Table 2.

Bird’s-eye projection results. Single plane projections use the maximum height, the corresponding intensity value, as well as the amount of points within each cell.

Planes	Single Plane	Multiple Planes
Input	[3 × 256 × 256]	[16 × 256 × 256]	[32 × 256 × 256]
ine mIoU (%)	27.1	38.1	40.7
Inference (ms)	15	19	25
ine Input	[3 × 400 × 400]	[16 × 400 × 400]	[32 × 400 × 400]
mIoU (%)	31.1	43.6	48.1
Inference (ms)	22	23	49
ine Input	[3 × 512 × 512]		[32 × 512 × 512]
mIoU (%)	34.3		50.2
Inference (ms)	33		114