | 60.4 | 77.5 | 41.4 | 25.6 | 11.9 | 50.0 | 29.2 | 43.4 |
 Faster RCNN15 | ResNet50 | 63.2 | 23.3 | 74.3 | 36.5 | 33.4 | 76.6 | 10.2 | 33.0 | 53.2 | 73.3 | 38.8 | 16.7 | 12.2 | 6.1 | 28.1 | 38.6 |
 Faster RCNN15 | ResNet101 | 33.4 | 30.3 | 77.8 | 28.6 | 38.8 | 55.6 | 7.0 | 23.0 | 54.6 | 75.6 | 39.5 | 16.5 | 6.2 | 4.0 | 29.7 | 34.7 |
One-stage | |||||||||||||||||
 YOLOV5-s33 | CSPDarkNet | 65.9 | 28.4 | 84.5 | 43.5 | 48.6 | 72.7 | 17.4 | 37.9 | 65.7 | 81.0 | 47.1 | 29.7 | 23.1 | 47.8 | 33.4 | 48.4 |
 YOLOV5-m33 | CSPDarkNet | 63.8 | 34.5 | 85.4 | 45.0 | 52.2 | 71.6 | 18.7 | 32.4 | 66.6 | 81.8 | 49.0 | 27.2 | 27.0 | 44.1 | 33.3 | 48.8 |
 YOLOV5-l33 | CSPDarkNet | 66.0 | 29.0 | 86.3 | 45.4 | 52.6 | 70.2 | 14.2 | 36.8 | 63.3 | 82.5 | 48.9 | 28.7 | 25.7 | 58.1 | 34.1 | 49.5 |
 YOLOV5-x33 | CSPDarkNet | 63.8 | 25.5 | 87.8 | 43.8 | 54.5 | 70.3 | 18.4 | 34.9 | 64.9 | 83.5 | 49.3 | 28.0 | 22.7 | 53.4 | 31.5 | 48.8 |
 PicoDet-s42 | LCNet | 57.9 | 36.7 | 84.6 | 42.0 | 48.1 | 75.1 | 14.0 | 33.6 | 61.6 | 80.0 | 43.4 | 24.0 | 12.8 | 54.9 | 31.7 | 46.7 |
 PicoDet-m42 | LCNet | 59.4 | 26.8 | 83.0 | 43.1 | 48.6 | 78.8 | 16.2 | 32.2 | 62.8 | 78.3 | 42.1 | 22.4 | 20.0 | 45.5 | 28.8 | 45.9 |
 PicoDet-l42 | LCNet | 64.1 | 28.7 | 83.3 | 41.4 | 47.1 | 77.4 | 11.2 | 35.2 | 63.5 | 79.5 | 44.0 | 22.8 | 13.9 | 45.5 | 30.6 | 45.9 |
 PicoDet-xs42 | LCNet | 51.8 | 26.6 | 82.1 | 40.1 | 48.4 | 73.6 | 16.3 | 31.5 | 63.2 | 75.9 | 41.0 | 17.0 | 9.3 | 56.2 | 31.1 | 44.3 |
 TOOD43 | ResNet | 31.7 | 28.9 | 82.4 | 40.1 | 47.0 | 57.2 | 20.1 | 35.3 | 60.8 | 74.7 | 38.7 | 17.6 | 15.6 | 56.6 | 25.7 | 42.2 |
 PP-YOLOE -s45 | CSPResNet | 67.9 | 35.8 | 86.6 | 47.6 | 55.6 | 79.7 | 18.6 | 38.5 | 66 | 82 | 47.4 | 24.5 | 22.3 | 62.2 | 35.2 | 51.3 |
 PP-YOLOE -m45 | CSPResNet | 69.0 | 38.8 | 84.5 | 49.4 | 54.6 | 81.0 | 19.2 | 38.0 | 66.4 | 81.7 | 48.0 | 25.5 | 22.0 | 66.6 | 35.1 | 52.0 |
 PP-YOLOE -l45 | CSPResNet | 68.6 | 41.5 | 85.6 | 47.7 | 53.8 | 80.8 | 20.1 | 32.0 | 65.6 | 83.2 | 48.8 | 25.9 | 17.9 | 64.0 | 35.2 | 51.4 |
 PP-YOLOE -x45 | CSPResNet | 63.9 | 41.4 | 86.7 | 51.4 | 58.1 | 78.7 | 23.4 | 37.3 | 66.5 | 82.7 | 49.8 | 26.4 | 19.0 | 60.5 | 33.9 | 52.0 |
 RTMDet-s44 | CSPNeXt | 53.9 | 39.7 | 85.8 | 43.4 | 56.9 | 67.6 | 22.9 | 35.1 | 60.7 | 82.2 | 49.3 | 23.5 | 21.3 | 56.6 | 34.2 | 48.9 |
 RTMDet-m44 | CSPNeXt | 52.9 | 30.3 | 82.6 | 42.0 | 53.5 | 68.1 | 20.3 | 28.5 | 59.8 | 80.8 | 47.4 | 25.5 | 16.0 | 55.1 | 32.6 | 46.3 |
 RTMDet-l44 | CSPNeXt | 61.9 | 39.9 | 82.7 | 43.6 | 52.6 | 69.1 | 19.8 | 30.6 | 56.1 | 80.6 | 47.3 | 24.8 | 19.3 | 70.0 | 32.5 | 48.7 |
