Table 1 Performance comparison under different loss functions.

From: An improved UAV image object detection algorithm combining multi-scale feature fusion and receptive-field attention-based convolution

Loss functions

P%

R%

mAP50%

mAP50:95%

CIoU

44.9

33.9

33.6

19.6

MPDIoU

45.3

34.1

33.7

19.3

SIoU

45.2

33.5

33.8

19.7

Focaler-PIoUv2

45.2

34.5

34.2

19.8

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