Table 4.

Footstep detection results.

Data Collection Strategy	Correct Detections	Detection Errors	Missed Detections	Precision	Recall	F1-Measure
Sneaker shoe	179	12	3	93.72%	98.35%	0.960
Leather shoe	186	18	1	91.18%	99.47%	0.951
Wood ground	184	12	1	93.88%	99.46%	0.966
Cement ground	181	18	3	90.95%	98.37%	0.945
Load 5 Kg-Yes	184	12	1	93.88%	99.46%	0.966
Load 5 Kg-No	181	18	3	90.95%	98.37%	0.945
Average	365	30	4	92.41%	98.92%	0.955