Model

Parameters/M

mAP@0.5

mAP@0.95

FPS/S

YOLOv7

114.5

0.933

0.928

102

YOLOv7 + TIP

125.9

0.979

0.966

84

YOLOv7 + Map

107.6

0.968

0.974

99

YOLOv7 + TIP + Map

71.7

0.993

0.985

93