[Retracted] A Review of Intelligent Driving Pedestrian Detection Based on Deep Learning

Table 2

Calculation speed of some one-stage algorithms.

Method	Backbone	Rate (fps)
YOLOv1 [65]	—	45
YOLOv2 [67]	Darknet	40
YOLOv3 [68]	Darknet	34.5
YOLOv4 [73]	Darknet	65
SSD [69]	VGG	59
RetinaNet [70]	ResNet-FPN	13.7
ALFnet [71]	ResNet	3.7