Table 3.

Recall of each object-region proposal method. # of Bbox denotes the number of bounding box in the KITTI data. The bold numbers in the recall column represent the highest recall except for the sliding window (because the sliding window always contains 100%). The bold component in # of Bbox represent the smallest number among the entire methods.

Method	Recall $(\%)$			# of Bbox
	Cars	Pedestrians	Cyclists
Sliding window	100	100	100	${10}^8\times n$
CIOP	64.4	59.8	59.9	${10}^3\times n$
${\mathrm{objectness}}_{1000}$	66.9	60.4	60.1	${10}^2\times n$
Selective search	70.4	66.8	68.7	${10}^6\times n$
CPMC	71.7	67.4	68.6	${10}^3\times n$
MCG	76.6	78.9	74.8	${10}^4\times n$
EdgeBox	85.2	84.3	82.5	${10}^4\times n$
Ours (CCD)	88.4	85.4	84.8	${10}^3\times n$
Ours (LiDAR)	71.8	63.3	64.2	70
Ours	90.8	88.7	86.5	500