Large-Truck Safety Warning System Based on Lightweight SSD Model

Table 1

The model test results with different feature layers.

Feature extraction layer	Fps (frames/s)	mAP (%)
conv3_3	19	58.9
conv4_3	19	59.3
conv5_3	19	58.2
conv3_3 + conv4_3	19	59.6
conv4_3 + conv5_3	19	58.7
conv3_3 + conv4_3 + conv5_3	17	59.1
Atrous conv3_3 + conv4_3	17	64.7