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Academic year: 2017

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Figure 1: Example of a car within a complex urban scene, cor-rectly detected by our method (colored red)
Figure 2: 3D point cloud before filtering (a) and after filtering (b).Different colors correspond to different connected components
Figure 3: Illustration of keypoint representation. Point K is akeypoint, C the object center, M is the 3D point with minimal zcoordinate
Table 1: Comparison between (Golovinskiy et al., 2009) and theproposed method (denoted as ISM, including both modified SIsand the height weight) in terms of [P]recision and [R]ecall
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