Table 1 Comprehensive test results of the CCTSDB 2021 (unit: %).

SSD²¹

86.47

27.74

72.26

49.2

0.42

22.33

YOLOv3¹⁸

84.63

42.71

57.29

50.48

0.54

20.34

RetinaNet³⁸

86.7

52.88

47.12

57.78

0.65

8.88

YOLOv4¹⁹

76.16

52.5

47.5

51.69

0.59

16.55

Faster R-CNN¹⁴

84.43

54.98

45.02

56.58

0.6

4.87

Dynamic R-CNN³⁹

86.98

58.33

41.67

60.01

0.69

9.03

YOLOv5²⁰

90.8

69.2

30.8

76.3

0.78

123.46

PSG-Yolov5⁴⁰

91.6

80.9

24.7

80.2

0.82

114.35

Ours

91.9

78.6

21.4

82.8

0.84

115.37