Table 4 Results of the ablation study on the RTTS dataset.

From: A target detection model HR-YOLO for advanced driver assistance systems in foggy conditions

Model

EPHD-Net

DND-Net

DySample

DWConv

C2

Wiou

mAP50

Parameters

GFLOPs

FPS

YOLOv8

×

×

×

×

×

×

0.739

3.0M

10.2

264

YOLOv8-A

√

×

×

×

×

×

0.767

5.1 M

16.2

182

YOLOv8-B

√

√

×

×

×

×

0.781

6.0 M

16.4

168

YOLOv8-C

√

√

√

×

×

×

0.782

5.7 M

15.5

180

YOLOv8-D

√

√

√

√

×

×

0.785

4.8 M

13.3

192

YOLOv8-E

√

√

√

√

√

×

0.788

4.6 M

13.1

210

HR-YOLO

√

√

√

√

√

√

0.798

4.6 M

13.0

223

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