Roadside LiDAR Vehicle Detection and Tracking Using Range and Intensity Background Subtraction

Figure 11

Trained deep neural network on self-driving LiDAR and roadside LiDAR data. (a) PointPillars model on mobile LiDAR data; (b) PointPillars model on roadside LiDAR data with default confidence = 0.5; and (c) PointPillars model on roadside LiDAR data with confidence = 0.3; magenta: truck; green: car.

(a)

(b)

(c)