Model training. Here is the information on experimental environment: Window10, Intel(R) Core(TM) i7-8700 CPU @3.20GHZ processor, RAM 16G, graphics card NVIDIA GTX1060, Python3.7. Model parameters are set as follows. Input image size is 416 × 416. The batch is set to 4, and the label smoothing is set to 0.05. The breakpoint continuation training method is adopted. One breakpoint is set every 350 times, four breakpoints are set, 350 weight files are generated after 350 times of training, and the best weight file is manually selected as the initial weight of the next breakpoint. The total number of training times is 1400 times. During the test, the confidence is set to 0.4, and IOU is set to 0.4.
Evaluation metrics. In this paper, we mainly evaluate the effectiveness of model training in terms of detection accuracy and efficiency. The evaluation metric used is the mean Average Precision (mAP), the average detection accuracy AP of all categories, and the number of image frames per second FPS detected by the algorithm.