Improved YOLOv4 for Pedestrian Detection and Counting in UAV Images

Table 3

Comparisons with other existing methods in test set.

Models	Backbone	AP50	MAE	MSE	FPS
YOLO v4 (baseline)	CSPDarknet-53	17.56	11.36	19.90	26
CenterNet [23]	ResNet50	17.67	13.84	30.38	22
YOLOX [24]	Darknet-53	22.68	14.13	28.64	14
RFBNet [25]	VGG	17.99	9.58	19.27	32
YOLO-CC (Human body detection)	CSPDarknet-34	39.32	7.29	12.38	34
YOLO-CC (density map)		—	11.41	17.25