Table 1 Performance values of each dataset.
Testing data | No. of frames | Selected frames (interesting scenes) | Object & scenes category | Precision | Recall | F1-measure |
|---|---|---|---|---|---|---|
817-UGV0-Tunnel0 | 3312 | 2444 | Objects | 80.14 | 78.23 | 80.12 |
817-UGV0-Tunnel1 | 5023 | 3245 | Humans | 79.23 | 80.14 | 78.45 |
818-UGV0-Tunnel1 | 4845 | 2364 | objects | 80.00 | 78.14 | 79.63 |
820-UGV0-Tunnel1 | 8145 | 5478 | Outdoor | 80.45 | 80.17 | 81.12 |
821-UGV0-Tunnel1 | 5255 | 3124 | Outdoor | 81.47 | 80.17 | 81.23 |
