Research on Navigation and Positioning of Electric Inspection Robot Based on Improved CNN Algorithm

Table 4

Comparison of model size and reasoning speed of different recognition networks.

Algorithm	Model size (MB)	Average error (%)	Embedded reasoning time (ms)
VGG	400	84.7	300
SCNN	157	91.2	160
HM-SCNN	158	92.2	120
BiseNet	55	91.8	110
HM-BiseNet	57	92.0	98
DCNN	45	90.9	90
HM-DCNN	47	94.7	78