output_perf_tables.md

Size of Experiment Set = 35 Experiment has 1 result sets ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	14.1119
2	309	12.6142	14.7273
3	326	14.091	13.4904
4	322	16.6894	12.398
5	344	15.9082	12.6754
6	352	12.6787	-inf
7	317	11.9844	-inf
8	312	13.1241	-inf
9	311	13.0241	11.5126
10	286	11.1746	-inf
11	302	12.8086	11.3024
12	302	8.95978	11.6524
13	316	9.96439	11.7243
14	312	9.59863	11.8781
15	289	8.57352	9.33785
16	297	9.51617	11.3079
17	279	9.54658	11.4487
18	303	8.3988	9.12792

Performance Results (Detector = Shi_Tomasi, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	14.1119
2			309	12.6142	14.7273
3			326	14.091	13.4904
4			322	16.6894	12.398
5			344	15.9082	12.6754
6			352	12.6787	-inf
7			317	11.9844	-inf
8			312	13.1241	-inf
9			311	13.0241	11.5126
10			286	11.1746	-inf
11			302	12.8086	11.3024
12			302	8.95978	11.6524
13			316	9.96439	11.7243
14			312	9.59863	11.8781
15			289	8.57352	9.33785
16			297	9.51617	11.3079
17			279	9.54658	11.4487
18			303	8.3988	9.12792
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.8948
2	309	12.6142	13.1487
3	326	14.091	22.6781
4	322	16.6894	13.81
5	344	15.9082	12.1886
6	352	12.6787	15.1561
7	317	11.9844	18.3368
8	312	13.1241	12.3793
9	311	13.0241	12.463
10	286	11.1746	13.3448
11	302	12.8086	12.2
12	302	8.95978	12.2294
13	316	9.96439	12.3292
14	312	9.59863	12.7102
15	289	8.57352	12.9788
16	297	9.51617	11.3856
17	279	9.54658	13.6063
18	303	8.3988	7.75039

Performance Results (Detector = Shi_Tomasi, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.8948
2			309	12.6142	13.1487
3			326	14.091	22.6781
4			322	16.6894	13.81
5			344	15.9082	12.1886
6			352	12.6787	15.1561
7			317	11.9844	18.3368
8			312	13.1241	12.3793
9			311	13.0241	12.463
10			286	11.1746	13.3448
11			302	12.8086	12.2
12			302	8.95978	12.2294
13			316	9.96439	12.3292
14			312	9.59863	12.7102
15			289	8.57352	12.9788
16			297	9.51617	11.3856
17			279	9.54658	13.6063
18			303	8.3988	7.75039
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.8801
2	309	12.6142	17.7333
3	326	14.091	11.6626
4	322	16.6894	12.1506
5	344	15.9082	12.3305
6	352	12.6787	15.1536
7	317	11.9844	15.0065
8	312	13.1241	12.1848
9	311	13.0241	11.274
10	286	11.1746	13.1345
11	302	12.8086	11.3027
12	302	8.95978	12.7698
13	316	9.96439	12.1119
14	312	9.59863	14.6845
15	289	8.57352	10.2642
16	297	9.51617	13.4357
17	279	9.54658	13.5261
18	303	8.3988	12.0906

Performance Results (Detector = Shi_Tomasi, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.8801
2			309	12.6142	17.7333
3			326	14.091	11.6626
4			322	16.6894	12.1506
5			344	15.9082	12.3305
6			352	12.6787	15.1536
7			317	11.9844	15.0065
8			312	13.1241	12.1848
9			311	13.0241	11.274
10			286	11.1746	13.1345
11			302	12.8086	11.3027
12			302	8.95978	12.7698
13			316	9.96439	12.1119
14			312	9.59863	14.6845
15			289	8.57352	10.2642
16			297	9.51617	13.4357
17			279	9.54658	13.5261
18			303	8.3988	12.0906
ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.8801
2	309	12.6142	17.7333
3	326	14.091	11.6626
4	322	16.6894	12.1506
5	344	15.9082	12.3305
6	352	12.6787	15.1536
7	317	11.9844	15.0065
8	312	13.1241	12.1848
9	311	13.0241	11.274
10	286	11.1746	13.1345
11	302	12.8086	11.3027
12	302	8.95978	12.7698
13	316	9.96439	12.1119
14	312	9.59863	14.6845
15	289	8.57352	10.2642
16	297	9.51617	13.4357
17	279	9.54658	13.5261
18	303	8.3988	12.0906

Performance Results (Detector = Shi_Tomasi, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.8801
2			309	12.6142	17.7333
3			326	14.091	11.6626
4			322	16.6894	12.1506
5			344	15.9082	12.3305
6			352	12.6787	15.1536
7			317	11.9844	15.0065
8			312	13.1241	12.1848
9			311	13.0241	11.274
10			286	11.1746	13.1345
11			302	12.8086	11.3027
12			302	8.95978	12.7698
13			316	9.96439	12.1119
14			312	9.59863	14.6845
15			289	8.57352	10.2642
16			297	9.51617	13.4357
17			279	9.54658	13.5261
18			303	8.3988	12.0906
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.6546
2	309	12.6142	13.1487
3	326	14.091	11.0399
4	322	16.6894	12.9162
5	344	15.9082	12.5939
6	352	12.6787	14.2385
7	317	11.9844	12.8908
8	312	13.1241	12.8515
9	311	13.0241	11.6077
10	286	11.1746	13.203
11	302	12.8086	11.8783
12	302	8.95978	11.7855
13	316	9.96439	12.26
14	312	9.59863	11.5161
15	289	8.57352	10.1
16	297	9.51617	18.0421
17	279	9.54658	12.963
18	303	8.3988	11.2811

