Combined Auxiliary Networks and Bird’s Eye View Method for Real-Time Multicategory Object Recognition

Figure 6

Recall-precision curves (trained by the KITTI dataset): (H, M, E) the hard, moderate, and easy modes separately; (a–c) the recall-precision curve for bounding box regression (IoU > 0.5), the recall-precision curve for bounding box regression (IoU > 0.7), and the recall-precision curve for category separately.

(a)

(b)

(c)