Table 2 Performance metrics of DeepLabv3+ model.

From: Cascade drive: a unified deep learning framework for multi-featured detection and control in autonomous electric vehicles on unstructured roadways

Number of samples

F1 score

Precision

Recall

Accuracy (%)

100

0.845

0.825

0.866

84.7

250

0.911

0.893

0.929

91.2

500

0.949

0.935

0.963

94.9

1000

0.98

0.9626

1.0

97.26

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