Table 2.

Percentage of true positives and false positives regarding detected obstacles.

Algorithm	One Obstacle		Two Obstacles		Three Obstacles
	TP	FP	TP	FP	TP	FP
PINV-R	$84.0\%$	$6.83\%$	$81.3\%$	$7.97\%$	$83.3\%$	$30.00\%$
TIKH-R	$80.0\%$	$7.17\%$	$79.2\%$	$6.34\%$	$76.7\%$	$24.55\%$
OMP-R	$84.0\%$	$4.50\%$	$75.0\%$	$2.90\%$	$53.3\%$	$4.55\%$
PINV-C	$100\%$	$0.00\%$	$91.7\%$	$0.00\%$	$86.7\%$	$0.00\%$
TIKH-C	$100\%$	$0.00\%$	$91.7\%$	$0.00\%$	$86.7\%$	$0.00\%$
OMP-C	$100\%$	$0.00\%$	$91.7\%$	$0.00\%$	$86.7\%$	$0.00\%$