Table 3 Ablation study result scores on the validation set

PointNet++ Reference

33.58

51.46

52.15

53.12

38.98

45.86

59.94

58.07

52.62

30.68

48.49

51.16

46.08

32.16

41.72

63.57

58.06

49.90

PointNet++ Normal DBSCAN

31.78

50.17

53.66

50.38

29.66

43.13

62.61

57.49

50.40

30.09

44.56

52.04

44.25

25.60

39.31

64.99

57.45

48.22

PointNet++ Normal Filter

28.70

50.66

52.46

52.32

44.60

45.75

59.66

54.43

53.36

25.67

42.81

49.13

42.79

35.03

39.09

65.24

54.15

48.90

LSTM Reference

22.19

48.41

61.32

63.07

66.98

52.39

52.67

55.29

59.61

21.63

45.95

61.29

56.58

60.03

49.10

54.69

54.95

58.15

LSTM OVO Ranking

22.91

41.72

61.94

65.55

57.65

49.95

53.66

54.21

58.74

22.86

40.51

61.94

63.71

54.62

48.73

55.29

54.21

57.45

DBSCAN/RandomForest

19.17

41.71

49.86

57.70

59.87

45.66

59.50

50.85

53.11

19.14

39.57

49.81

51.24

58.47

43.65

61.47

50.85

51.70

LSTM++ Reference

28.90

58.81

58.16

63.53

67.32

55.34

50.47

56.50

61.46

27.55

54.39

58.16

60.92

62.81

52.77

52.74

56.43

59.84

LSTM++ OVO Ranking

30.45

56.35

58.37

63.43

67.25

55.17

50.83

56.03

61.73

29.39

52.41

58.37

60.95

62.57

52.74

52.87

56.08

60.24

LSTM PointNet++ Clustering

25.77

50.68

42.87

40.81

58.81

43.79

62.55

49.27

50.19

25.49

44.18

41.81

34.48

53.43

39.88

65.36

49.41

47.93

YOLOv3 Reference

37.04

57.77

55.89

69.12

64.83

56.93

51.37

56.23

61.13

35.04

54.66

55.76

62.89

56.63

53.00

54.59

55.56

58.79

YOLOv3 No Scale

29.95

58.69

56.33

69.18

64.73

55.78

51.67

54.88

60.63

31.21

56.22

54.73

62.22

58.15

52.51

55.12

54.76

58.29

YOLOv3 No Blurr

38.00

58.25

54.46

67.73

63.16

56.32

52.37

55.44

61.16

35.97

55.51

53.46

61.56

56.49

52.60

55.57

55.27

58.85

YOLOv3 No Scale No Blurr

36.70

59.23

55.68

68.46

61.13

56.24

52.14

54.73

61.23

36.09

55.30

54.13

61.61

53.68

52.16

55.52

54.82

58.80

YOLOv3 Rotated Boxes

34.44

55.71

57.35

70.24

61.89

55.93

51.42

55.06

62.02

31.22

50.70

54.18

61.83

55.06

50.60

56.33

54.46

58.19

PointPillars Reference

14.82

27.94

40.50

57.80

54.87

39.19

67.10

48.69

44.90

14.33

26.25

39.05

51.35

50.63

36.32

69.43

48.69

42.91

PointPillars Rotated Boxes

11.15

22.52

38.81

54.16

53.68

36.06

70.26

48.43

40.50

5.29

21.73

38.39

50.36

51.93

33.54

71.03

48.67

39.68

PointPillars++

23.39

44.52

48.75

63.92

57.53

47.62

58.92

55.99

54.37

22.59

41.59

48.10

58.83

53.64

44.95

61.68

56.10

52.25