Real-Time Object Detection for LiDAR Based on LS-R-YOLOv4 Neural Network

Figure 8

Comparison of car detection based on YOLO algorithms: (a) YOLOv2, (b) YOLOv3, (c) YOLOv4, and (d) proposed method LS-R-YOLOv4.

(a)

(b)

(c)

(d)