A method includes: setting, in a main training network, an auxiliary training network having the same architecture as the main training network, performing data enhancement on an original image to obtain an enhanced image; inputting the original image into the main training network, inputting the enhanced image into the auxiliary training network; determining whether an intersection-over-union value of a second prediction frame generated by the auxiliary training network and a target frame is greater than an intersection-over-union value of a first prediction frame generated by the main training network and the target frame; and in response to the intersection-over-union value of the second prediction frame and the target frame being greater than the intersection-over-union value of the first prediction frame and the target frame, replacing the intersection-over-union value of the first prediction frame and the target frame with the intersection-over-union value of the second prediction frame and the target frame.