Research Article
Research on 3D Point Cloud Object Detection Algorithm for Autonomous Driving
Table 4
The detection result diagram of the network model.
| Feature | Pedestrian | Runtime (s) | Easy | Moderate | Hard |
| Voxel feature only | 70.87% | 58.50% | 50.13% | 0.04 | +Raw point cloud feature | +1.91% | +1.37% | +0.22% | 0.02 | +BEV feature | +2.82% | +3.73% | +2.75% | 0.00 | +RGB feature | +4.07% | +3.29% | +3.26% | 0.04 | Full model | 79.67% | 66.89% | 56.36% | 0.10 |
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