 RTMDet-x44 | CSPNeXt | 64.8 | 42.7 | 82.7 | 45.8 | 56.0 | 66.7 | 20.1 | 38.6 | 62.7 | 82.7 | 47.3 | 26.8 | 23.0 | 63.4 | 33.4 | 50.4 |
 YOLOX-s39 | CSPDarkNet | 46.5 | 26.6 | 79.1 | 31.0 | 41.9 | 69.4 | 11.6 | 23.9 | 48.9 | 73.8 | 42.9 | 17.1 | 11.7 | 50.0 | 31.9 | 40.4 |
 YOLOX-m39 | CSPDarkNet | 48.4 | 28.9 | 82.1 | 36.3 | 44.5 | 70.2 | 13.4 | 26.7 | 51.3 | 77.6 | 44.8 | 20.2 | 13.3 | 51.1 | 30.8 | 42.6 |
 YOLOX-l39 | CSPDarkNet | 49.9 | 32.1 | 81.9 | 39.4 | 48.8 | 66.5 | 17.8 | 29.9 | 52.9 | 80.8 | 44.6 | 25.2 | 17.5 | 50.1 | 32.6 | 44.7 |
 YOLOX-x39 | CSPDarkNet | 50.9 | 33.3 | 83.6 | 41.7 | 49.7 | 64.0 | 18.6 | 36.7 | 58.8 | 81.1 | 49.1 | 25.4 | 20.3 | 53.4 | 34.6 | 46.7 |
 YOLOv740 | ELAN | 73.2 | 38.1 | 86.6 | 45.7 | 60.5 | 79.2 | 16.2 | 36.4 | 65.8 | 85.7 | 50.8 | 22.1 | 27.0 | 53.2 | 31.9 | 51.5 |
 YOLOv7x40 | ELAN | 72.8 | 35.0 | 86.9 | 46.8 | 58.5 | 77.5 | 20.1 | 39.0 | 67.0 | 86.0 | 50.2 | 25.5 | 29.8 | 54.3 | 32.1 | 52.1 |
 YOLOv7-w640 | ELAN | 72.9 | 37.0 | 85.0 | 50.4 | 61.5 | 82.1 | 17.5 | 38.8 | 67.7 | 84.5 | 51.6 | 28.2 | 26.8 | 44.3 | 33.8 | 52.1 |
 YOLOv7-e640 | ELAN | 64.6 | 30.7 | 84.8 | 47.2 | 55.5 | 74.7 | 18.1 | 44.8 | 61.0 | 82.9 | 48.3 | 25.8 | 19.2 | 54.2 | 34.6 | 49.8 |
 YOLOv7-d640 | ELAN | 67.9 | 31.2 | 83.7 | 43.9 | 54.1 | 78.7 | 17.6 | 41.6 | 60.3 | 81.7 | 46.2 | 22.8 | 13.3 | 53.2 | 33.3 | 48.6 |
 YOLOv7-e6e40 | ELAN | 66.5 | 29.2 | 83.3 | 42.5 | 50.3 | 77.7 | 14.6 | 38.6 | 58.5 | 79.6 | 45.1 | 26.3 | 22.6 | 48.7 | 32.2 | 47.7 |
 YOLOv8-n41 | CSPDarkNet | 65.9 | 36.0 | 86.3 | 46.6 | 56.8 | 75.2 | 17.0 | 41.6 | 67.8 | 85.9 | 48.2 | 30.5 | 23.3 | 66.8 | 34.4 | 52.2 |
 YOLOv8-s41 | CSPDarkNet | 71.2 | 37.5 | 87.6 | 44.6 | 57.5 | 77.6 | 18.4 | 37.3 | 70.7 | 85.2 | 49.9 | 31.1 | 31.9 | 55.5 | 33.9 | 52.7 |
 YOLOv8-m41 | CSPDarkNet | 76.3 | 34.9 | 88.0 | 52.7 | 60.7 | 79.4 | 22.9 | 40.6 | 70.7 | 86.4 | 50.8 | 28.9 | 25.3 | 51.2 | 30.8 | 53.3 |
 YOLOv8-l41 | CSPDarkNet | 72.7 | 35.3 | 89.3 | 49.7 | 59.9 | 76.8 | 15.9 | 38.4 | 68.8 | 85.0 | 50.6 | 28.9 | 29.0 | 57.0 | 31.6 | 52.6 |
 YOLOv8-x41 | CSPDarkNet | 74.3 | 38.2 | 89.3 | 46.0 | 58.7 | 78.8 | 21.9 | 41.0 | 71.5 | 87.1 | 51.1 | 28.3 | 30.3 | 55.4 | 31.2 | 53.5 |
 Proposed  Method | FS | 71.5 | 35.9 | 86.1 | 48.6 | 60.1 | 77.4 | 22.0 | 40.0 | 66.6 | 86.9 | 50.9 | 30.1 | 23.8 | 54.8 | 33.1 | 52.5 |
 Proposed Method | FSS | 75.2 | 40.1 | 87.8 | 52.9 | 61.9 | 83.0 | 23.1 | 44.7 | 69.1 | 87.1 | 52.3 | 30.7 | 30.2 | 60.2 | 34.1 | 55.5 |
