| Method | Image size | mAP/% | Single sheet detection speed |
| Yolov3 [18] | 640 × 640 | 62.58 | 32 ms |
| Yolov4 [10] | 640 × 640 | 61.91 | 42 ms |
| Yolov4-tiny [19] | 640 × 640 | 59.14 | 15 ms |
| Yolo5s [20] | 640 × 640 | 61.5 | 14 ms |
| Faster R-CNN [12] | 640 × 640 | 63.4 | 30 ms |
| EfficentDet-D0 [9] | 640 × 640 | 62.4 | 39 ms |
| CenterNet [21] | 640 × 640 | 50.13 | 19 ms |
| Yolov7 [15] | 640 × 640 | 67.6 | 14.6 ms |
| Yolov7-CN-B | 640 × 640 | 69.7 | 11.9 ms |