Fig. 11
Detection angle and distance test for different models (A, B, C and D indicate the moment when the different detection models reach the detection angle stabilization threshold at the 10th, 12th, 13th and 14th seconds, i.e., the time nodes required for the models to complete the establishment of the stable detection capability, respectively); points E, F, G and H denote the point at which the detection distance of each model reaches the minimum error point under the scenarios where the number of occluders is 3, 4, 2, and 1, respectively)
