Table 4 Performance metrics of VGG16 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 (%)

500

0.71

0.75

0.67

66.36

1000

0.77

0.80

0.74

73.22

1500

0.80

0.83

0.77

76.14

2000

0.81

0.84

0.78

78.87

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