Table 3 CAMW safety strategy thresholds for the unstable environment,
Quality Indicator | Parameter | Symbol | Value | S1 | S2 | S3 | S4 |
|---|---|---|---|---|---|---|---|
ReID confidence | ReID distance (strict) | \(\:\varvec{\rho\:}\) | 0.35 | √ | √ | √ | |
ReID distance (moderate) | \(\:{\varvec{\rho\:}}^{\varvec{{\prime\:}}}\) | 0.50 | √ | ||||
Ambiguity margin (strict) | \(\:\varvec{\delta\:}\) | 0.10 | √ | √ | √ | ||
Ambiguity margin (moderate) | \(\:{\varvec{\delta\:}}^{\varvec{{\prime\:}}}\) | 0.05 | √ | ||||
Motion quality | Max IoU per track (strict) | \(\:\varvec{\mu\:}\) | 0.20 | √ | √ | ||
Max IoU per track (moderate) | \(\:{\varvec{\mu\:}}^{\varvec{{\prime\:}}}\) | 0.10 | √ | ||||
Spatial overlap | Pair IoU (strict) | \(\:\varvec{\sigma\:}\) | 0.15 | √ | |||
Pair IoU (moderate) | \(\:{\varvec{\sigma\:}}^{\varvec{{\prime\:}}}\) | 0.08 | √ | √ | √ | ||
Track length | Long-term | \(\:{\varvec{n}}_{\varvec{l}}\) | 8 frames | √‡ | √ | ||
Short-term | \(\:{\varvec{n}}_{\varvec{s}}\) | 3 frames | √‡ | √ | |||
Cost advantage | Large margin | \(\:{\varvec{\alpha\:}}_{\varvec{L}}\) | 0.05 | √ | √ | ||
Moderate margin | \(\:{\varvec{\alpha\:}}_{\varvec{M}}\) | 0.03 | √ | ||||
Small margin | \(\:{\varvec{\alpha\:}}_{\varvec{S}}\) | 0.01 | √ |
