YOLO-Highway: An Improved Highway Center Marking Detection Model for Unmanned Aerial Vehicle Autonomous Flight

Table 3

The performance comparison of two YOLOv3 models under different environmental conditions.

Detection model	Partial occlusion (%)				Partial damaged (%)				Weak-light conditions (%)
	P	R	AP	F1	P	R	AP	F1	P	R	AP	F1
YOLOv3	65	49	37	56	70	44	36	54	73	55	44	63
YOLO-highway	71	57	49	63	72	58	50	64	86	74	73	80