Traffic Sign Detection Based on SSD Combined with Receptive Field Module and Path Aggregation Network

Table 1

Results of RFM ablation experiments.

	Con3_3	Conv4_3	Conv7	Conv8_2	Detection time (ms)	mAP (%)
RFM-embed	√				16	91.2
RFM-bypass	√				15	91.8
	√	√			17	91.7
	√	√	√		18	92.0
	√	√	√	√	20	92.5