Performance Results (Detector = Shi_Tomasi, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.6546
2			309	12.6142	13.1487
3			326	14.091	11.0399
4			322	16.6894	12.9162
5			344	15.9082	12.5939
6			352	12.6787	14.2385
7			317	11.9844	12.8908
8			312	13.1241	12.8515
9			311	13.0241	11.6077
10			286	11.1746	13.203
11			302	12.8086	11.8783
12			302	8.95978	11.7855
13			316	9.96439	12.26
14			312	9.59863	11.5161
15			289	8.57352	10.1
16			297	9.51617	18.0421
17			279	9.54658	12.963
18			303	8.3988	11.2811
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = Shi_Tomasi, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	14.0746
2	309	12.6142	14.6503
3	326	14.091	14.3827
4	322	16.6894	12.9162
5	344	15.9082	13.4113
6	352	12.6787	15.1561
7	317	11.9844	13.935
8	312	13.1241	15.3284
9	311	13.0241	12.4803
10	286	11.1746	13.2947
11	302	12.8086	12.3562
12	302	8.95978	12.7698
13	316	9.96439	11.6194
14	312	9.59863	12.7102
15	289	8.57352	12.3541
16	297	9.51617	13.3159
17	279	9.54658	13.5261
18	303	8.3988	12.0881

Performance Results (Detector = Shi_Tomasi, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	14.0746
2			309	12.6142	14.6503
3			326	14.091	14.3827
4			322	16.6894	12.9162
5			344	15.9082	13.4113
6			352	12.6787	15.1561
7			317	11.9844	13.935
8			312	13.1241	15.3284
9			311	13.0241	12.4803
10			286	11.1746	13.2947
11			302	12.8086	12.3562
12			302	8.95978	12.7698
13			316	9.96439	11.6194
14			312	9.59863	12.7102
15			289	8.57352	12.3541
16			297	9.51617	13.3159
17			279	9.54658	13.5261
18			303	8.3988	12.0881
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	-inf
2	309	12.6142	10.586
3	326	14.091	26.2905
4	322	16.6894	11.5792
5	344	15.9082	-inf
6	352	12.6787	nan
7	317	11.9844	11.6947
8	312	13.1241	17.6204
9	311	13.0241	nan
10	286	11.1746	-inf
11	302	12.8086	-inf
12	302	8.95978	-inf
13	316	9.96439	-inf
14	312	9.59863	nan
15	289	8.57352	-13.6263
16	297	9.51617	6.65726
17	279	9.54658	12.5848
18	303	8.3988	-inf

Performance Results (Detector = HARRIS, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	-inf
2			309	12.6142	10.586
3			326	14.091	26.2905
4			322	16.6894	11.5792
5			344	15.9082	-inf
6			352	12.6787	nan
7			317	11.9844	11.6947
8			312	13.1241	17.6204
9			311	13.0241	nan
10			286	11.1746	-inf
11			302	12.8086	-inf
12			302	8.95978	-inf
13			316	9.96439	-inf
14			312	9.59863	nan
15			289	8.57352	-13.6263
16			297	9.51617	6.65726
17			279	9.54658	12.5848
18			303	8.3988	-inf
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	10.9082
2	309	12.6142	nan
3	326	14.091	-inf
4	322	16.6894	11.5792
5	344	15.9082	35.3833
6	352	12.6787	13.5907
7	317	11.9844	14.2744
8	312	13.1241	-inf
9	311	13.0241	nan
10	286	11.1746	20.5862
11	302	12.8086	-inf
12	302	8.95978	12.245
13	316	9.96439	13.4327
14	312	9.59863	5.6061
15	289	8.57352	-inf
16	297	9.51617	6.71705
17	279	9.54658	12.5848
18	303	8.3988	-inf

Performance Results (Detector = HARRIS, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	10.9082
2			309	12.6142	nan
3			326	14.091	-inf
4			322	16.6894	11.5792
5			344	15.9082	35.3833
6			352	12.6787	13.5907
7			317	11.9844	14.2744
8			312	13.1241	-inf
9			311	13.0241	nan
10			286	11.1746	20.5862
11			302	12.8086	-inf
12			302	8.95978	12.245
13			316	9.96439	13.4327
14			312	9.59863	5.6061
15			289	8.57352	-inf
16			297	9.51617	6.71705
17			279	9.54658	12.5848
18			303	8.3988	-inf
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	10.9082
2	309	12.6142	nan
3	326	14.091	-inf
4	322	16.6894	11.5792
5	344	15.9082	35.3833
6	352	12.6787	nan
7	317	11.9844	13.497
8	312	13.1241	-inf
9	311	13.0241	nan
10	286	11.1746	20.5862
11	302	12.8086	11.7414
12	302	8.95978	12.245
13	316	9.96439	568.322
14	312	9.59863	5.66097
15	289	8.57352	-inf
16	297	9.51617	10.9325
17	279	9.54658	12.5848
18	303	8.3988	-inf

