Table 4.

Experimental evaluation of the obstacle detection module using sensors networks.

Category	GT	ND	NMD	NFD	PD	RD	FD
Vehicle	431	338	93	55	0.86	0.78	0.82
Bicycle	120	87	33	36	0.71	0.72	0.72
Pedestrian	374	299	75	39	0.88	0.79	0.83
Obstructions	478	436	42	57	0.88	0.91	0.89