A Small Target Pedestrian Detection Model Based on Autonomous Driving

Table 2

Ablation experiment results on the Caltech Pedestrian Dataset.

AFQ	Backbone	AP	AP50	AP75	APS	APM	APL	FPS
×	ResNet-50-PFN	52.6	87.0	58.2	42.5	55.3	58.8	17.3
√		52.4	86.4	58.0	41.8	53.3	58.8	19.0
×	ResNet-101-FPN	52.8	87.4	58.5	41.3	55.9	59.5	7.8
√		52.7	87.0	58.2	40.8	56.0	59.5	10.4
×	IResNet-50-PFN	57.2	89.3	66.8	48.1	59.9	61.8	18.5
√		56.8	88.7	66.2	47.4	59.9	61.9	20.1
×	IResNet-101-FPN	57.9	91.0	67.0	48.6	60.6	62.5	9.8
√		57.5	90.3	66.6	48.5	60.7	62.4	11.0
×	ResNet-50-IPFN	58.8	91.4	68.1	50.0	61.5	62.1	12.1
√		58.4	90.9	67.8	49.8	61.6	62.1	15.2
×	ResNet-101-IFPN	59.4	92.0	69.0	50.9	62.1	62.6	6.9
√		59.2	91.3	69.8	50.5	62.1	62.6	9.8
×	IResNet-50-IPFN	69.8	94.8	82.7	64.1	72.1	70.5	13.4
√		69.5	94.5	82.1	63.8	72.2	70.5	15.2
×	IResNet-101-IFPN	77.3	95.6	89.0	73.6	79.4	76.9	8.7
√		77.0	95.1	87.6	73.2	79.4	79.6	11.1