Performance Results (Detector = HARRIS, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	10.9082
2			309	12.6142	nan
3			326	14.091	-inf
4			322	16.6894	11.5792
5			344	15.9082	35.3833
6			352	12.6787	nan
7			317	11.9844	13.497
8			312	13.1241	-inf
9			311	13.0241	nan
10			286	11.1746	20.5862
11			302	12.8086	11.7414
12			302	8.95978	12.245
13			316	9.96439	568.322
14			312	9.59863	5.66097
15			289	8.57352	-inf
16			297	9.51617	10.9325
17			279	9.54658	12.5848
18			303	8.3988	-inf
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	10.9082
2	309	12.6142	nan
3	326	14.091	-inf
4	322	16.6894	11.5792
5	344	15.9082	35.3833
6	352	12.6787	nan
7	317	11.9844	13.497
8	312	13.1241	-inf
9	311	13.0241	nan
10	286	11.1746	20.5862
11	302	12.8086	11.7414
12	302	8.95978	12.245
13	316	9.96439	568.322
14	312	9.59863	5.66097
15	289	8.57352	-inf
16	297	9.51617	10.9325
17	279	9.54658	12.5848
18	303	8.3988	-inf

Performance Results (Detector = HARRIS, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	10.9082
2			309	12.6142	nan
3			326	14.091	-inf
4			322	16.6894	11.5792
5			344	15.9082	35.3833
6			352	12.6787	nan
7			317	11.9844	13.497
8			312	13.1241	-inf
9			311	13.0241	nan
10			286	11.1746	20.5862
11			302	12.8086	11.7414
12			302	8.95978	12.245
13			316	9.96439	568.322
14			312	9.59863	5.66097
15			289	8.57352	-inf
16			297	9.51617	10.9325
17			279	9.54658	12.5848
18			303	8.3988	-inf
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	21.8164
2	309	12.6142	nan
3	326	14.091	-80.8525
4	322	16.6894	12.1284
5	344	15.9082	39.584
6	352	12.6787	nan
7	317	11.9844	12.3379
7	317	11.9844	12.3379
9	311	13.0241	nan
10	286	11.1746	-inf
11	302	12.8086	-inf
12	302	8.95978	-inf
13	316	9.96439	13.4327
14	312	9.59863	nan
15	289	8.57352	-inf
16	297	9.51617	6.71705
17	279	9.54658	nan
18	303	8.3988	nan

Performance Results (Detector = HARRIS, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	21.8164
2			309	12.6142	nan
3			326	14.091	-80.8525
4			322	16.6894	12.1284
5			344	15.9082	39.584
6			352	12.6787	nan
7			317	11.9844	12.3379
7			317	11.9844	12.3379
9			311	13.0241	nan
10			286	11.1746	-inf
11			302	12.8086	-inf
12			302	8.95978	-inf
13			316	9.96439	13.4327
14			312	9.59863	nan
15			289	8.57352	-inf
16			297	9.51617	6.71705
17			279	9.54658	nan
18			303	8.3988	nan
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = HARRIS, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	10.9082
2	309	12.6142	nan
3	326	14.091	-11.4731
4	322	16.6894	11.5792
5	344	15.9082	35.3833
6	352	12.6787	13.6217
7	317	11.9844	13.497
8	312	13.1241	-inf
9	311	13.0241	nan
10	286	11.1746	10.2931
11	302	12.8086	11.7414
12	302	8.95978	12.245
13	316	9.96439	568.322
14	312	9.59863	5.6061
15	289	8.57352	-13.6263
16	297	9.51617	7.03775
17	279	9.54658	12.5848
18	303	8.3988	-inf

Performance Results (Detector = HARRIS, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	10.9082
2			309	12.6142	nan
3			326	14.091	-11.4731
4			322	16.6894	11.5792
5			344	15.9082	35.3833
6			352	12.6787	13.6217
7			317	11.9844	13.497
8			312	13.1241	-inf
9			311	13.0241	nan
10			286	11.1746	10.2931
11			302	12.8086	11.7414
12			302	8.95978	12.245
13			316	9.96439	568.322
14			312	9.59863	5.6061
15			289	8.57352	-13.6263
16			297	9.51617	7.03775
17			279	9.54658	12.5848
18			303	8.3988	-inf
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.3
2	309	12.6142	12.3453
3	326	14.091	16.6163
4	322	16.6894	12.8857
5	344	15.9082	-inf
6	352	12.6787	13.0386
7	317	11.9844	12.041
8	312	13.1241	11.4066
9	311	13.0241	11.8684
10	286	11.1746	13.3473
11	302	12.8086	12.9492
12	302	8.95978	12.1174
13	316	9.96439	12.7784
14	312	9.59863	11.6077
15	289	8.57352	11.4079
16	297	9.51617	12.2566
17	279	9.54658	9.2933
18	303	8.3988	11.8606

Performance Results (Detector = FAST, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.3
2			309	12.6142	12.3453
3			326	14.091	16.6163
4			322	16.6894	12.8857
5			344	15.9082	-inf
6			352	12.6787	13.0386
7			317	11.9844	12.041
8			312	13.1241	11.4066
9			311	13.0241	11.8684
10			286	11.1746	13.3473
11			302	12.8086	12.9492
12			302	8.95978	12.1174
13			316	9.96439	12.7784
14			312	9.59863	11.6077
15			289	8.57352	11.4079
16			297	9.51617	12.2566
17			279	9.54658	9.2933
18			303	8.3988	11.8606
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.1776
2	309	12.6142	13.0069
3	326	14.091	14.8206
4	322	16.6894	13.6686
5	344	15.9082	-inf
6	352	12.6787	41.7823
7	317	11.9844	12.7583
8	312	13.1241	12.7664
9	311	13.0241	13.9231
10	286	11.1746	16.2141
11	302	12.8086	13.6355
12	302	8.95978	12.9831
13	316	9.96439	13.1487
14	312	9.59863	11.7034
15	289	8.57352	12.6071
16	297	9.51617	13.0069
17	279	9.54658	11.2586
18	303	8.3988	13.7908

