Table 2 Quantitative comparison results on the KITTI testing set.

Faster R-CNN¹²

89.1

92.8

91.9

Cascade R-CNN⁴⁸

88.5

91.9

91.2

RetinaNet²²

85.2

88.7

87.2

SSD²⁰

85.9

88.8

87.5

PP-YOLO³⁴

–

–

86.9

YOLO v3²⁹

89.2

90.9

90.8

YOLO v5³¹

89.7

93.5

92.9

YOLO v7³³

92.3

97.1

95.2

YOLOX⁴⁵

90.5

94.8

94.0

Our method

92.8

97.5

96.0