A Vehicle Detection Model Based on 5G-V2X for Smart City Security Perception

Table 2

Comparison and improvement of the detection effect of each module.

Model	/%	/%	mAP/%
CenterNet [27]	87.8%	86.4%	87.2%
CenterNet	90.3%	87.3%	89.3%
CenterNet	93.9%	89.6%	91.8%
I-CenterNet	95.3%	92.7%	94.9%