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ResearchFormerly WizWand

Object Detection on BDD100K Day+Night

59.45mAPBaseline
35.63441.8174854.183Apr 20, 2026
Updated 6mo ago

Evaluation results

MethodLinks
BaselineBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.0459.45
MoEBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=972026.0458.75
BaselineBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.0458.43
BaselineBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.0458.42
EnsembleBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=1702026.0458.36
MoEBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.0458.12
MoEBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=802026.0458.11
BaselineBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.0458.01
MoEBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=962026.0457.6
Ensemble NMWBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=1572026.0457.52
EnsembleBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.0457.43
EnsembleBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=1782026.0457.12
Daytime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.0457.07
Daytime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.0456.61
Daytime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.0456.39
Daytime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.0456.11
BaselineBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.0455.91
MoEBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=942026.0455.85
BaselineBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.0455.65
EnsembleBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=982026.0455.07
MoEBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=932026.0454.66
Daytime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.0454.41
EnsembleBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=982026.0454.12
Daytime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.0452.71
Nighttime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.0452.27
Nighttime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.0451.11
BaselineBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.0451.04
Nighttime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.0450.73
MoEBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=762026.0450.16
Nighttime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.0449.83
EnsembleBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=732026.0448.82
Nighttime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.0448.8
Daytime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.0447.53
Nighttime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.0446.85
BaselineBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.0446.3
MoEBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=822026.0445.97
EnsembleBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=1862026.0444.9
Daytime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.0442.78
Nighttime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.0441.45
Nighttime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.0436.55