Research Article
Extracting Vehicle Trajectories Using Unmanned Aerial Vehicles in Congested Traffic Conditions
Table 5
Performance evaluation for obtaining aggregated traffic data.
| | Metric | Proposed Kalman Filter-Based Method (KF) | The Kanade-Lucas-Tomasi Tracker (KLT) | | VJ | SSD | ACF | Faster
R-CNN | VJ | SSD | ACF | Faster
R-CNN |
| Processing Time
(fps) | 2.0 | 3.3 | 1.0 | 1.7 | 1.3 | 1.8 | 0.8 | 1.2 |
| The Number of Lane Changes
(PE, %) | +8.3% | +4.2% | +4.2% | +8.3% | +12.5% | +4.2% | +8.3% | +4.2% |
| Space-Mean Speed
(MAPE, %) | 3.0% | 1.1% | 2.3 | 3.2% | 3.5% | 2.3% | 3.4% | 1.9 |
| Density
(MAPE, %) | 5.0% | 6.7% | 3.1 | 5.8% | 7.5% | 2.7% | 8.2% | 2.3 |
| Flow
(MAPE, %) | 6.1% | 6.8% | 3.2 | 7.1% | 7.1% | 2.8% | 8.2% | 2.2 |
| Spacing
(MAPE, %) | 7.4% | 4.8% | 5.1 | 6.1% | 10.1% | 6.0% | 11.1% | 5.7 |
| Average
(MAPE, %) | 5.4% | 4.9% | 3.4 | 5.6% | 7.1% | 3.5% | 7.7% | 3.0 |
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