\begin{tabular}{c | c | c | c | c | c | c | c}
{\bf Method} & {\bf MaxF} & {\bf AP} & {\bf PRE} & {\bf REC} & {\bf FPR} & {\bf FNR} & {\bf Runtime}\\ \hline
YhY \cite{ERROR: Wrong syntax in BIBTEX file.} & 97.42 \% & 93.08 \% & 97.15 \% & 97.68 \% & 3.15 \% & 2.32 \% & 0.4 s / 1 core \\
StixelNet II \cite{DanLevi2017ICCV} & 96.22 \% & 91.24 \% & 95.13 \% & 97.33 \% & 5.48 \% & 2.67 \% & 1.2 s / 1 core \\
MultiNet \cite{DBLPjournalscorrTeichmannWZCU16} & 96.15 \% & 95.36 \% & 95.79 \% & 96.51 \% & 4.67 \% & 3.49 \% & 0.17 s / GPU \\
LoDNN \cite{CaltagironeEtAl2016} & 96.05 \% & 95.03 \% & 95.79 \% & 96.31 \% & 4.66 \% & 3.69 \% & 18 ms / GPU \\
Up-Conv-Poly \cite{Oliveira2016IROS} & 95.52 \% & 92.86 \% & 95.37 \% & 95.67 \% & 5.10 \% & 4.33 \% & 0.08 s / GPU \\
DEEP-DIG \cite{munozbulnesdeep2017} & 95.45 \% & 95.41 \% & 95.49 \% & 95.41 \% & 4.96 \% & 4.59 \% & 0.14 s / GPU \\
s-FCN-loc \cite{gao2017confembedding} & 95.01 \% & 91.86 \% & 95.81 \% & 94.23 \% & 4.53 \% & 5.77 \% & 0.4 s / GPU \\
DDN \cite{Mohan2014ARXIV} & 94.17 \% & 92.70 \% & 96.73 \% & 91.74 \% & 3.41 \% & 8.26 \% & 2 s / GPU \\
FCN-LC \cite{Mendes2016ICRA} & 94.09 \% & 90.26 \% & 94.05 \% & 94.13 \% & 6.55 \% & 5.87 \% & 0.03 s / \\
Up-Conv \cite{Oliveira2016IROS} & 93.89 \% & 92.62 \% & 94.57 \% & 93.22 \% & 5.89 \% & 6.78 \% & 0.05 s / GPU \\
HIM \cite{Munoz2010ECCV} & 93.55 \% & 90.38 \% & 94.18 \% & 92.92 \% & 6.31 \% & 7.08 \% & 7 s / >8 cores \\
LidarHisto \cite{7989159} & 93.32 \% & 93.19 \% & 95.39 \% & 91.34 \% & 4.85 \% & 8.66 \% & 0.1 s / 1 core \\
StixelNet \cite{Levi2015BMVC} & 93.26 \% & 87.15 \% & 90.63 \% & 96.06 \% & 10.92 \% & 3.94 \% & 1 s / GPU \\
FTP \cite{Laddha2016IV} & 92.98 \% & 92.89 \% & 91.84 \% & 94.15 \% & 9.20 \% & 5.85 \% & 0.28 s / GPU \\
HybridCRF \cite{XiaoHybridCRF} & 91.95 \% & 86.44 \% & 94.01 \% & 89.98 \% & 6.30 \% & 10.02 \% & 1.5 s / 1 core \\
PGM-ARS \cite{Passani15IV} & 91.76 \% & 84.80 \% & 88.05 \% & 95.80 \% & 14.30 \% & 4.20 \% & 0.05 s / i74700MQ \\
ProbBoost \cite{Vitor2014ICRAWORK} & 91.36 \% & 84.92 \% & 88.18 \% & 94.78 \% & 13.97 \% & 5.22 \% & 2.5 min / >8 cores \\
NNP \cite{Chen2015NIPS} & 91.34 \% & 88.65 \% & 91.07 \% & 91.60 \% & 9.87 \% & 8.40 \% & 5 s / 4 cores \\
