Object Detection on VEDAI
84.71mAP@0.5ESM-YOLO+
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ESM-YOLO+2026.03 | 84.71 | 93.64 | 88.76 | 85.66 | 86.65 | 74.8 | 91.39 | 71.57 | 85.2 | — | — | — | — | |
| OursParameters (M)=4.44, ΔParam (Method - Ours)(%)=0.002026.03 | 84.7 | — | — | — | — | — | — | — | — | — | — | — | 0 | |
| DLRMamba2026.03 | 84.7 | 91.5 | 81 | 82 | 91.9 | 78.2 | 80 | 91.9 | 81.3 | — | — | — | — | |
| ESM-YOLO+2026.03 | 84.7 | 93.6 | 88.8 | 85.7 | 86.7 | 74.8 | 91.4 | 71.6 | 85.2 | — | — | — | — | |
| PG-DRFNetParameters (M)=26.60, ΔParam (Method - Ours)(%)=+22.162026.03 | 84.06 | — | — | — | — | — | — | — | — | — | — | — | -0.64 | |
| ESM-YOLO2026.03 | 82.42 | 90.8 | 87.79 | 83.31 | 83.83 | 69.48 | 78.78 | 85.23 | 80.11 | — | — | — | — | |
| LGA-YOLOParameters (M)=10.83, ΔParam (Method - Ours)(%)=+6.392026.03 | 80.3 | — | — | — | — | — | — | — | — | — | — | — | -4.4 | |
| LGA-YOLO2026.03 | 80.3 | 89.4 | 85.9 | 74.1 | 83.4 | 59.9 | 86 | 62.4 | 83.2 | — | — | — | — | |
| C2DFF-NetParameters (M)=6.58, ΔParam (Method - Ours)(%)=+2.142026.03 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | -4.9 | |
| C2DFF-Net2026.03 | 79.8 | 91.8 | 85.9 | 87.2 | 74.4 | 58.7 | 78.6 | 62.2 | 91.3 | — | — | — | — | |
| CrossModalNetParameters (M)=92.80, ΔParam (Method - Ours)(%)=+88.362026.03 | 79.3 | — | — | — | — | — | — | — | — | — | — | — | -5.4 | |
| ACDF-YOLO2026.03 | 78.1 | 89.8 | 87.9 | 78.5 | 75.3 | 67.3 | 76.3 | 73.7 | 75.9 | — | — | — | — | |
| DKDNetParameters (M)=19.20, ΔParam (Method - Ours)(%)=+14.762026.03 | 77.9 | — | — | — | — | — | — | — | — | — | — | — | -6.8 | |
| MMFDet2026.03 | 77.9 | 88.3 | 78.5 | 81.6 | 59.8 | 63.5 | 86.2 | 76 | 88.3 | — | — | — | — | |
| DETRParameters (M)=72.36, ΔParam (Method - Ours)(%)=+67.922026.03 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | -7.4 | |
| MRN_liteParameters (M)=6.87, ΔParam (Method - Ours)(%)=+2.432026.03 | 76.7 | — | — | — | — | — | — | — | — | — | — | — | -8 | |
| MRN_lite2026.03 | 76.7 | 92.2 | 87.7 | 83.9 | 73.9 | 68.1 | 80.4 | 54.9 | 72.1 | — | — | — | — | |
| SuperYOLOModality=RGB+IR, Backbone=YOLOv5s2026.01 | 75.4 | 88.7 | 84.4 | 73.5 | 79.5 | 57.1 | 83.5 | 59.6 | 76.5 | 47.5 | 5.1 | — | — | |
| SuperYOLOParameters (M)=5.10, ΔParam (Method - Ours)(%)=+0.662026.03 | 75.1 | — | — | — | — | — | — | — | — | — | — | — | -9.6 | |
| SuperYOLO2026.03 | 75.1 | 91.1 | 85.7 | 79.3 | 70.2 | 57.3 | 80.4 | 60.2 | 76.5 | — | — | — | — | |
| SuperYOLO2026.03 | 75.09 | 91.13 | 85.66 | 79.3 | 70.18 | 57.33 | 80.41 | 60.24 | 76.5 | — | — | — | — | |
| DMMParameters (M)=87.97, ΔParam (Method - Ours)(%)=+83.532026.03 | 75 | — | — | — | — | — | — | — | — | — | — | — | -9.7 | |
