Table 2.

Dynamic vehicle detection results by the pose estimation based on coherent point drift (PE-CPD) method and the proposed pose estimation with convex-hull model (PE-CHM) method.

Datasets	Range	${\mathit{N}}_{\mathit{T}}$	PE-CPD Method					PE-CHM Method
			${\mathit{N}}_{\mathit{D}}$	${\mathit{N}}_{\mathit{F}}$	P	R	${\mathit{F}}_1$	${\mathit{N}}_{\mathit{D}}$	${\mathit{N}}_{\mathit{F}}$	P	R	${\mathit{F}}_1$
0018	<40 m	448	368	5	0.99	0.82	0.90	374	10	0.97	0.83	0.89
	>40 m	368	219	16	0.93	0.60	0.73	207	16	0.93	0.56	0.70
	Total	816	587	21	0.97	0.72	0.82	581	26	0.96	0.71	0.82
0056	<40 m	407	385	21	0.95	0.95	0.95	377	31	0.92	0.94	0.93
	>40 m	22	9	3	0.75	0.41	0.53	8	8	0.50	0.36	0.42
	Total	429	394	24	0.94	0.92	0.93	385	39	0.91	0.91	0.91
Overall	<40 m	855	753	26	0.97	0.88	0.92	751	41	0.95	0.88	0.91
	>40 m	390	228	19	0.92	0.58	0.72	215	24	0.90	0.55	0.68
	Total	1245	981	45	0.96	0.79	0.86	966	65	0.94	0.78	0.85