Comparison of KITTI Method MR (Reasonable) MR (Reasonable_small) MR (Reasonable_occ=heavy) MR (All) OR-CNN 11.32% 14.19% 51.43% 40.19% Repultion Loss 11.48% 15.67% 52.59% 39.17% Adapted FasterRCNN 12.97% 37.24% 50.47% 43.86%