Fast Traffic Sign Detection Approach Based on Lightweight Network and Multilayer Proposal Network

Table 4

Detection results of ablation experiments on GTSDB dataset.

Method	Detection mAP (%)	Inference time (s)
Faster R-CNN	91.17	0.81
Faster R-CNN+ESPNetv2 network	89.40	0.10
Faster R-CNN+improved RPN+VGG-16	92.20	0.68
Faster R-CNN+ESPNetv2 network+two improve RPNs	94.54	0.11
Faster R-CNN+ESPNetv2 network+two improved RPNs+deconvolution module with element-wise sum	96.90	0.16
Faster R-CNN+ESPNetv2 network+two improved RPNs+deconvolution module with element-wise product	97.02	0.18