Improved Object Proposals with Geometrical Features for Autonomous Driving

Table 1

Results on the hard validation sets for all three object classes. AUC is the abbreviation for Area Under the Curve, recall is the maxima recall the method can achieve, and is the number of proposals when the recall reaches 75%. Inf means the maxima recall cannot reach 75%.

Features		Cars			Cyclist			Pedestrian
		AUC	Recall (%)		AUC	Recall (%)		AUC	Recall (%)
Single features	AR	0.13	59	Inf	0.14	52	Inf	0.2	89	Inf
	SC	0.15	70	Inf	0.24	82	2209	0.29	89	1226
	DMD	0.17	73	Inf	0.27	78	3735	0.28	84	1337
	SD2	0.19	78	4426	0.27	74	Inf	0.31	85	1463
	D2R	0.25	90	1977	0.33	88	1616	0.34	88	986
Single features	D2R + DMD	0.39	92	682	0.43	89	832	0.46	90	307
	D2R + SD2	0.41	92	509	0.42	88	927	0.46	89	286
	D2R + DMD + AR	0.45	92	413	0.47	89	564	0.53	90	609
	D2R + SD2 + AR	0.46	92	352	0.47	89	536	0.54	89	667
	D2R + DMD + SD2 + AR	0.46	92	392	0.47	89	625	0.54	91	129
	All	0.45	92	423	0.44	89	568	0.52	91	234