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

Table 1

Vehicle movement counting evaluation.

	Total count	Eastbound	Westbound	Northbound	Southbound
LiDAR	1008	143	68	391	406
Video benchmark	1064	125	78	448	414
Error rate	5.26%	14.40%	12.82%	12.72%	1.93%
Accuracy	94.74%	85.60%	87.18%	87.28%	98.07%