Performance Results (Detector = FAST, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.1776
2			309	12.6142	13.0069
3			326	14.091	14.8206
4			322	16.6894	13.6686
5			344	15.9082	-inf
6			352	12.6787	41.7823
7			317	11.9844	12.7583
8			312	13.1241	12.7664
9			311	13.0241	13.9231
10			286	11.1746	16.2141
11			302	12.8086	13.6355
12			302	8.95978	12.9831
13			316	9.96439	13.1487
14			312	9.59863	11.7034
15			289	8.57352	12.6071
16			297	9.51617	13.0069
17			279	9.54658	11.2586
18			303	8.3988	13.7908
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.9993
2	309	12.6142	12.9793
3	326	14.091	16.6163
4	322	16.6894	13.7508
5	344	15.9082	-inf
6	352	12.6787	55.9788
7	317	11.9844	12.4264
8	312	13.1241	12.186
9	311	13.0241	12.8711
10	286	11.1746	-inf
11	302	12.8086	14.1395
12	302	8.95978	13.1636
13	316	9.96439	13.5629
14	312	9.59863	11.1115
15	289	8.57352	10.8439
16	297	9.51617	11.3939
17	279	9.54658	12.1656
18	303	8.3988	13.7843

Performance Results (Detector = FAST, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.9993
2			309	12.6142	12.9793
3			326	14.091	16.6163
4			322	16.6894	13.7508
5			344	15.9082	-inf
6			352	12.6787	55.9788
7			317	11.9844	12.4264
8			312	13.1241	12.186
9			311	13.0241	12.8711
10			286	11.1746	-inf
11			302	12.8086	14.1395
12			302	8.95978	13.1636
13			316	9.96439	13.5629
14			312	9.59863	11.1115
15			289	8.57352	10.8439
16			297	9.51617	11.3939
17			279	9.54658	12.1656
18			303	8.3988	13.7843
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.9993
2	309	12.6142	12.9793
3	326	14.091	16.6163
4	322	16.6894	13.7508
5	344	15.9082	-inf
6	352	12.6787	55.9788
7	317	11.9844	12.4264
8	312	13.1241	12.186
9	311	13.0241	12.8711
10	286	11.1746	-inf
11	302	12.8086	14.1395
12	302	8.95978	13.1636
13	316	9.96439	13.5629
14	312	9.59863	11.1115
15	289	8.57352	10.8439
16	297	9.51617	11.3939
17	279	9.54658	12.1656
18	303	8.3988	13.7843

Performance Results (Detector = FAST, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.9993
2			309	12.6142	12.9793
3			326	14.091	16.6163
4			322	16.6894	13.7508
5			344	15.9082	-inf
6			352	12.6787	55.9788
7			317	11.9844	12.4264
8			312	13.1241	12.186
9			311	13.0241	12.8711
10			286	11.1746	-inf
11			302	12.8086	14.1395
12			302	8.95978	13.1636
13			316	9.96439	13.5629
14			312	9.59863	11.1115
15			289	8.57352	10.8439
16			297	9.51617	11.3939
17			279	9.54658	12.1656
18			303	8.3988	13.7843
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.9002
2	309	12.6142	13.8852
3	326	14.091	13.2228
4	322	16.6894	13.8462
5	344	15.9082	44.8072
6	352	12.6787	12.5009
7	317	11.9844	12.2695
8	312	13.1241	11.5467
9	311	13.0241	-inf
10	286	11.1746	13.4169
11	302	12.8086	13.0373
12	302	8.95978	12.1376
13	316	9.96439	11.9908
14	312	9.59863	11.2961
15	289	8.57352	13.4268
16	297	9.51617	12.0008
17	279	9.54658	8.79801
18	303	8.3988	12.0558

Performance Results (Detector = FAST, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.9002
2			309	12.6142	13.8852
3			326	14.091	13.2228
4			322	16.6894	13.8462
5			344	15.9082	44.8072
6			352	12.6787	12.5009
7			317	11.9844	12.2695
8			312	13.1241	11.5467
9			311	13.0241	-inf
10			286	11.1746	13.4169
11			302	12.8086	13.0373
12			302	8.95978	12.1376
13			316	9.96439	11.9908
14			312	9.59863	11.2961
15			289	8.57352	13.4268
16			297	9.51617	12.0008
17			279	9.54658	8.79801
18			303	8.3988	12.0558
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = FAST, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.313
2	309	12.6142	12.826
3	326	14.091	18.7478
4	322	16.6894	15.4897
5	344	15.9082	-inf
6	352	12.6787	74.5672
7	317	11.9844	12.7282
8	312	13.1241	12.6536
9	311	13.0241	13.8873
10	286	11.1746	14.0112
11	302	12.8086	13.7238
12	302	8.95978	13.0717
13	316	9.96439	12.9215
14	312	9.59863	12.879
15	289	8.57352	12.6071
16	297	9.51617	12.9069
17	279	9.54658	10.4572
18	303	8.3988	13.1502

Performance Results (Detector = FAST, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.313
2			309	12.6142	12.826
3			326	14.091	18.7478
4			322	16.6894	15.4897
5			344	15.9082	-inf
6			352	12.6787	74.5672
7			317	11.9844	12.7282
8			312	13.1241	12.6536
9			311	13.0241	13.8873
10			286	11.1746	14.0112
11			302	12.8086	13.7238
12			302	8.95978	13.0717
13			316	9.96439	12.9215
14			312	9.59863	12.879
15			289	8.57352	12.6071
16			297	9.51617	12.9069
17			279	9.54658	10.4572
18			303	8.3988	13.1502
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.031
2	309	12.6142	23.1027
3	326	14.091	17.5172
4	322	16.6894	15.2031
5	344	15.9082	28.2877
6	352	12.6787	17.6743
7	317	11.9844	16.8563
8	312	13.1241	23.0521
9	311	13.0241	15.1936
10	286	11.1746	13.4121
11	302	12.8086	12.4948
12	302	8.95978	11.0107
13	316	9.96439	11.8505
14	312	9.59863	12.0376
15	289	8.57352	16.061
16	297	9.51617	11.2969
17	279	9.54658	9.70123
18	303	8.3988	11.6176

