Table 17.

Accuracy results classifying Fire Trucks, Buses, Ambulances, Police Cars, and Regular Cars using video stream data considering together the right, left, and front images.

Model	Fire Truck	Bus	Ambulance	Police Car	Regular Car
YOLOv3	0.86	0.86	0.85	0.83	0.81
PVIDNet (SRS)	0.98	0.97	0.96	0.96	0.95