Research Article
Localization of Outdoor Mobile Robots Using Curb Features in Urban Road Environments
Table 2
Classification results including confusion matrix.
| Instance | PCA | KFDA |
| Class correct | 4338 | 91.3% | 4683 | 98.6% | Class incorrect | 413 | 8.7% | 68 | 1.4% | Total | 4751 | 100% | 4751 | 100% |
| ā | Classified as | Classified as | ā | True curb | False curb | True curb | False curb |
| True curb | 3524 (97.1%) | 106 (2.9%) | 3566 (98.2%) | 64 (1.8%) | False curb | 307 (27.4%) | 814 (72.6%) | 4 (0.4%) | 1117 (99.6%) |
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