Table 2.

Vehicle detection results of different algorithms using different datasets.

Algorithm	KITTI Dataset			MATLAB/Simulink Simulation Dataset
	TP	FP	FN	TP	FP	FN
PointNet++	536	78	83	483	37	42
VoxelNet	557	49	62	487	33	38
Our method	608	27	11	520	10	5