Improvement of Multiclass Classification of Pavement Objects Using Intensity and Range Images

Table 5

Comparison of computational costs for different classification approaches.

Computational costs	Baselines (intensity-only)	Baselines (intensity-range)	DACNN (intensity-only)	DACNN (intensity-range)
Number of parameters	51 M	51 M	61 M	63 M
Training time/epoch	67.1 s	82.6 s	175.6 s	247.5 s
Inference time/100 batches	4.2 s	4.3 s	8.7 s	10.2 s