| DMM2026.03 | 75 | 84.2 | 78.8 | 79 | 65.7 | 56.2 | 72.3 | 72.3 | 72.5 | — | — | — | — | |
| FFCA-YOLO2026.03 | 74.8 | 89.6 | 85.7 | 78.7 | 85.7 | 48.6 | 81.8 | 61.5 | 67 | — | — | — | — | |
| M2I2HA (YOLOv8s)Modality=RGB+IR, Backbone=YOLOv8s2026.01 | 73.5 | 88.2 | 73.5 | 76.9 | 75.5 | 56.1 | 73.5 | 68.6 | 75.5 | 43.6 | 1.31 | — | — | |
| L-FFCA-YOLO2026.03 | 73.3 | 91.3 | 85.5 | 72.8 | 79.7 | 47.3 | 79 | 56.1 | 73.9 | — | — | — | — | |
| COMOModality=RGB+IR, Backbone=YOLOv8s2026.01 | 71 | 87.8 | 73.6 | 62.6 | 73.3 | 49.6 | 76.9 | 50.7 | 93.7 | 44.2 | 0.93 | — | — | |
| MIR-YOLO2026.03 | 69.7 | 88.8 | 77.2 | 70.8 | 68.7 | 71 | 72.8 | 60.8 | 47.8 | — | — | — | — | |
| ICAFusionModality=RGB+IR, Backbone=YOLOv5s2026.01 | 63.9 | 81.1 | 67.9 | 68.4 | 61.9 | 47.2 | 75.3 | 43.8 | 65.6 | 38.2 | 3.46 | — | — | |
| CFTModality=RGB+IR, Backbone=YOLOv5s2026.01 | 63.6 | 87.1 | 75.7 | 66.9 | 55 | 49.9 | 60.3 | 40.9 | 73.2 | 35.4 | 0.52 | — | — | |
| YOLOv8-RGBModality=RGB, Backbone=YOLOv8s2026.01 | 63.3 | 83.8 | 68.8 | 66 | 67.5 | 53.4 | 53.9 | 49.9 | 62.7 | 37.5 | — | — | — | |
| YOLOv5x2026.03 | 62.65 | 84.33 | 72.95 | 70.09 | 61.15 | 49.94 | 67.35 | 38.71 | 56.65 | — | — | — | — | |
| YOLOv42026.03 | 62.55 | 85.46 | 72.84 | 72.38 | 62.82 | 48.94 | 68.99 | 34.28 | 54.66 | — | — | — | — | |
| YOLOv5l2026.03 | 62.16 | 82.83 | 72.32 | 69.92 | 63.94 | 48.48 | 63.07 | 40.12 | 56.46 | — | — | — | — | |
| YOLOv32026.03 | 61.26 | 84.57 | 72.68 | 67.13 | 61.96 | 43.04 | 65.24 | 37.1 | 58.29 | — | — | — | — | |
| YOLOv5m2026.03 | 60.69 | 82.53 | 72.32 | 68.41 | 59.25 | 46.2 | 66.23 | 33.51 | 57.11 | — | — | — | — | |
| YOLOv8-IRModality=IR, Backbone=YOLOv8s2026.01 | 59.4 | 83 | 66.9 | 70.5 | 70.9 | 38.6 | 46.3 | 38.4 | 60.6 | 36 | — | — | — | |
| YOLOv5s2026.03 | 56.79 | 80.81 | 68.48 | 69.06 | 54.71 | 46.79 | 64.29 | 24.25 | 45.96 | — | — | — | — | |
| AA-YOLOv7Number of Parameters (M)=37.52025.10 | — | — | — | — | — | — | — | — | — | 86.1 | — | 82 | — | |
| AA-YOLOv7tNumber of Parameters (M)=6.22025.10 | — | — | — | — | — | — | — | — | — | 87 | — | 83 | — | |
| AA-YOLOv9tNumber of Parameters (M)=1.52025.10 | — | — | — | — | — | — | — | — | — | 85.7 | — | 80.5 | — | |
| EFLNetNumber of Parameters (M)=38.32025.10 | — | — | — | — | — | — | — | — | — | 87.2 | — | 82.8 | — | |
| YOLOv7Number of Parameters (M)=37.32025.10 | — | — | — | — | — | — | — | — | — | 84.8 | — | 80.5 | — | |
| YOLOv7tNumber of Parameters (M)=6.02025.10 | — | — | — | — | — | — | — | — | — | 85.3 | — | 80.9 | — | |
| YOLOv9tNumber of Parameters (M)=1.42025.10 | — | — | — | — | — | — | — | — | — | 81.7 | — | 76.9 | — |