Embedded YOLO: A Real-Time Object Detector for Small Intelligent Trajectory Cars

Table 5

Results of comparison of light target detection models (edgeboard environment).

Model name	mAP	Parameters (M)	Latency (ms)	Size (MB)	FPS
YOLOv3-Tiny [18]	16.6%	8.86	12.89	33.7	77.6
YOLOv4-Tiny [17]	21.7%	6.06	10.92	23.0	91.5
Embedded YOLO	23.3%	3.53	6.4	7.9	155.1