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