Performance Results (Detector = BRISK, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.031
2			309	12.6142	23.1027
3			326	14.091	17.5172
4			322	16.6894	15.2031
5			344	15.9082	28.2877
6			352	12.6787	17.6743
7			317	11.9844	16.8563
8			312	13.1241	23.0521
9			311	13.0241	15.1936
10			286	11.1746	13.4121
11			302	12.8086	12.4948
12			302	8.95978	11.0107
13			316	9.96439	11.8505
14			312	9.59863	12.0376
15			289	8.57352	16.061
16			297	9.51617	11.2969
17			279	9.54658	9.70123
18			303	8.3988	11.6176
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	14.863
2	309	12.6142	23.7824
3	326	14.091	18.0446
4	322	16.6894	22.7832
5	344	15.9082	25.5059
6	352	12.6787	56.735
7	317	11.9844	25.2647
8	312	13.1241	18.4064
9	311	13.0241	20.3103
10	286	11.1746	18.4689
11	302	12.8086	21.829
12	302	8.95978	17.7779
13	316	9.96439	17.4963
14	312	9.59863	14.8559
15	289	8.57352	11.054
16	297	9.51617	16.1143
17	279	9.54658	15.0108
18	303	8.3988	17.6601

Performance Results (Detector = BRISK, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	14.863
2			309	12.6142	23.7824
3			326	14.091	18.0446
4			322	16.6894	22.7832
5			344	15.9082	25.5059
6			352	12.6787	56.735
7			317	11.9844	25.2647
8			312	13.1241	18.4064
9			311	13.0241	20.3103
10			286	11.1746	18.4689
11			302	12.8086	21.829
12			302	8.95978	17.7779
13			316	9.96439	17.4963
14			312	9.59863	14.8559
15			289	8.57352	11.054
16			297	9.51617	16.1143
17			279	9.54658	15.0108
18			303	8.3988	17.6601
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	26.2405
2	309	12.6142	20.1555
3	326	14.091	18.0446
4	322	16.6894	17.1207
5	344	15.9082	26.3307
6	352	12.6787	20.629
7	317	11.9844	20.1205
8	312	13.1241	16.0691
9	311	13.0241	15.4645
10	286	11.1746	12.5995
11	302	12.8086	13.9703
12	302	8.95978	14.8314
13	316	9.96439	11.5189
14	312	9.59863	12.1556
15	289	8.57352	11.4651
16	297	9.51617	17.3574
17	279	9.54658	10.7717
18	303	8.3988	12.1291

Performance Results (Detector = BRISK, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	26.2405
2			309	12.6142	20.1555
3			326	14.091	18.0446
4			322	16.6894	17.1207
5			344	15.9082	26.3307
6			352	12.6787	20.629
7			317	11.9844	20.1205
8			312	13.1241	16.0691
9			311	13.0241	15.4645
10			286	11.1746	12.5995
11			302	12.8086	13.9703
12			302	8.95978	14.8314
13			316	9.96439	11.5189
14			312	9.59863	12.1556
15			289	8.57352	11.4651
16			297	9.51617	17.3574
17			279	9.54658	10.7717
18			303	8.3988	12.1291
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	26.2405
2	309	12.6142	20.1555
3	326	14.091	18.0446
4	322	16.6894	17.1207
5	344	15.9082	26.3307
6	352	12.6787	20.629
7	317	11.9844	20.1205
8	312	13.1241	16.0691
9	311	13.0241	15.4645
10	286	11.1746	12.5995
11	302	12.8086	13.9703
12	302	8.95978	14.8314
13	316	9.96439	11.5189
14	312	9.59863	12.1556
15	289	8.57352	11.4651
16	297	9.51617	17.3574
17	279	9.54658	10.7717
18	303	8.3988	12.1291

Performance Results (Detector = BRISK, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	26.2405
2			309	12.6142	20.1555
3			326	14.091	18.0446
4			322	16.6894	17.1207
5			344	15.9082	26.3307
6			352	12.6787	20.629
7			317	11.9844	20.1205
8			312	13.1241	16.0691
9			311	13.0241	15.4645
10			286	11.1746	12.5995
11			302	12.8086	13.9703
12			302	8.95978	14.8314
13			316	9.96439	11.5189
14			312	9.59863	12.1556
15			289	8.57352	11.4651
16			297	9.51617	17.3574
17			279	9.54658	10.7717
18			303	8.3988	12.1291
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.3601
2	309	12.6142	28.3183
3	326	14.091	13.9222
4	322	16.6894	13.6652
5	344	15.9082	22.615
6	352	12.6787	16.0739
7	317	11.9844	15.4463
8	312	13.1241	21.665
9	311	13.0241	19.6271
10	286	11.1746	13.9062
11	302	12.8086	15.9755
12	302	8.95978	12.7469
13	316	9.96439	16.184
14	312	9.59863	12.3014
15	289	8.57352	18.2318
16	297	9.51617	10.3542
17	279	9.54658	9.18413
18	303	8.3988	11.2906

