Table 1.

Overview of filtered data sets used for experiments.

Scene	Description	Clustered Frames	Total Points
1003	Oncoming bus and pedestrians	5	128
0239	Long truck, car, pedestrians	17	408
0400	Many cars at highway-like intersection	32	1084
0553	Crossing cars and turning bus	18	756
Total	Data clustered in experiments	72	2476