## Method

Combination of 2D and 3D Features [st] [Feature++]

Submitted on 30 Jul. 2016 16:18 by
wenli he (xiamen university)

 Running time: 13 s Environment: 4 core @ 2.5 Ghz (Matlab + C/C++)

 Method Description: Combination of 2D and 3D Features. Features consist of RGB、Gabor、GKDES、Pos3D and Plane. Parameters: superpixels=1000 Latex Bibtex:

## Evaluation in Bird's Eye View

 Benchmark MaxF AP PRE REC FPR FNR UM_ROAD 90.43 % 88.83 % 89.63 % 91.26 % 4.81 % 8.74 % UMM_ROAD 93.55 % 92.34 % 92.77 % 94.34 % 8.08 % 5.66 % UU_ROAD 87.40 % 85.48 % 86.19 % 88.64 % 4.63 % 11.36 % URBAN_ROAD 91.12 % 89.51 % 90.16 % 92.10 % 5.54 % 7.90 %
This table as LaTeX

## Behavior Evaluation

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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