Real-Time Vehicle Detection Algorithm Based on Vision and Lidar Point Cloud Fusion

Table 2

(a) Result of the original YOLO v3

Benchmark	Easy	Moderate	Hard
Car (detection)	58.56%	43.38%	38.23%

(b) Result of the proposed method

Benchmark	Easy	Moderate	Hard
Car (detection)	70.58%	62.71%	55.17%