Table 3.

Complex-YOLO architecture performance evaluated in raw and decompressed point clouds.

Class	Precision				Recall				F1-Score				IoU
	Raw	G1	G2	G3	Raw	G1	G2	G3	Raw	G1	G2	G3	Raw	G1	G2	G3
Car	0.97	0.98	0.88	0.65	0.98	0.97	0.91	0.68	0.95	0.82	0.81	0.71	-	-	-	-
Pedestrian	0.77	0.56	0.36	0.10	0.92	0.78	0.51	0.15	0.75	0.51	0.47	0.23	-	-	-	-
Cyclist	0.91	0.53	0.42	0.26	0.95	0.66	0.52	0.35	0.88	0.51	0.47	0.38	-	-	-	-
Average	0.88	0.68	0.55	0.34	0.95	0.81	0.65	0.39	0.86	0.61	0.59	0.44	0.7621	0.6634	0.6317	0.5497