Table 4. Results on KITTI, using models trained on Cityscapes (from Cityscapes to KITTI) (%).

Method	Person	Rider	Car	Truck	Train	Mean AP
Faster R-CNN(baseline)	47.87	22.0	75.2	12.4	12.6	34.0
DA Model [9]	40.9	16.1	70.3	23.6	21.2	34.4
SLNO-S(ours)	52.9	24.2	72.6	29.2	25.5	40.9
SLNO(λ = 0.17)(ours)	53.1	24.3	73.1	29.5	25.9	41.2