Improved Object Proposals with Geometrical Features for Autonomous Driving

Figure 2

Statistic of four object features. For each object class, Car, Cyclist, and Pedestrian, from top to down the features are AR, DMD, SD2, and D2R. We could normalize them to zero mean and unit variance (mean subtraction and division by the standard deviation).

(a) Car

(b) Cyclist

(c) Pedestrian