Table 2.

Overall experimental results without other people.

Parameters	Exp. 1	Exp. 2	Exp. 3	Exp. 4	Exp. 5	Exp. 6	Exp. 7
Mission success rate (%)	O	O	O	O	O	O	x
Target’s travel distance (m)	32.931	27.401	28.906	28.005	30.94	28.819	0.00
Robot’s travel distance (m)	30.152	26.649	27.455	27.162	27.931	27.522	14.641
Robot’s travel time (s)	77.567	52.433	64.566	61.687	71.067	62.706	44.984
Robot’s average velocity (m/s)	0.39	0.51	0.43	0.44	0.39	0.44	0.33
# of frames	1699	1341	1537	1537	1913	1502	1153
Successfully tracked (frames)	1280	805	624	727	663	840	214
Lost track of the target (frames)	419	536	913	810	1250	662	939
Successfully tracked (s)	58.438	31.475	26.213	29.178	24.630	35.069	8.349
Lost track of the target (s)	19.129	20.958	38.353	32.509	46.437	27.637	36.635
Lost track of the target rate (%)	0.25	0.40	0.59	0.53	0.65	0.44	0.81
Successful tracking rate (%)	0.75	0.60	0.41	0.47	0.35	0.56	0.19
Computation time (fps)	21.90	25.58	23.81	24.92	26.92	23.95	25.63
Parameters	Exp. 8	Exp. 9	Exp. 10	Exp. 11	Total	Average	Std
Mission success rate (%)	O	O	O	O	90.91%	-	-
Target’s travel distance (m)	28.562	27.287	27.164	26.977	286.992	26.09	8.84
Robot’s travel distance (m)	27.435	26.492	26.345	26.214	287.998	26.18	3.98
Robot’s travel time (s)	71.974	59.975	51.331	55.327	673.617	61.24	9.84
Robot’s average velocity (m/s)	0.38	0.44	0.51	0.47	-	0.43	0.06
# of frames	1309	1333	1142	1096	15562	1414.73	251.87
Successfully tracked (frames)	1043	833	924	863	8816	801.45	266.45
Lost track of the target (frames)	266	500	218	233	6746	613.27	334.73
Successfully tracked (s)	57.348	37.479	41.532	43.565	393.276	35.75	14.51
Lost track of the target (s)	14.626	22.496	9.799	11.762	280.341	25.49	11.85
Lost track of the target rate (%)	0.20	0.38	0.19	0.21	-	0.42	0.21
Successful tracking rate (%)	0.80	0.62	0.81	0.79	-	0.58	0.21
Computation time (fps)	18.19	22.23	22.25	19.81	-	23.20	2.63

std: standard deviation, fps: Frame per Second.