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Mainstream Algorithm Comparative Experiment Results
| Module | Params/106 | GFLOP/G | AP.5/% | FPS |
|---|---|---|---|---|
| YOLOv3 Tiny | 8.66 | 12.9 | 79.1 | 166.67 |
| YOLOv5s | 7.01 | 15.9 | 92.2 | 68.79 |
| YOLOv7 Tiny | 6.01 | 13.2 | 88.4 | 63.30 |
| YOLOv8s | 11.12 | 28.4 | 89.0 | 109.89 |
| ATD-YOLO | 5.23 | 11.0 | 92.8 | 75.35 |
Results of ablation experiments
| YOLOv5s | C3F | EMA | CARFE | Slim-Neck | Params/10 6 | GFLOP/G | mAP.5/% | FPS |
|---|---|---|---|---|---|---|---|---|
| √ | 7.01 | 15.8 | 92.2 | 68.79 | ||||
| √ | √ | 6.33 | 13.8 | 92.3 | 75.05 | |||
| √ | √ | √ | 6.38 | 14.1 | 92.7 | 69.83 | ||
| √ | √ | √ | √ | 6.40 | 14.1 | 93.1 | 67.85 | |
| √ | √ | √ | √ | √ | 5.23 | 11.0 | 92.8 | 75.35 |
Contrast experiment of attention module
| Module | mAP.5/% | GFLOP /G | Params/106 | FPS |
|---|---|---|---|---|
| SE[24] | 91.8 | 13.8 | 6.37 | 74.93 |
| ECA[25] | 92.2 | 13.8 | 6.34 | 74.37 |
| CBAM[26] | 92.3 | 13.8 | 6.37 | 72.63 |
| CA[27] | 91.2 | 13.8 | 6.36 | 72.87 |
| EMA | 92.7 | 14.1 | 6.38 | 69.83 |
Origin of the Dataset and Quantity of Images
| Dataset | Number of Images |
|---|---|
| Det-Fly | 3893 |
| Drone-vs-Bird | 3959 |
| Real World | 1525 |
| Multi-view drone tracking | 3447 |
| DUT anti-UAV | 3639 |
| Anti-UAV | 2767 |
Experimental Setup Configuration
| Name | Environment Configuration |
|---|---|
| System Environment | Ubuntu 22.04 |
| CPU | AMD Ryzen 9 5950X |
| GPU | RTX 4060 Ti 16GB |
| Deep Learning Framework | Pytorch 1.13.1 |
| IDE | CUDA 11.7 |