Table 2 Multi-metric test results for different algorithms.
Condition | Algorithm | P (%) | R (%) | F1 (%) | Computation time (s) | Model size (MB) | p |
|---|---|---|---|---|---|---|---|
Normal light | YOLOX | 89.73 | 89.74 | 89.74 | 7.35 | 16.37 | 0.001 |
YOLOv5-Lite | 90.17 | 90.17 | 90.17 | 7.06 | 9.57 | 0.008 | |
YOLOv7 | 92.26 | 91.62 | 91.94 | 5.76 | 78.64 | 0.003 | |
YOLOv8 | 93.41 | 92.39 | 92.92 | 4.21 | 94.51 | 0.006 | |
Our model | 95.84 | 93.57 | 94.71 | 2.28 | 7.15 | – | |
Bright light | YOLOX | 90.37 | 89.41 | 89.89 | 6.52 | 18.36 | 0.001 |
YOLOv5-Lite | 91.26 | 88.46 | 89.86 | 6.04 | 14.17 | 0.001 | |
YOLOv7 | 92.56 | 90.28 | 91.42 | 5.16 | 84.19 | 0.004 | |
YOLOv8 | 93.89 | 91.68 | 92.79 | 4.21 | 95.68 | 0.007 | |
Our model | 95.68 | 93.67 | 94.68 | 2.81 | 8.16 | – | |
Low light | YOLOX | 87.64 | 88.41 | 89.61 | 8.33 | 22.58 | 0.006 |
YOLOv5-Lite | 88.96 | 85.72 | 88.16 | 7.25 | 19.58 | 0.009 | |
YOLOv7 | 89.12 | 89.36 | 88.25 | 7.01 | 74.76 | 0.001 | |
YOLOv8 | 90.17 | 90.28 | 89.71 | 5.29 | 86.11 | 0.003 | |
Our model | 93.22 | 92.37 | 92.99 | 2.98 | 16.01 | – |
