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All issues Volume 3 (2024) Security and Safety, 3 (2024) 2024002 Full HTML

Table 1.

Robustness test of baseline models on KITTI (AP and mAP)

YOLOv2 YOLOv4 SSD
Car Cyclist Pedestrian mAP (%) Car Cyclist Pedestrian mAP (%) Car Cyclist Pedestrian mAP (%)
White-box Clean 65.17 47.98 40.24 51.13 Clean 80.77 44.89 55.27 60.31 Clean 82.11 46.42 41.99 56.83
Dpatch 44.33 44.48 40.12 42.98 Dpatch 80.60 44.15 54.32 59.69 Dpatch 81.02 38.85 3.13 41.00
Contextual patch 58.04 43.20 39.15 46.80 Contextual patch 79.79 43.13 39.49 54.14 Contextual patch 82.76 46.80 9.87 46.48
Black-box Noise_snow 55.74 18.94 27.25 33.97 Noise_snow 63.70 19.41 27.31 36.81 Noise_snow 73.54 20.13 33.40 42.36
Noise_fog 56.86 36.27 30.56 41.23 Noise_fog 63.77 29.53 42.07 45.12 Noise_fog 58.36 14.19 20.82 31.12
Noise_frost 59.53 29.85 31.49 40.29 Noise_frost 67.55 28.75 37.35 44.55 Noise_frost 66.14 19.36 27.15 37.55
Noise_gaussian 59.02 29.49 32.71 40.41 Noise_gaussian 75.49 38.32 43.91 52.57 Noise_gaussian 71.95 24.00 35.30 43.75
Noise_shot 61.50 39.87 37.54 39.87 Noise_shot 79.29 43.93 51.03 58.08 Noise_shot 78.03 37.12 40.65 51.94
Noise_impulse 57.15 27.68 31.26 38.70 Noise_impulse 74.34 28.43 40.13 47.63 Noise_impulse 70.72 18.02 32.99 40.58
Average of b-box 58.30 30.35 31.80 39.08 Average of b-box 70.69 31.40 40.30 47.46 Average of b-box 69.79 22.14 31.72 41.22
Faster-RCNN MoCov1+Faster-RCNN MoCov2+Faster-RCNN
Car Cyclist Pedestrian mAP (%) Car Cyclist Pedestrian mAP (%) Car Cyclist Pedestrian mAP (%)
Clean 90.27 80.20 79.62 83.20 Clean 90.03 85.05 78.12 84.40 Clean 89.87 82.48 77.40 83.25
White-box Dpatch 73.66 80.78 77.63 77.36 Dpatch 90.01 84.76 78.19 84.32 Dpatch 90.10 81.05 77.86 83.00
Contextual patch 90.26 80.78 74.84 81.96 Contextual patch 90.06 84.05 78.51 84.21 Contextual patch 90.09 81.04 77.79 82.97
Black-box Noise_snow 70.50 32.50 34.34 45.78 Noise_snow 71.17 40.26 40.31 50.58 Noise_snow 69.89 36.62 34.23 46.92
Noise_fog 53.95 41.79 42.59 46.11 Noise_fog 71.11 44.32 43.74 53.06 Noise_fog 53.43 35.96 41.52 43.64
Noise_frost 80.17 52.83 52.52 61.84 Noise_frost 79.42 57.06 51.32 62.60 Noise_frost 71.32 52.41 50.69 58.14
Noise_gaussian 71.53 33.78 43.34 49.55 Noise_gaussian 71.24 36.58 50.68 52.83 Noise_gaussian 77.04 49.66 50.13 58.94
Noise_shot 89.59 66.01 60.81 72.14 Noise_shot 88.98 64.75 67.77 73.84 Noise_shot 89.10 65.79 67.45 74.11
Noise_impulse 62.77 20.66 39.74 41.06 Noise_impulse 53.80 24.54 40.21 39.52 Noise_impulse 62.60 28.31 40.78 43.90
Average of b-box 71.42 41.26 45.56 52.75 Average of b-box 72.62 44.59 49.01 55.40 Average of b-box 70.56 44.79 47.47 54.27

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