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

Table 6

The detection results of other indicators for different detectors.

Model	IoU	Recall	FPS
Faster R-CNN	0.603	0.865	7
YOLOv3	0.616	0.834	79
SSD (VGG16)	0.781	0.700	75
SSD (Mobilev2)	0.745	0.787	68
YOLOv4	0.716	0.854	56
Ours	0.808	0.936	45