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