## 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{4}{c}{**YOLO-v4**} \\ \cline{3-10}  & & & **Class** & **Estimated Distance (m)** & **Error** & **Class** & **Estimated Distance (m)** & **Error** \\ \hline \multirow{5}{*}{1} & 1 & 4.53 & 0 & 4.50 & \(-\)0.66\% & 0 & 4.50 & \(-\)0.66\% \\  & 2 & 5.13 & 1 & 5.20 & 1.36\% & 1 & 5.15 & 0.39\% \\  & 3 & 7.21 & 0 & 7.40 & 2.64\% & 0 & 7.28 & 0.97\% \\  & 4 & 7.80 & 1 & 7.93 & 1.67\% & 1 & 8.01 & 2.69\% \\  & 5 & 9.00 & 0 & 9.03 & 0.33\% & 0 & 8.95 & \(-\)0.56\% \\  & 6 & 10.05 & N & - & - & 2 & 10.22 & 1.69\% \\  & 7 & 10.49 & N & - & - & 2 & 11.06 & 5.43\% \\ \hline \multirow{2}{*}{2} & 1 & 3.03 & 0 & 3.11 & 2.64\% & 0 & 3.10 & 2.31\% \\  & 2 & 3.15 & 1 & 3.35 & 6.35\% & 1 & 3.40 & 7.94\% \\ \hline \multirow{3}{*}{3} & 1 & 4.14 & 0 & 4.02 & \(-\)2.90\% & 0 & 4.00 & \(-\)3.38\% \\  & 2 & 4.71 & 1 & 4.66 & \(-\)1.06\% & 1 & 4.55 & \(-\)3.40\% \\  & 3 & 6.71 & 0 & 6.03 & \(-\)10.13\% & 0 & 6.02 & \(-\)10.28\% \\ \hline \multirow{3}{*}{4} & 1 & 4.30 & 0 & 4.57 & 6.28\% & 0 & 4.45 & 3.49\% \\  & 2 & 4.38 & 1 & 4.56 & 4.11\% & 1 & 4.51 & 2.97\% \\  & 3 & 4.48 & 0 & 4.67 & 4.24\% & 0 & 4.80 & 7.14\% \\ \hline \multirow{5}{*}{5} & 1 & 3.63 & 0 & 3.72 & 2.48\% & 0 & 3.74 & 3.03\% \\  & 2 & 4.19 & 1 & 4.36 & 4.06\% & 1 & 4.39 & 4.77\% \\  & 3 & 5.55 & 0 & 6.08 & 9.55\% & 0 & 6.03 & 8.65\% \\  & 4 & 7.39 & 0 & 8.26 & 11.77\% & 0 & 8.34 & 12.86\% \\  & 5 & 8.03 & 1 & 9.48 & 18.06\% & 1 & 9.18 & 14.32\% \\  & 6 & 9.38 & N & - & - & N & - & - \\ \hline \multirow{5}{*}{6} & 1 & 4.51 & 0 & 4.67 & 3.55\% & 0 & 4.74 & 5.10\% \\  & 2 & 4.33 & 2 & 4.65 & 7.39\% & 2 & 4.68 & 8.08\% \\  & 3 & 4.72 & 2 & 5.24 & 11.02\% & 2 & 5.26 & 11.44\% \\  & 4 & 11.89 & 0 & 20.59 & 73.17\% & 0 & 19.43 & 63.41\% \\  & 5 & 11.82 & 0 & 18.09 & 53.05\% & 0 & 18.12 & 53.30\% \\  & 6 & 11.76 & N & - & - & 2 & 18.50 & 57.31\% \\  & 7 & 11.88 & N & - & - & 2 & 20.15 & 69.61\% \\  & 8 & 12.15 & 0 & 23.59 & 94.16\% & 0 & 22.53 & 85.43\% \\  & 9 & 12.28 & 1 & 25.72 & 109.45 & 1 & 27.86 & 126.87\% \\ \hline \multirow{5}{*}{7} & 1 & 3.88 & 0 & 3.86 & \(-\)0.52\% & 0 & 3.84 & \(-\)1.03\% \\  & 2 & 4.45 & 1 & 4.59 & 3.15\% & 1 & 4.50 & 1.12\% \\  & 3 & 5.80 & 0 & 6.28 & 8.28\% & 0 & 6.26 & 7.93\% \\  & 4 & 7.58 & 0 & 8.46 & 11.61\% & 0 & 8.33 & 9.89\% \\  & 5 & 8.15 & 1 & 9.33 & 14.48\% & 1 & 9.23 & 13.25\% \\  & 6 & 9.64 & N & - & - & 0 & 11.28 & 17.01\% \\  & 7 & 11.56 & N & - & - & N & - & - \\  & 8 & 12.21 & N & - & - & 1 & 14.50 & 18.76\% \\ \hline \multirow{5}{*}{8} & 1 & 3.73 & 1 & 3.50 & \(-\)6.17\% & 1 & 3.78 & 1.34\% \\  & 2 & 3.82 & 0 & 3.71 & \(-\)2.88\% & 0 & 3.80 & \(-\)0.52\% \\  & 3 & 4.71 & 2 & 5.06 & 7.43\% & 2 & 5.06 & 7.43\% \\  & 4 & 5.34 & 2 & 5.81 & 8.80\% & 2 & 5.77 & 8.05\% \\  & 5 & 13.33 & N & - & - & 2 & 16.97 & 27.31\% \\  & 6 & 12.85 & N & - & - & 2 & 16.36 & 27.32\% \\  & 7 & 12.67 & N & - & - & 2 & 15.78 & 24.55\% \\  & 8 & 12.72 & N & - & - & 2 & 15.66 & 23.11\% \\  & 9 & 13.86 & 0 & 17.18 & 23.95\% & 0 & 16.52 & 19.19\% \\  & 10 & 14.53 & N & - & - & 1 & 17.99 & 23.81\% \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Estimated distance in the demonstration.