Multitarget Real-Time Tracking Algorithm for UAV IoT

Table 2

A comparison of model training time and detection performance.

Algorithm model	YOLOv3	YOLOv3-SPP	CenterNet-DLA34
Training time	12.5 h	9 h	8.5 h
mAP ()	0.988	0.993	0.958
Precision	0.971	0.982	0.961
Recall	0.962	0.973	0.942
Detection speed	69.5 FPS	69 FPS	23 FPS