Table 2.

Parking slot detection performance of different methods in the ps2.0 test set.

Method	Precision rate	Recall rate	Running time
			(ms)
PSD_L (Zhang et al., 2018)	98.55%	86.64%	40
DeepPS (Zhang et al., 2018)	99.54%	98.89%	17
DMPR-PS (Huang et al., 2019)	99.42%	99.37%	12
Ours	99.68%	99.41%	13

Bolded values stand for best results.