Table 3 Performance metrics of UNet 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

0.699

0.672

0.728

69.8

250

0.822

0.800

0.845

82.1

500

0.887

0.868

0.907

88.6

1000

0.9043

0.8698

0.9416

91.2

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