Table 2.

Evaluation results on KITTI dataset.

Method	Car	Pedestrian	Cyclist	mAP	Inference time (ms)
Gaussian YOLOv328	87.3	79.9	83.6	83.6	47
RefineDet29	92.7	78.5	83.6	81.9	72
SSD19	85.1	48.1	50.7	61.3	69
RFBNet30	86.4	61.6	71.7	73.4	51
SqueezeDet+32	85.5	73.7	82.0	80.4	31
MS-CNN31	87.4	80.4	86.3	84.7	246
YOLOv3+adaptive attention (ours)	91.2	75.0	81.3	84.5	51