Table 3.

Precision, Recall and F1-score of each category in the GTSRB dataset.

Traffic sign label	Precision	Recall	F1-score
Speed limit 20 km/h	1.0	1.0	1.0
Speed limit 30 km/h	0.989	1.0	0.994
Speed limit 50 km/h	0.995	0.999	0.997
Speed limit 60 km/h	0.995	0.982	0.988
Speed limit 70 km/h	0.997	0.995	0.996
Speed limit 80 km/h	0.994	0.989	0.994
Speed limit 100 km/h	1.0	1.0	1.0
Speed limit 120 km/h	1.0	0.98	0.990
End of speed limit 80 km/h	1.0	0.990	0.995
No passing	0.998	1.0	0.999
Right-of-way at the next intersection	1.0	1.0	1.0
No passing for vehicles over 3.5 metric tons	1.0	1.0	1.0
Priority road	0.999	0.999	0.999
Yield	0.985	0.997	0.991
Stop	1.0	1.0	1.0
No vehicles	1.0	0.986	0.993
Vehicles over 3.5 metric tons prohibited	0.994	1.0	0.997
No entry	1.0	1.0	1.0
General caution	0.995	0.987	0.991
Dangerous curve to the left	0.996	1.0	0.998
Dangerous curve to the right	0.989	0.998	0.994
Double curve	0.989	1.0	0.994
Bumpy road	1.0	0.993	0.996
Slippery road	0.988	1.0	0.994
Road narrows on the right	1.0	1.0	1.0
Road work	0.99	0.99	0.99
Traffic signals	0.994	1.0	0.997
Pedestrians	1.0	1.0	1.0
Children crossing	0.994	1.0	0.997
Bicycles crossing	1.0	1.0	1.0
Beware of ice/snow	0.980	1.0	0.99
Wild animals crossing	0.993	1.0	0.996
End of all speed and passing limits	1.0	1.0	1.0
Turn right ahead	0.984	1.0	0.992
Turn left ahead	0.994	0.986	0.990
Ahead only	1.0	0.997	0.998
Go straight or right	0.999	0.999	0.999
Go straight or left	0.987	0.997	0.992
Keep right	0.997	0.980	0.989
Keep left	0.990	0.990	0.990
Roundabout mandatory	0.989	0.989	0.989
End of no passing	1.0	1.0	1.0
End of no passing by vehicles over 3.5 metric tons	1.0	1.0	1.0