NSD-SSD: A Novel Real-Time Ship Detector Based on Convolutional Neural Network in Surveillance Video

Table 5

Detection accuracy of different detection models.

Model	mAP	Bulk cargo ship	Container ship	Fishing boat	General cargo ship	Ore carrier	Passenger ship
Faster R-CNN	0.916	0.893	0.986	0.908	0.927	0.914	0.868
SSD (VGG16)	0.691	0.661	0.801	0.604	0.703	0.620	0.755
SSD (Mobilev2)	0.738	0.703	0.876	0.635	0.742	0.686	0.783
YOLOv3	0.791	0.681	0.959	0.690	0.893	0.734	0.786
YOLOv4	0.834	0.849	0.929	0.732	0.851	0.778	0.862
NSD-SSD	0.893	0.863	0.980	0.824	0.937	0.908	0.848