Table 4 Ablation experiments on the VISDRONE2019 test set.

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

Algorithms

MCRAConv

MSSFF

Focaler-PIoUv2

P%

R%

mAP50%

mAP50:95%

A

   

39.7

28.6

26.8

15

B

√

  

40.7

30.7

28.5

15.9

C

 

√

 

40

30.3

28.1

15.6

D

  

√

40.5

29.7

27.6

15.4

E

√

√

 

41.6

32.3

30

16.9

F

√

 

√

41

31.5

29

16.3

G

 

√

√

40.4

30.4

28.2

15.8

MFRA-YOLO

√

√

√

41.8

33

30.4

17.1

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