An Obstacle Detection and Distance Measurement Method for Sloped Roads Based on VIDAR

Table 5

Evaluation indices of YOLO v5s and the proposed method.

Detection method	A (%)
Fast R-CNN	76.53
SSD	71.28
Fast YOLO	78.95
SSD 300	73.96
YOLO v5s	81.73
Proposed method	90.36