Table 2. comparison of the experimental results in two datasets.
Datasets
Layers
Loss
Time(ms/step)
IoU
MS COCO
heads
1.1820
536
0.6563
4+
1.1020
696
all
0.6098
818
BDD Dataset
heads
1.1796
498
0.6833
4+
0.7375
661
all
0.4372
778