A Block Object Detection Method Based on Feature Fusion Networks for Autonomous Vehicles

Table 1

Compare the performance of different SSD512 models tested on the KITTI dataset.

Structure	Type	KITTI test (mAP)	KITTI test (fps)
SSD512	No feature map fusion	75.6	42
DSSD512	Merging feature map including extract different scales	76.8	31
Our SSD512	Merging feature map before extract different scales	77.4	35