| Model | Data and Performance | ||
| Training set | Mean average accuracy/% | Speed of detection/FPS | |
| Fast R-CNN Faster R-CNN VGG-16 Faster R-CNN ResNET YOLO SSD300 SSD500 YOLOv2 288 × 288 YOLOv2 352 × 352 YOLOv2 416 × 416 YOLOv2 480 × 480 YOLOv2 544 × 544 | VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 VOC 2007 + 2012 | 70.0 73.2 76.4 63.4 74.3 76.8 69.0 73.7 76.8 77.8 78.6 | 0.5 7 5 45 46 19 91 81 67 59 40 |