Table 2 Difficulty division of KITTI dataset
From: Deep Learning Based Data Fusion for Sensor Fault Diagnosis and Tolerance in Autonomous Vehicles
Difficulty level | Minimum box height | Maximum occlusion | Maximum truncation |
|---|---|---|---|
Easy | 40 pixels | Fully visible | 15% |
Moderate | 25 pixels | Partial occlusion | 30% |
Hard | 25 pixels | Hard to identify | 50% |