Table 2 Comparative experiment on the performance of different deep learning algorithms.
Model | P (%) | R (%) | AP | mAP 0.5(%) | mAP 0.5:0.95 (%) | Model size(M) | FPS | SDmAP 0.5 (10− 16) | SDmAP 0.5:0.95 (10− 16) | |||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Normal (%) | Rotation (%) | Lack (%) | Break (%) | |||||||||
Railway track fastening dataset | ||||||||||||
 PP-YOLOE-S | 94.8 | 90.0 | 99.4 | 98.9 | 77.3 | 97.8 | 93.7 | 78.5 | 30.6 | 55.4 | 1.08 | 1.03 |
 Rtdetr- resent50 | 83.7 | 66.4 | 98.2 | 62.0 | 63.9 | 47.6 | 67.9 | 48.4 | 171.3 | 27.5 | 1.12 | 1.13 |
 Rtdetr-l | 78.5 | 52.7 | 96.7 | 55.6 | 39.5 | 39.8 | 58.4 | 45.2 | 131.5 | 27.0 | 1.14 | 1.13 |
 YOLO3n | 94.6 | 88.6 | 99.4 | 98.8 | 78.4 | 99.5 | 93.9 | 79.6 | 414.9 | 41.0 | 1.03 | 1.07 |
 YOLO5n | 96.1 | 91.7 | 99.3 | 99.1 | 77.9 | 99.5 | 93.9 | 78.6 | 10.3 | 58.9 | 1.06 | 1.06 |
 YOLO6n | 96.0 | 88.7 | 99.3 | 97.6 | 77.4 | 96.4 | 92.7 | 75.6 | 17.1 | 64.5 | 1.03 | 1.05 |
 YOLO8n | 88.0 | 91.5 | 99.4 | 99.1 | 77.1 | 97.6 | 93.3 | 78.2 | 12.3 | 63.8 | 1.07 | 1.02 |
 YOLO10n | 96.5 | 90.3 | 99.2 | 98.2 | 79.3 | 99.5 | 94.1 | 77.3 | 9.3 | 55.1 | 1.05 | 1.01 |
 YOLO11n | 94.4 | 90.5 | 98.9 | 98.3 | 76.4 | 97.9 | 92.8 | 76.7 | 10.6 | 48.2 | 1.09 | 1.10 |
 YOLO-DRPA | 95.4 | 93.5 | 99.4 | 99.5 | 79.0 | 99.5 | 94.6 | 80.7 | 18.2 | 38.5 | 1.03 | 1.02 |
External railway track fastening dataset | ||||||||||||
 PP-YOLOE-S | 92.8 | 89.9 | 98.0 | 70.1 | 77.2 | 96.1 | 85.8 | 71.2 | 30.6 | 55.4 | 1.07 | 1.06 |
 Rtdetr-resent50 | 80.7 | 60.6 | 95.7 | 39.1 | 61.5 | 46.2 | 61.5 | 43.8 | 171.3 | 27.5 | 1.13 | 1.12 |
 Rtdetr-l | 73.9 | 39.9 | 93.0 | 25.7 | 29.5 | 31.2 | 44.9 | 31.7 | 131.5 | 27.0 | 1.14 | 1.15 |
 YOLO3n | 92.9 | 80.6 | 97.9 | 69.8 | 78.6 | 99.3 | 86.1 | 72.9 | 414.9 | 41.0 | 1.03 | 1.08 |
 YOLO5n | 93.8 | 83.8 | 98.4 | 70.7 | 77.9 | 99.4 | 86.2 | 71.7 | 10.3 | 58.9 | 1.05 | 1.06 |
 YOLO6n | 93.9 | 80.0 | 98.4 | 67.9 | 76.7 | 96.0 | 84.7 | 68.9 | 17.1 | 64.5 | 1.03 | 1.04 |
 YOLO8n | 90.5 | 78.4 | 97.9 | 69.3 | 77.3 | 95.8 | 85.3 | 70.8 | 12.3 | 63.8 | 1.08 | 1.02 |
 YOLO10n | 96.1 | 83.0 | 98.4 | 70.4 | 78.0 | 99.3 | 86.3 | 70.7 | 9.3 | 55.1 | 1.04 | 1.02 |
 YOLO11n | 92.1 | 83.3 | 98.2 | 70.6 | 76.7 | 95.9 | 85.4 | 71.4 | 10.6 | 48.2 | 1.09 | 1.11 |
 YOLO-DRPA | 95.5 | 87.6 | 98.4 | 74.3 | 78.2 | 99.4 | 86.5 | 73.2 | 18.2 | 38.5 | 1.05 | 1.02 |
