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