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

Table 1

Evaluation indicators trained/tested by the KITTI dataset.

Category	AP (regression); IoU > 0.5			AP (regression); IoU > 0.7			AP (category)
Mode	Hard	Moderate	Easy	Hard	Moderate	Easy	Hard	Moderate	Easy
Car	95.7	96.8	96.6	92.2	94.1	94.3	99.1	99.2	99.1
Truck	88.5	90.4	92.7	54.5	59.7	68.3	82.5	85.9	89.6
Pedestrian	83.3	84.6	86.3	64.3	65.4	66.4	95.9	96.9	97.8
Cyclist	88.3	89.9	90.2	78.3	80.2	81.2	89.1	90.4	91.1
Total	93.2	94.1	94.2	85.5	87.0	87.1	97.4	97.8	98.2