Table 3.
The performance comparison statistics of algorithms on the basis of the KITTI dataset.
| Sequence Number | Method | Easy | Moderate | Hard | mAP (%) | Average Processing Time (ms)/Frame | System Environment |
|---|---|---|---|---|---|---|---|
| 1 | Pointpillars [40] | 88.35 | 86.10 | 79.83 | 84.76 | 16 | Intel i7 CPU and 1080Ti GPU |
| 2 | MS-CNN [41] | 90.03 | 89.02 | 76.11 | 85.05 | 400 | Intel Xeon E5-2630 CPU@2.40 GHz; NVIDIA Titan GPU |
| 3 | HybridNet [42] | 88.68 | 87.91 | 79.07 | 85.22 | 45 | NVIDIA GTX 1080Ti GPU |
| 4 | Original SSD | 90.67 | 89.56 | 82.39 | 87.54 | 28 | Intel(R) Core(TM) i7-7700 CPU@3.60GHz; NVIDIA GeForce GTX 1080Ti GPU |
| Ours | Improved SSD | 95.76 | 94.55 | 86.23 | 92.18 | 15 | Intel(R) Core(TM) i7-7700 CPU@3.60GHz; NVIDIA GeForce GTX 1080Ti GPU |