An Obstacle Detection and Distance Measurement Method for Sloped Roads Based on VIDAR

Table 3

Obstacle detection results in sloped roads of YOLO v5s and the proposed method.

Detection method	Input value	TP	FP	TN	FN
YOLO v5s	9526	6716	2808	915	1214
Proposed method	9526	9124	402	530	485