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

Table 6

Comparison results of lightweight models (GPU3090 environment).

	YOLOv3 [14]	YOLOv3-Tiny [18]	YOLOv4 [15]	YOLOv4-Tiny [17]	Ours
FPS	30.32	40.62	24.9	49.06	86.29