Table 5 Performance metrics of DeepLabv3+, UNet, and VGG16.

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

Models

F1 score

Precision

Recall

Accuracy (%)

DeepLabv3+

0.98

0.9626

1.0

97.26

UNet

0.9043

0.8698

0.9416

91.2

VGG16

0.81

0.84

0.78

78.87

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