SRF \cite{Xiao2016IJARS} & 90.77 \% & 92.44 \% & 89.35 \% & 92.23 \% & 12.08 \% & 7.77 \% & 0.2 s / 1 core \\
RES3D-Velo \cite{Shinzato2014IV} & 90.60 \% & 85.38 \% & 85.96 \% & 95.78 \% & 17.20 \% & 4.22 \% & 0.36 s / 1 core \\
CB \cite{Mendes2015ARXIV} & 90.55 \% & 85.40 \% & 92.75 \% & 88.45 \% & 7.60 \% & 11.55 \% & 2 s / 1 core \\
MAP \cite{Laddha2016IV} & 89.97 \% & 92.14 \% & 87.47 \% & 92.62 \% & 14.58 \% & 7.38 \% & 0.28s / \\
SPRAY \cite{Kuehnl2012ITSC} & 89.69 \% & 93.84 \% & 89.13 \% & 90.25 \% & 12.10 \% & 9.75 \% & 45 ms / \\
ARSL-AMI \cite{Passani2014ITSC} & 89.56 \% & 82.82 \% & 85.87 \% & 93.59 \% & 16.93 \% & 6.41 \% & 0.05 s / 4 cores \\
FusedCRF \cite{Xiao2015IV} & 89.51 \% & 83.53 \% & 86.64 \% & 92.58 \% & 15.69 \% & 7.42 \% & 2 s / 1 core \\
BM \cite{Wang2014IVWORK} & 89.41 \% & 80.61 \% & 83.43 \% & 96.30 \% & 21.02 \% & 3.70 \% & 2 s / 2 cores \\
HistonBoost \cite{GioIV14} & 88.73 \% & 81.57 \% & 84.49 \% & 93.42 \% & 18.85 \% & 6.58 \% & 2.5 min / >8 cores \\
geo+gpr+crf \cite{doi10.11771729881417717058} & 88.20 \% & 82.33 \% & 85.32 \% & 91.27 \% & 17.26 \% & 8.73 \% & 30 s / 1 core \\
GRES3D+VELO \cite{Shinzato2015} & 88.19 \% & 88.65 \% & 83.98 \% & 92.85 \% & 19.48 \% & 7.15 \% & 60 ms / 4 cores \\
SCRFFPFHGSP \cite{Gheorghe2015} & 87.96 \% & 83.16 \% & 90.01 \% & 86.01 \% & 10.50 \% & 13.99 \% & 5 s / 8 cores \\
GRES3D+SELAS \cite{Shinzato2015} & 87.57 \% & 90.52 \% & 85.92 \% & 89.28 \% & 16.08 \% & 10.72 \% & 110 ms / 4 core \\
CN \cite{Alvarez2012ECCV} & 86.21 \% & 84.40 \% & 82.85 \% & 89.86 \% & 20.45 \% & 10.14 \% & 2 s / 1 core \\
RES3D-Stereo \cite{Shinzato2014ITSC} & 83.62 \% & 85.74 \% & 79.81 \% & 87.81 \% & 24.42 \% & 12.19 \% & 0.7 s / 1 core \\
SPlane \cite{Einecke2014IV} & 82.28 \% & 82.83 \% & 76.85 \% & 88.53 \% & 29.32 \% & 11.47 \% & 2 s / 1 core \\
SPlane + BL \cite{Einecke2014IV} & 82.04 \% & 85.56 \% & 75.11 \% & 90.39 \% & 32.93 \% & 9.61 \% & 2 s / 1 core \\
ANN \cite{Vitor2013IV} & 80.95 \% & 68.36 \% & 69.95 \% & 96.05 \% & 45.35 \% & 3.95 \% & 3 s / 1 core \\
VAP \cite{ERROR: Wrong syntax in BIBTEX file.} & 71.83 \% & 60.64 \% & 62.48 \% & 84.48 \% & 55.76 \% & 15.52 \% & 1 s / 1 core
\end{tabular}