From: Out-of-distribution- and location-aware PointNets for real-time 3D road user detection without a GPU
Method | Dataset | Scans | Time (s) | Precision | Recall | Accuracy | IOU |
---|---|---|---|---|---|---|---|
HD [44] | SemKITTI | 23201 | 0.306 | 0.47 | 0.95 | – | 0.45 |
LF [44] | SemKITTI | 23201 | 0.658 | 0.38 | 0.77 | – | 0.34 |
GPF [44] | SemKITTI | 23201 | 31.71 | 0.67 | 0.63 | – | 0.45 |
GPF-Opti [44] | SemKITTI | 23201 | 0.207 | 0.66 | 0.59 | – | 0.43 |
GPF-RANSAC [44] | SemKITTI | 23201 | 0.028 | 0.65 | 0.88 | – | 0.74 |
Hybrid-reg [45] | KITTI | 5 | 0.888 | – | – | 0.88 | – |
CNN-method [46] | Custom | 252 | 0.139 | 0.93 | 0.99 | – | – |
CRF-method [47] | SemKITTI | 3040 | 0.147 | 0.80 | – | – | 0.78 |
GndNet [48] | SemKITTI | 3040 | 0.018* | 0.84 | 0.99 | – | 0.84 |
Ours | SemKITTI | 23201 | 0.016 | 0.89 | 0.93 | 0.93 | 0.83 |