“…Although the FPS of the improved YOLOv4 is not as good as that of YOLOv4-Tiny [ 42 ] and its model size is larger than that of YOLOv4-Tiny, its P, R, F1, and mAP are 6.66%, 9.25%, 8.5%, and 11.72% higher than those of YOLOv4-Tiny, respectively. Compared with Ghost-YOLOv4 [ 43 ], which replaces the YOLOv4 backbone with GhostNet, the improved YOLOv4 has 2.02%, 2.28%, 3.15%, and 6.64 pictures/s increments in the P, R, F1, mAP, and FPS, respectively, and a 1.72M decrement in model size. For faster R-CNN, CenterNet, SSD, and EffificientDet-D2 [ 29 ], the improved YOLOv4 is superior to them with regard to detection accuracy, speed, and model size.…”