Improved Real-Time Traffic Obstacle Detection and Classification Method Applied in Intelligent and Connected Vehicles in Mixed Traffic Environment

Table 3

The experimental results.

	YOLOv3		Improved YOLOv3
	AP	F1	AP	F1
Vehicle	99.30%	0.97	99.43%	0.97
Bike	99.36%	0.99	99.35%	0.99
Rider	98.16%	0.95	98.39%	0.95
Pedestrian	96.66%	0.93	97.09%	0.94
mAP	98.37%		98.57%
	YOLOv4		Improved YOLOv4
	AP	F1	AP	F1
Vehicle	98.66%	0.96	99.00%	0.96
Bike	99.49%	0.97	99.33%	0.96
Rider	97.44%	0.95	97.52%	0.95
Pedestrian	97.09%	0.93	96.91%	0.93
mAP	98.17%		98.19%
	YOLOv4-tiny		Improved YOLOv4-tiny
	AP	F1	AP	F1
Vehicle	86.98%	0.83	86.77%	0.83
Bike	83.05%	0.85	83.47%	0.85
Rider	80.19%	0.79	80.44%	0.78
Pedestrian	70.55%	0.72	70.89%	0.72
mAP	80.19%		80.39%