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Table 3 A comparison of several popular algorithms with our approach

From: Surrounding Objects Detection and Tracking for Autonomous Driving Using LiDAR and Radar Fusion

Model Layers Detection rate Tracking rate Time (ms)
Kalman filters 15 0.836 0.716 35
Extended Kalman filters 17 0.852 0.735 42
Our UKF approach 23 0.893 0.787 59