方法 | 汽车行人骑行者 | mAP | ||||||||
简单中等困难 | 简单中等困难 | 简单中等困难 | ||||||||
VoxelNet [3] | 89.35 | 79.26 | 77.39 | 46.13 | 40.74 | 38.11 | 66.70 | 54.76 | 50.55 | 58.25 |
Second [4] | 88.07 | 79.37 | 77.95 | 55.10 | 46.27 | 44.76 | 73.67 | 56.04 | 48.78 | 60.56 |
PointPillars [5] | 88.35 | 86.10 | 79.83 | 58.66 | 50.23 | 47.19 | 79.14 | 62.25 | 56.00 | 66.19 |
改进PointPillars | 89.85 | 87.19 | 83.66 | 58.62 | 53.46 | 48.73 | 82.86 | 65.90 | 62.45 | 68.85 |