Average results of two approaches with two different ranges in highway and urban scenarios
| DST-based fusion (%) | Baseline (%) | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| GT | FPR | FNR | FPR | FNR | |||||||
| Scenario | Frame no. | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m |
| Highway 1 | 25 | 163 | 127 | 4.91 | 7.87 | 1.23 | 3.15 | 6.75 | 17.3 | 0.61 | 3.94 |
| Highway 2 | 25 | 156 | 115 | 4.49 | 9.57 | 1.28 | 0.87 | 5.77 | 20.9 | 0.64 | 0.87 |
| Urban road | 20 | 131 | 85 | 6.87 | 15.3 | 4.58 | 5.34 | 13.7 | 21.4 | 3.82 | 5.34 |
| DST-based fusion (%) | Baseline (%) | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| GT | FPR | FNR | FPR | FNR | |||||||
| Scenario | Frame no. | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m | <40m | 40-80m |
| 25 | 163 | 127 | 4.91 | 7.87 | 1.23 | 3.15 | 6.75 | 17.3 | 0.61 | 3.94 | |
| 25 | 156 | 115 | 4.49 | 9.57 | 1.28 | 0.87 | 5.77 | 20.9 | 0.64 | 0.87 | |
| 20 | 131 | 85 | 6.87 | 15.3 | 4.58 | 5.34 | 13.7 | 21.4 | 3.82 | 5.34 | |
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