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Experimental evaluation of the overall obstacle detection architecture.
| Category | GT | ND | NMD | NFD | PD | RD | FD |
|---|---|---|---|---|---|---|---|
| Vehicle | 431 | 411 | 20 | 29 | 0.93 | 0.95 | 0.94 |
| Bicycle | 120 | 107 | 13 | 22 | 0.82 | 0.89 | 0.85 |
| Pedestrian | 374 | 341 | 32 | 18 | 0.95 | 0.91 | 0.93 |
| Obstructions | 478 | 455 | 23 | 31 | 0.93 | 0.95 | 0.94 |