Performance Results (Detector = BRISK, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.3601
2			309	12.6142	28.3183
3			326	14.091	13.9222
4			322	16.6894	13.6652
5			344	15.9082	22.615
6			352	12.6787	16.0739
7			317	11.9844	15.4463
8			312	13.1241	21.665
9			311	13.0241	19.6271
10			286	11.1746	13.9062
11			302	12.8086	15.9755
12			302	8.95978	12.7469
13			316	9.96439	16.184
14			312	9.59863	12.3014
15			289	8.57352	18.2318
16			297	9.51617	10.3542
17			279	9.54658	9.18413
18			303	8.3988	11.2906
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = BRISK, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.1273
2	309	12.6142	17.8514
3	326	14.091	16.3788
4	322	16.6894	13.6674
5	344	15.9082	27.708
6	352	12.6787	17.2879
7	317	11.9844	14.2253
8	312	13.1241	17.4067
9	311	13.0241	16.5198
10	286	11.1746	14.2644
11	302	12.8086	12.7231
12	302	8.95978	11.8815
13	316	9.96439	13.8559
14	312	9.59863	10.4874
15	289	8.57352	13.3519
16	297	9.51617	10.9036
17	279	9.54658	10.7831
18	303	8.3988	12.3655

Performance Results (Detector = BRISK, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.1273
2			309	12.6142	17.8514
3			326	14.091	16.3788
4			322	16.6894	13.6674
5			344	15.9082	27.708
6			352	12.6787	17.2879
7			317	11.9844	14.2253
8			312	13.1241	17.4067
9			311	13.0241	16.5198
10			286	11.1746	14.2644
11			302	12.8086	12.7231
12			302	8.95978	11.8815
13			316	9.96439	13.8559
14			312	9.59863	10.4874
15			289	8.57352	13.3519
16			297	9.51617	10.9036
17			279	9.54658	10.7831
18			303	8.3988	12.3655
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	37.4084
2	309	12.6142	-inf
3	326	14.091	36.2012
4	322	16.6894	21.7788
5	344	15.9082	-inf
6	352	12.6787	11.1075
7	317	11.9844	-inf
8	312	13.1241	51.3026
9	311	13.0241	-inf
10	286	11.1746	-inf
11	302	12.8086	8.46717
12	302	8.95978	-inf
13	316	9.96439	7.53169
14	312	9.59863	24.6173
15	289	8.57352	13.594
16	297	9.51617	-inf
17	279	9.54658	23.6587
18	303	8.3988	29.89

Performance Results (Detector = ORB, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	37.4084
2			309	12.6142	-inf
3			326	14.091	36.2012
4			322	16.6894	21.7788
5			344	15.9082	-inf
6			352	12.6787	11.1075
7			317	11.9844	-inf
8			312	13.1241	51.3026
9			311	13.0241	-inf
10			286	11.1746	-inf
11			302	12.8086	8.46717
12			302	8.95978	-inf
13			316	9.96439	7.53169
14			312	9.59863	24.6173
15			289	8.57352	13.594
16			297	9.51617	-inf
17			279	9.54658	23.6587
18			303	8.3988	29.89
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	27.5288
2	309	12.6142	-inf
3	326	14.091	113.496
4	322	16.6894	16.7244
5	344	15.9082	28.5454
6	352	12.6787	-48.152
7	317	11.9844	-inf
8	312	13.1241	34.6298
9	311	13.0241	-inf
10	286	11.1746	168.345
11	302	12.8086	33.5123
12	302	8.95978	36.2236
13	316	9.96439	-inf
14	312	9.59863	13.5006
15	289	8.57352	-inf
16	297	9.51617	13.0005
17	279	9.54658	20.3758
18	303	8.3988	25.8155

Performance Results (Detector = ORB, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	27.5288
2			309	12.6142	-inf
3			326	14.091	113.496
4			322	16.6894	16.7244
5			344	15.9082	28.5454
6			352	12.6787	-48.152
7			317	11.9844	-inf
8			312	13.1241	34.6298
9			311	13.0241	-inf
10			286	11.1746	168.345
11			302	12.8086	33.5123
12			302	8.95978	36.2236
13			316	9.96439	-inf
14			312	9.59863	13.5006
15			289	8.57352	-inf
16			297	9.51617	13.0005
17			279	9.54658	20.3758
18			303	8.3988	25.8155
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	-inf
2	309	12.6142	10.7758
3	326	14.091	33.1568
4	322	16.6894	25.1615
5	344	15.9082	-inf
6	352	12.6787	19.5874
7	317	11.9844	-inf
8	312	13.1241	-inf
9	311	13.0241	-inf
10	286	11.1746	-inf
11	302	12.8086	10.8962
12	302	8.95978	-inf
13	316	9.96439	-inf
14	312	9.59863	-inf
15	289	8.57352	-inf
16	297	9.51617	-inf
17	279	9.54658	12.8853
18	303	8.3988	-inf

Performance Results (Detector = ORB, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	-inf
2			309	12.6142	10.7758
3			326	14.091	33.1568
4			322	16.6894	25.1615
5			344	15.9082	-inf
6			352	12.6787	19.5874
7			317	11.9844	-inf
8			312	13.1241	-inf
9			311	13.0241	-inf
10			286	11.1746	-inf
11			302	12.8086	10.8962
12			302	8.95978	-inf
13			316	9.96439	-inf
14			312	9.59863	-inf
15			289	8.57352	-inf
16			297	9.51617	-inf
17			279	9.54658	12.8853
18			303	8.3988	-inf
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	-inf
2	309	12.6142	10.7758
3	326	14.091	33.1568
4	322	16.6894	25.1615
5	344	15.9082	-inf
6	352	12.6787	19.5874
7	317	11.9844	-inf
8	312	13.1241	-inf
9	311	13.0241	-inf
10	286	11.1746	-inf
11	302	12.8086	10.8962
12	302	8.95978	-inf
13	316	9.96439	-inf
14	312	9.59863	-inf
15	289	8.57352	-inf
16	297	9.51617	-inf
17	279	9.54658	12.8853
18	303	8.3988	-inf

