Table 7.

Outputs of the Neuro-Fuzzy systems for real data when the vehicle is passing the entrance of a building as it is seen in Figure 11a.

S1	S2	S3	S4	Id	Neuro-Fuzzy for corner shape environment feature	Neuro-Fuzzy for wall environment feature
2,370.1	2,187.7	1,995.2	1,818.7	220	5.148	1.1051
2,187.7	1,995.2	1,818.7	1,628.5	220	4.6825	0.9418
1,995.2	1,818.7	1,628.5	1,453.3	220	3.1802	0.95318
1,818.7	1,628.5	1,453.3	1,453.3	220	1.0401	0.57518
1,628.5	1,453.3	1,453.3	1,148.3	220	1.2071	1.2076
1,453.3	1,453.3	1,148.3	988.53	220	0.92475	0.61625
1,453.3	1,148.3	988.53	845.26	220	0.81248	0.74335
1,148.3	988.53	845.26	751.71	220	0.21002	1.7613
988.53	845.26	751.71	1,883.1	220	-4.1442	-1.7194