YOLO-Highway: An Improved Highway Center Marking Detection Model for Unmanned Aerial Vehicle Autonomous Flight

Table 2

Performance comparison of different models.

Detection model	P (%)	R (%)	AP (%)	FPS (f/s)	F1 (%)
YOLOv3	78	75	79.84	20.22	76.47
Faster-RCNN	80	78	80.21	18.15	78.98
YOLOv3-CSP	81	78	80.43	22.20	79.47
YOLO-highway	85	81	82.79	25.71	82.95