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

Table 4

The experimental results.

	YOLOv3		Improved YOLOv3
	AP	F1	AP	F1
Vehicle	97.70%	0.95	97.80%	0.95
Bike	81.27%	0.86	81.55%	0.87
Rider	97.10%	0.92	96.97%	0.92
Pedestrian	95.37%	0.92	95.54%	0.92
mAP	92.86%		92.97%
	YOLOv4		Improved YOLOv4
	AP	F1	AP	F1
Vehicle	97.13%	0.94	97.07%	0.94
Bike	77.37%	0.84	77.82%	0.84
Rider	95.60%	0.91	95.46%	0.92
Pedestrian	94.42%	0.91	94.57%	0.91
mAP	91.13%		91.23%
	YOLOv4-tiny		Improved YOLOv4-tiny
	AP	F1	AP	F1
Vehicle	86.56%	0.82	86.57%	0.83
Bike	74.60%	0.78	75.44%	0.78
Rider	79.52%	0.78	79.51%	0.78
Pedestrian	70.37%	0.72	70.34%	0.72
mAP	77.76%		77.97%