Improving Faster R-CNN Framework for Fast Vehicle Detection

Table 5

Detection results of the proposed method and other methods on the KITTI test set.

Method	Average precision			Processing time (s)
	Easy (%)	Moderate (%)	Hard (%)
Faster R-CNN [2]	86.71	81.84	71.12	2
SSD [18]	77.71	64.06	56.17	0.06
MS-CNN [4]	90.03	89.02	76.11	0.4
YOLO [20]	47.69	35.74	29.65	0.03
YOLOv2 [19]	76.79	61.31	50.25	0.03
Proposed approach	89.20	87.86	74.72	0.15