On NuScenes, camera-based 3D pedestrian detectors fail more on distant and occluded pedestrians, while LiDAR-based detectors fail more on stationary or non-moving pedestrians, with PointPillars showing the most distinct sensitivity pattern.
Toward ensuring safety for autonomous driv- ing perception: Standardization progress, research advances, and perspectives,
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Methodology for an Analysis of Influencing Factors on 3D Object Detection Performance
On NuScenes, camera-based 3D pedestrian detectors fail more on distant and occluded pedestrians, while LiDAR-based detectors fail more on stationary or non-moving pedestrians, with PointPillars showing the most distinct sensitivity pattern.