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

Table 1

Comparison between YOLO models and proposed method.

Method	Precision	Recall	F1-measure
YOLOv2	85.5%	55.2%	63.3%
YOLOv3	89.7%	50.2%	64.3%
YOLOv4	92.5%	78.2%	84.7%
LS-R-YOLOv4	97.7%	92.3%	95.2%