Performance Results (Detector = ORB, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	-inf
2			309	12.6142	10.7758
3			326	14.091	33.1568
4			322	16.6894	25.1615
5			344	15.9082	-inf
6			352	12.6787	19.5874
7			317	11.9844	-inf
8			312	13.1241	-inf
9			311	13.0241	-inf
10			286	11.1746	-inf
11			302	12.8086	10.8962
12			302	8.95978	-inf
13			316	9.96439	-inf
14			312	9.59863	-inf
15			289	8.57352	-inf
16			297	9.51617	-inf
17			279	9.54658	12.8853
18			303	8.3988	-inf
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.2686
2	309	12.6142	-inf
3	326	14.091	11.669
4	322	16.6894	12.605
5	344	15.9082	167.629
6	352	12.6787	12.8194
7	317	11.9844	-inf
8	312	13.1241	11.9978
9	311	13.0241	20.7736
10	286	11.1746	-inf
11	302	12.8086	8.34928
12	302	8.95978	25.9864
13	316	9.96439	9.59835
14	312	9.59863	63.442
15	289	8.57352	-inf
15	289	8.57352	-inf
17	279	9.54658	-inf
18	303	8.3988	8.14326

Performance Results (Detector = ORB, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.2686
2			309	12.6142	-inf
3			326	14.091	11.669
4			322	16.6894	12.605
5			344	15.9082	167.629
6			352	12.6787	12.8194
7			317	11.9844	-inf
8			312	13.1241	11.9978
9			311	13.0241	20.7736
10			286	11.1746	-inf
11			302	12.8086	8.34928
12			302	8.95978	25.9864
13			316	9.96439	9.59835
14			312	9.59863	63.442
15			289	8.57352	-inf
15			289	8.57352	-inf
17			279	9.54658	-inf
18			303	8.3988	8.14326
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = ORB, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	15.8655
2	309	12.6142	16.0911
3	326	14.091	15.3451
4	322	16.6894	293.964
5	344	15.9082	59.0092
6	352	12.6787	15.5425
7	317	11.9844	129.898
8	312	13.1241	12.2933
9	311	13.0241	19.8085
10	286	11.1746	-inf
11	302	12.8086	7.44098
12	302	8.95978	-inf
13	316	9.96439	65.2345
14	312	9.59863	12.8361
15	289	8.57352	-inf
16	297	9.51617	13.2776
17	279	9.54658	21.392
18	303	8.3988	17.0851

Performance Results (Detector = ORB, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	15.8655
2			309	12.6142	16.0911
3			326	14.091	15.3451
4			322	16.6894	293.964
5			344	15.9082	59.0092
6			352	12.6787	15.5425
7			317	11.9844	129.898
8			312	13.1241	12.2933
9			311	13.0241	19.8085
10			286	11.1746	-inf
11			302	12.8086	7.44098
12			302	8.95978	-inf
13			316	9.96439	65.2345
14			312	9.59863	12.8361
15			289	8.57352	-inf
16			297	9.51617	13.2776
17			279	9.54658	21.392
18			303	8.3988	17.0851
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	16.6557
2	309	12.6142	20.3352
3	326	14.091	13.3659
4	322	16.6894	17.5261
5	344	15.9082	18.0806
6	352	12.6787	14.7084
7	317	11.9844	15.8833
8	312	13.1241	13.9229
9	311	13.0241	13.8234
10	286	11.1746	15.7516
11	302	12.8086	12.3627
12	302	8.95978	15.532
13	316	9.96439	10.0855
14	312	9.59863	14.1883
15	289	8.57352	17.3489
16	297	9.51617	13.8749
17	279	9.54658	11.5526
18	303	8.3988	8.92524

Performance Results (Detector = AKAZE, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	16.6557
2			309	12.6142	20.3352
3			326	14.091	13.3659
4			322	16.6894	17.5261
5			344	15.9082	18.0806
6			352	12.6787	14.7084
7			317	11.9844	15.8833
8			312	13.1241	13.9229
9			311	13.0241	13.8234
10			286	11.1746	15.7516
11			302	12.8086	12.3627
12			302	8.95978	15.532
13			316	9.96439	10.0855
14			312	9.59863	14.1883
15			289	8.57352	17.3489
16			297	9.51617	13.8749
17			279	9.54658	11.5526
18			303	8.3988	8.92524
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	19.0025
2	309	12.6142	15.0455
3	326	14.091	16.3543
4	322	16.6894	13.8482
5	344	15.9082	18.0853
6	352	12.6787	19.7851
7	317	11.9844	21.0141
8	312	13.1241	14.121
9	311	13.0241	21.3561
10	286	11.1746	11.5709
11	302	12.8086	15.7328
12	302	8.95978	17.6087
13	316	9.96439	10.1939
14	312	9.59863	14.1695
15	289	8.57352	15.078
16	297	9.51617	11.8398
17	279	9.54658	11.0314
18	303	8.3988	10.4702

