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

Table 5

Performance comparison of SSD-RP with other object detection algorithms on the GTSDB dataset.

Detection algorithms	Backbone networks in algorithms	Detection time (ms)	mAP (%)
Faster R-CNN	ResNet50	98	97.9
RetinaNet	ResNet50	90	96.7
YOLOv3	DarkNet53	35	93.8
SSD	VGG16	19	93.2
SSD-RP	VGG16	26	95.4