## Method

TFCN [TFCN]
[Anonymous Submission]

Submitted on 11 Dec. 2019 08:18 by
[Anonymous Submission]

 Running time: 0.14 s Environment: GPU @ 2.5 Ghz (Python)

 Method Description: left color image only multi-scale stategy and loss Parameters: lr:1e-4 Latex Bibtex:

## Evaluation in Bird's Eye View

 Benchmark MaxF AP PRE REC FPR FNR UM_ROAD 94.52 % 93.30 % 94.94 % 94.10 % 2.28 % 5.90 % UMM_ROAD 95.74 % 95.33 % 95.54 % 95.94 % 4.92 % 4.06 % UU_ROAD 90.09 % 91.23 % 91.89 % 88.35 % 2.54 % 11.65 % URBAN_ROAD 93.99 % 93.52 % 94.39 % 93.60 % 3.06 % 6.40 %
This table as LaTeX

## Behavior Evaluation

 Benchmark PRE-20 F1-20 HR-20 PRE-30 F1-30 HR-30 PRE-40 F1-40 HR-40
This table as LaTeX

The following plots show precision/recall curves for the bird's eye view evaluation.

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## Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.

## Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.

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