Robust Range Estimation with a Monocular Camera for Vision-Based Forward Collision Warning System

Table 1

Average (μ) and standard deviation (σ) of range error for highway traffic video clips.

Test video clip	Reference horizon		Fixed horizon		Size		Proposed
	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎	𝜇	𝜎
Stopped target vehicle	5.3%	3.6%	5.8%	3.2%	7.2%	5.6%	4.6%	2.9%
Decelerating target vehicle	3.1%	2.2%	3.4%	2.4%	8.1%	4.7%	5.0%	3.2%
Slower moving target vehicle	6.7%	4.8%	5.4%	5.0%	11.2%	6.9%	7.1%	4.5%