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Evaluation metrics for Medium (G2) compression KITTI point clouds converted with the Delaunay triangulation method and evaluated using the best YOLOv5m model obtained with Bilateral Filter-generated images.
| Class | Precision | Recall | mAP |
|---|---|---|---|
| Car | 0.714 | 0.682 | 0.738 |
| Pedestrian | 0.779 | 0.420 | 0.522 |
| Cyclist | 0.707 | 0.559 | 0.608 |
| Average | 0.733 | 0.554 | 0.623 |
