方法	汽车行人骑行者									mAP
方法	简单中等困难			简单中等困难			简单中等困难			mAP
VoxelNet [3]	77.47	65.11	57.73	39.48	33.69	31.50	61.22	48.36	44.37	49.05
Second [4]	83.13	73.66	66.20	51.07	42.56	37.29	70.51	53.85	46.90	56.69
PointPillars [5]	79.05	74.99	68.30	52.08	43.53	41.49	75.48	59.07	52.92	59.20
改进PointPillars	85.59	75.97	71.99	53.50	47.15	43.23	80.71	63.11	60.14	62.07