Table 8.

The estimated distances, speeds, and TTC from cameras and the UWB beacon from Trials 9 to 15.

	UWB Beacon Measurements			Ground Truth Data from Camera			Absolute Difference in Distance (m)	Absolute Difference in Speed (m/s)	Absolute Difference in TTC (s)
Trial	Moving Average Speed (m/s)	Distance (m)	TTC (s)	Moving Average Speed (m/s)	Distance (m)	TTC (s)
9	2.905	21.705	7.705	2.50	20	8.03	1.63	0.41	0.30
	3.050	15.775	5.215	3.06	15	4.94	0.67	0.01	0.31
	2.515	11.770	4.750	2.78	10	3.65	1.62	0.26	1.15
	2.310	5.640	2.465	2.78	5	1.91	0.34	0.47	0.67
10	3.320	20.745	6.530	2.22	20	9.03	0.67	1.10	2.47
	3.070	15.800	5.185	2.78	15	5.44	0.70	0.29	0.22
	2.815	11.660	4.145	2.78	10	3.65	1.51	0.04	0.54
	2.460	5.855	2.410	2.78	5	1.91	0.56	0.32	0.61
11	3.710	20.655	5.715	1.94	20	10.33	0.58	1.77	4.57
	3.045	15.805	5.260	3.06	15	4.94	0.70	0.01	0.35
	2.580	11.295	4.415	2.78	10	3.65	1.14	0.20	0.82
	2.435	5.965	2.490	2.78	5	1.91	0.67	0.34	0.69
12	4.980	21.075	4.320	2.50	20	8.03	1.00	2.48	3.68
	2.650	16.250	6.215	2.78	15	5.44	1.15	0.13	0.82
	3.510	10.735	3.140	2.78	10	3.65	0.58	0.73	0.46
	1.830	5.555	3.050	2.50	5	2.12	0.26	0.67	1.05
13	2.295	21.365	9.320	2.22	20	9.03	1.29	0.07	0.32
	2.445	15.670	6.420	2.50	15	6.04	0.57	0.06	0.42
	3.080	11.245	3.715	2.78	10	3.65	1.09	0.30	0.12
	2.245	6.085	2.715	2.78	5	1.91	0.79	0.53	0.92
14	2.855	20.975	7.370	2.22	20	9.03	0.90	0.63	1.63
	2.995	15.780	5.275	2.78	15	5.44	0.68	0.22	0.13
	2.695	10.940	4.120	2.78	10	3.65	0.79	0.08	0.52
	2.260	5.645	2.515	2.50	5	2.12	0.35	0.24	0.52
15	2.620	20.620	8.110	1.94	20	10.33	0.54	0.68	2.18
	3.100	15.155	5.155	2.78	15	5.44	0.05	0.32	0.25
	3.045	11.110	3.940	2.78	10	3.65	0.96	0.27	0.34
	2.200	5.515	2.510	2.50	5	2.12	0.22	0.30	0.51
The mean absolute differences							0.88	0.46	1.1