A Multistep Framework for Vision Based Vehicle Detection

Table 2

Overall vehicle detection effects comparison.

Authors	TP rate	FP rate	Notes
Bergmiller et al. [24]	81.48%	16.7%	Monocular vision;
Alonso et al. [25]	92.63%	3.68%	Monocular vision;
Sun et al. [12]	98.5%	2%	Monocular vision; For their most effective classifier
Southall et al. [26]	99.37%	1.77%	Stereo vision; 16 HZ frame rate;
Our Framework	99.13%	0.78%	Monocular vision; 27 HZ frame rate;