Improved Object Proposals with Geometrical Features for Autonomous Driving

Figure 4

Features combination results: The first row is the recall versus IOU curve on 500 proposals while the second row is curve of the recall versus the number of proposals on different IOU threshold. For Car the IOU threshold is 0.7, and it is 0.5 for Cyclist and Pedestrian.

(a) Car

(b) Cyclist

(c) Pedestrian