Table 16.

Accuracy results of the DL algorithms classifying the images of Fire Trucks, Buses, Ambulances, Police Cars, and Regular Cars in the testing phase considering together the right, left, and front images.

Model	Fire Truck	Bus	Ambulance	Police Car	Regular Car
YOLOv3	0.89	0.87	0.87	0.84	0.84
PVIDNet (Softmax)	0.92	0.92	0.89	0.86	0.86
PVIDNet (Relu)	0.94	0.92	0.91	0.88	0.87
PVIDNet (SRS)	0.97	0.97	0.96	0.95	0.95