. 2017 Jan 22;17(1):207. doi: 10.3390/s17010207

Table 4.

Comparison of the proposed method with design-varied models. The best scores are boldfaced.

Model	Cars			Pedestrians			Cyclists
Model	Easy	Moderate	Hard	Easy	Moderate	Hard	Easy	Moderate	Hard
$m o d e l_{1}$	90.98	88.64	79.88	82.84	69.55	66.42	82.12	71.48	64.55
$m o d e l_{2}$	90.7	83.67	79.78	80.54	68.07	65.23	80.86	68.59	63.54
$m o d e l_{3}$	91.34	85.28	77.42	81.71	68.54	61.19	78.21	68.77	63.77
$m o d e l_{4}$	85.88	87.74	79.01	79.59	68.45	62.66	82.65	65.12	61.38
$m o d e l_{5}$	91.39	87.78	75.7	75.25	66.35	61.27	76.24	66.93	63.39
$m o d e l_{6}$	89.42	82.94	77.1	80.94	67.93	61.58	79.07	66.67	63.27
$m o d e l_{7}$	85.68	87.82	79.57	81.53	65.02	65.94	78.67	67.89	60.81
$m o d e l_{8}$	87.43	84.44	75.42	73.2	65.28	64.55	77.51	66.74	60.15
$m o d e l_{9}$	86.29	81.26	73.52	72.86	63.04	60.31	74.69	61.30	56.16
$m o d e l_{10}$	74.87	80.98	75.85	77.57	60.61	62.79	70.12	62.49	59.21
$m o d e l_{11}$	77.00	82.37	75.50	77.54	60.43	56.30	73.37	64.23	56.84
$m o d e l_{12}$	88.59	83.08	77.30	79.17	64.54	64.34	75.69	66.35	59.58
$m o d e l_{13}$	88.84	84.77	73.81	77.92	68.81	59.33	72.60	67.32	57.21
$m o d e l_{14}$	70.32	67.97	59.62	64.96	59.29	37.28	63.45	58.34	30.22
$m o d e l_{15}$	84.25	81.66	74.48	69.49	67.81	62.14	70.81	68.11	60.25
$m o d e l_{16}$	83.48	82.71	70.55	78.34	68.97	60.38	72.84	68.42	61.01
$m o d e l_{17}$	93.04	88.64	79.1	81.78	67.47	64.7	78.39	68.94	61.37
$o u r s$	94.88	89.34	81.42	83.71	70.84	68.67	83.95	72.98	66.47