Table 1: Class prediction for pairs of curb candidates.

CandidatesMahalanobis distanceClass prediction
Curb classNoncurb class

(R1, L1)0.0005163.4922True Curb
(R1, L2)1.9779202.5195True Curb
(R2, L1)105.63074.1180False Curb
(R2, L2)110.24973.2296False Curb