Research Article

FPGA-Based Real-Time Moving Target Detection System for Unmanned Aerial Vehicle Application

Table 5

Performance evaluation in terms of and for 1000 frames using different density in ego-motion estimation, , and frame differencing threshold, .


12 15 0.958 0.643
12 20 0.954 0.331
12 25 0.949 0.194
24 15 0.957 0.568
24 20 0.950 0.324
24 25 0.945 0.101
35 15 0.958 0.548
35 20 0.952 0.215
35 25 0.947 0.090
48 15 0.959 0.539
48 20 0.952 0.253
48 25 0.944 0.079
70 15 0.958 0.509
70 20 0.951 0.188
70 25 0.946 0.075
88 15 0.960 0.489
88 20 0.951 0.219
88 25 0.947 0.074
108 15 0.958 0.483
108 20 0.952 0.168
108 25 0.946 0.058
140 15 0.958 0.499
140 20 0.951 0.187
140 25 0.946 0.059
165 15 0.958 0.474
165 20 0.953 0.214
165 25 0.947 0.068
192 15 0.959 0.478
192 20 0.952 0.169
192 25 0.946 0.092