Fig. 6: Heatmaps of feature extraction in various models.

a Performance of different models on the DUO datasets. b Performance of different models on the URPC2021 datasets. c Visualization of heatmap effects during feature extraction using the GradCAM method. The left side shows the original input image, followed by the visualization results of the baseline, YOLOv10, Mamba-YOLO, and UWNet models.