## 4 Results
### Distance Estimation
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Test**} & \multirow{2}{*}{**Obj**} & \multirow{2}{*}{**Ground Truth (m)**} & \multicolumn{4}{c}{**YOLOv4-Tiny**} & \multicolumn{2}{c}{**YOLO-v4**} \\ \cline{3-8}  & & & **Class** & **Estimated Distance (m)** & **Error** & **Class** & **Estimated Distance (m)** & **Error** \\ \hline  & 1 & 3.68 & 2 & 3.29 & \(-10.60\%\) & 2 & 3.28 & \(-10.87\%\) \\  & 2 & 3.75 & 2 & 3.32 & \(-11.47\%\) & 2 & 3.26 & \(-13.07\%\) \\  & 3 & 11.11 & N & - & - & 2 & 10.67 & \(-3.96\%\) \\
9 & 4 & 11.13 & N & - & - & 2 & 10.37 & \(-6.83\%\) \\  & 5 & 11.33 & 0 & \(10.61\) & \(-6.35\%\) & 0 & 10.81 & \(-4.59\%\) \\  & 6 & 11.28 & 0 & 11.31 & \(0.27\%\) & 0 & 10.87 & \(-3.63\%\) \\  & 7 & 12.10 & 0 & 11.72 & \(-3.14\%\) & 0 & 12.05 & \(-0.41\%\) \\ \hline  & & & & & & & & \\ \end{tabular} \({}^{\prime\prime}\)N\({}^{\prime}\) denotes the absence of detected objects. The blue highlights indicate objects beyond the effective range, while the red highlights represent false negatives within the effective distance.  
\end{table} 
Table 6: _Cont._ \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Test**} & \multirow{2}{*}{**Obj**} & \multirow{2}{*}{**Ground Truth (m)**} & \multirow{2}{*}{**Class**} & \multicolumn{2}{c}{**Position-Based**} & \multicolumn{2}{c}{**Size-Based**} \\ \cline{4-7}  & & & & **Estimated Distance (m)** & **Error** & **Estimated Distance (m)** & **Error** \\ \hline  & 1 & 4.53 & 0 & 4.50 & \(-0.66\%\) & 4.06 & \(-10.38\%\) \\  & 2 & 5.13 & 1 & 5.20 & 1.36\% & 4.51 & \(-12.09\%\) \\  & 3 & 7.21 & 0 & 7.40 & 2.64\% & 7.02 & \(-2.64\%\) \\
1 & 4 & 7.80 & 1 & 7.93 & 1.67\% & 7.30 & \(-6.41\%\) \\  & 5 & 9.00 & 0 & 9.03 & 0.33\% & 8.69 & \(-3.44\%\) \\  & 6 & 10.05 & N & - & - & - & - \\  & 7 & 10.49 & N & - & - & - & - \\ \hline
2 & 1 & 3.03 & 0 & 3.11 & 2.64\% & 2.94 & \(-2.97\%\) \\  & 2 & 3.15 & 1 & 3.35 & 6.35\% & 3.09 & \(-1.90\%\) \\ \hline  & 1 & 4.14 & 0 & 4.02 & \(-2.90\%\) & 3.69 & \(-10.87\%\) \\
3 & 2 & 4.71 & 1 & 4.66 & \(-1.06\%\) & 4.2 & \(-10.83\%\) \\  & 3 & 6.71 & 0 & 6.03 & \(-10.13\%\) & 5.79 & \(-13.71\%\) \\ \hline  & 1 & 4.30 & 0 & 4.57 & 6.28\% & 4.4 & 2.33\% \\
4 & 2 & 4.38 & 1 & 4.56 & 4.11\% & 4.56 & 4.11\% \\  & 3 & 4.48 & 0 & 4.67 & 4.24\% & 4.35 & \(-2.90\%\) \\ \hline  & 1 & 3.63 & 0 & 3.72 & 2.48\% & 3.26 & \(-10.19\%\) \\  & 2 & 4.19 & 1 & 4.36 & 4.06\% & 3.72 & \(-11.22\%\) \\
5 & 3 & 5.55 & 0 & 6.08 & 9.55\% & 5.53 & \(-0.36\%\) \\  & 4 & 7.39 & 0 & 8.26 & 11.77\% & 7.45 & 0.81\% \\  & 5 & 8.03 & 1 & 9.48 & 18.06\% & 8.69 & 8.22\% \\  & 6 & 9.38 & N & - & - & - & - \\ \hline  & 1 & 4.51 & 0 & 4.67 & 3.55\% & 3.92 & \(-13.08\%\) \\  & 2 & 4.33 & 2 & 4.65 & 7.39\% & 4.35 & \(0.46\%\) \\  & 3 & 4.72 & 2 & 5.24 & 11.02\% & 4.4 & \(-6.78\%\) \\  & 4 & 11.89 & 0 & 20.59 & 73.17\% & 12.17 & \(2.35\%\) \\
6 & 5 & 11.82 & 0 & 18.09 & 53.05\% & 11.06 & \(-6.43\%\) \\  & 6 & 11.76 & N & - & - & - & - \\  & 7 & 11.88 & N & - & - & - & - \\  & 8 & 12.15 & 0 & 23.59 & 94.16\% & 11.77 & \(-3.13\%\) \\  & 9 & 12.28 & 1 & 25.72 & 109.45 & 11.77 & \(-4.15\%\) \\ \hline  & 1 & 3.88 & 0 & 3.86 & \(-0.52\%\) & 3.38 & \(-12.89\%\) \\  & 2 & 4.45 & 1 & 4.59 & 3.15\% & 3.88 & \(-12.81\%\) \\  & 3 & 5.80 & 0 & 6.28 & 8.28\% & 5.7 & \(-1.72\%\) \\  & 4 & 7.58 & 0 & 8.46 & 11.61\% & 7.6 & \(0.26\%\) \\  & 5 & 8.15 & 1 & 9.33 & 14.48\% & 7.94 & \(-2.58\%\) \\  & 6 & 9.64 & N & - & - & - & - \\  & 7 & 11.56 & N & - & - & - & - \\  & 8 & 12.21 & N & - & - & - & - \\ \hline \hline \end{tabular} \({}^{\prime\prime}\)N\({}^{\prime}\) denotes the absence of detected objects. The blue highlights indicate objects beyond the effective range, while the red highlights represent false negatives within the effective distance.  
\end{table} 
Table 7: Estimated distance by the different models.