Table 7.
Comparison results for detection methods on the KITTI dataset.
| Methods | Car | Pedestrian | Cyclist | Time (ms) |
||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Easy (%) | Moderate (%) | Hard (%) | Easy (%) | Moderate (%) | Hard (%) | Easy (%) | Moderate (%) | Hard (%) | ||
| Regionlets [49] | 84.75 | 76.45 | 59.70 | 73.14 | 61.15 | 55.21 | 70.41 | 58.72 | 51.83 | - |
| Faster R-CNN [10] | 87.97 | 79.11 | 70.62 | 78.97 | 65.24 | 60.09 | 71.40 | 61.86 | 53.97 | 142 |
| Mono3D [50] | 84.52 | 89.37 | 79.15 | 80.30 | 67.29 | 62.23 | 77.19 | 65.15 | 57.88 | - |
| MS-CNN [51] | 93.87 | 88.68 | 76.11 | 85.71 | 74.89 | 68.99 | 84.88 | 75.30 | 65.27 | - |
| SSD [52] | 87.34 | 87.74 | 77.27 | 50.38 | 48.41 | 43.46 | 48.25 | 52.31 | 52.13 | 30 |
| ASSD [53] | 89.28 | 89.95 | 82.11 | 69.07 | 62.49 | 60.18 | 75.23 | 76.16 | 72.83 | 30 |
| RFBNet [54] | 87.31 | 87.27 | 84.44 | 66.16 | 61.77 | 58.04 | 74.89 | 72.05 | 71.01 | 23 |
| Ours. | 90.48 | 88.03 | 81.25 | 83.32 | 79.35 | 75.67 | 85.04 | 82.33 | 77.76 | 22 |