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

Table 2

Point-level evaluation at different ranges.

	Meter range		Meter range
	Proposed method	Reference model	Proposed model	Reference model
Precision	99.23%	96.27%	97.69	90.31%
Recall	73.13	82.08%	70.08	67.87
F1 score	84.23%	88.61%	81.61	77.50%