| Model | Real-time Detection Result | Grade | ||||
| mAP | FPS | T1 | T2 | T3 | ||
| YOLOv3 | 4 | 1 | 4 | 3 | 2 | 2.0 |
| YOLOv3-tiny | 1 | 5 | 5 | 5 | 3 | 3.8 |
| YOLOv4 | 5 | 1 | 3 | 1 | 1 | 1.5 |
| YOLOv4-tiny | 2 | 5 | 5 | 5 | 5 | 4.2 |