Fig. 8

IOU example of a single ground truth pedestrian surrounded by noise. On the left, the three different ground truth definitions used for different trainings are illustrated: point-wise, an axis-aligned, and a rotated box. Notably, the box variants may include noise even in the ground truth. The evaluation for all methods is solely point-based. As an example, in the middle image a slightly rotated version of the ground truth box is used as a prediction with IOU=green/(green+blue+yellow)=5/13