3D Object Detection Algorithm Based on the Reconstruction of Sparse Point Clouds in the Viewing Frustum

Table 2

3D object detection AP values of various algorithms in the BEV with the KITTI test set.

Method	Cars					Pedestrians					Cyclists
	Easy	Moderate			Hard	Easy	Moderate			Hard	Easy	Moderate			Hard
MV3D	86.02		76.90	68.49
VoxelNet	89.35		79.26	77.39		46.13		40.74	38.11		66.70		54.76	50.55
AVOD	88.53		83.79	77.90		58.75		51.05	47.54		68.09		57.48	50.77
F-PointNet	87.28		77.09	67.90		55.26		47.56	42.57		73.42		59.87	52.88
Ours	87.98		83.60	76.26		72.83		66.56	59.14		84.34		64.57	60.06