Performance Results (Detector = AKAZE, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	19.0025
2			309	12.6142	15.0455
3			326	14.091	16.3543
4			322	16.6894	13.8482
5			344	15.9082	18.0853
6			352	12.6787	19.7851
7			317	11.9844	21.0141
8			312	13.1241	14.121
9			311	13.0241	21.3561
10			286	11.1746	11.5709
11			302	12.8086	15.7328
12			302	8.95978	17.6087
13			316	9.96439	10.1939
14			312	9.59863	14.1695
15			289	8.57352	15.078
16			297	9.51617	11.8398
17			279	9.54658	11.0314
18			303	8.3988	10.4702
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	15.9469
2	309	12.6142	19.9608
3	326	14.091	15.4594
4	322	16.6894	16.9392
5	344	15.9082	15.8082
6	352	12.6787	20.2502
7	317	11.9844	21.2964
8	312	13.1241	20.762
9	311	13.0241	21.0915
10	286	11.1746	11.5597
11	302	12.8086	16.191
12	302	8.95978	11.4861
13	316	9.96439	13.9327
14	312	9.59863	12.2712
15	289	8.57352	10.2055
16	297	9.51617	9.73338
17	279	9.54658	11.0158
18	303	8.3988	11.8134

Performance Results (Detector = AKAZE, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	15.9469
2			309	12.6142	19.9608
3			326	14.091	15.4594
4			322	16.6894	16.9392
5			344	15.9082	15.8082
6			352	12.6787	20.2502
7			317	11.9844	21.2964
8			312	13.1241	20.762
9			311	13.0241	21.0915
10			286	11.1746	11.5597
11			302	12.8086	16.191
12			302	8.95978	11.4861
13			316	9.96439	13.9327
14			312	9.59863	12.2712
15			289	8.57352	10.2055
16			297	9.51617	9.73338
17			279	9.54658	11.0158
18			303	8.3988	11.8134
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = ORB)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	15.9469
2	309	12.6142	19.9608
3	326	14.091	15.4594
4	322	16.6894	16.9392
5	344	15.9082	15.8082
6	352	12.6787	20.2502
7	317	11.9844	21.2964
8	312	13.1241	20.762
9	311	13.0241	21.0915
10	286	11.1746	11.5597
11	302	12.8086	16.191
12	302	8.95978	11.4861
13	316	9.96439	13.9327
14	312	9.59863	12.2712
15	289	8.57352	10.2055
16	297	9.51617	9.73338
17	279	9.54658	11.0158
18	303	8.3988	11.8134

Performance Results (Detector = AKAZE, Descriptor = ORB)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	15.9469
2			309	12.6142	19.9608
3			326	14.091	15.4594
4			322	16.6894	16.9392
5			344	15.9082	15.8082
6			352	12.6787	20.2502
7			317	11.9844	21.2964
8			312	13.1241	20.762
9			311	13.0241	21.0915
10			286	11.1746	11.5597
11			302	12.8086	16.191
12			302	8.95978	11.4861
13			316	9.96439	13.9327
14			312	9.59863	12.2712
15			289	8.57352	10.2055
16			297	9.51617	9.73338
17			279	9.54658	11.0158
18			303	8.3988	11.8134
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	13.0099
2	309	12.6142	15.7044
3	326	14.091	16.028
4	322	16.6894	14.1762
5	344	15.9082	16.2229
6	352	12.6787	14.4455
7	317	11.9844	15.372
8	312	13.1241	20.6109
9	311	13.0241	21.3561
10	286	11.1746	11.8941
11	302	12.8086	12.162
12	302	8.95978	16.9222
13	316	9.96439	10.6851
14	312	9.59863	9.87627
15	289	8.57352	9.89452
16	297	9.51617	13.4374
17	279	9.54658	11.0174
18	303	8.3988	8.79442

Performance Results (Detector = AKAZE, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	13.0099
2			309	12.6142	15.7044
3			326	14.091	16.028
4			322	16.6894	14.1762
5			344	15.9082	16.2229
6			352	12.6787	14.4455
7			317	11.9844	15.372
8			312	13.1241	20.6109
9			311	13.0241	21.3561
10			286	11.1746	11.8941
11			302	12.8086	12.162
12			302	8.95978	16.9222
13			316	9.96439	10.6851
14			312	9.59863	9.87627
15			289	8.57352	9.89452
16			297	9.51617	13.4374
17			279	9.54658	11.0174
18			303	8.3988	8.79442
Experiment has 2 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = AKAZE)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	14.1092
2	309	12.6142	19.3702
3	326	14.091	14.6982
4	322	16.6894	14.2488
5	344	15.9082	16.4623
6	352	12.6787	18.819
7	317	11.9844	16.0062
8	312	13.1241	19.157
9	311	13.0241	19.2298
10	286	11.1746	15.7359
11	302	12.8086	14.7002
12	302	8.95978	13.718
13	316	9.96439	11.0846
14	312	9.59863	13.7665
15	289	8.57352	13.9045
16	297	9.51617	12.4994
17	279	9.54658	10.8614
18	303	8.3988	11.0561

Performance Results (Detector = AKAZE, Descriptor = AKAZE)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	14.1092
2			309	12.6142	19.3702
3			326	14.091	14.6982
4			322	16.6894	14.2488
5			344	15.9082	16.4623
6			352	12.6787	18.819
7			317	11.9844	16.0062
8			312	13.1241	19.157
9			311	13.0241	19.2298
10			286	11.1746	15.7359
11			302	12.8086	14.7002
12			302	8.95978	13.718
13			316	9.96439	11.0846
14			312	9.59863	13.7665
15			289	8.57352	13.9045
16			297	9.51617	12.4994
17			279	9.54658	10.8614
18			303	8.3988	11.0561
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = AKAZE)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	14.1092
2	309	12.6142	19.3702
3	326	14.091	14.6982
4	322	16.6894	14.2488
5	344	15.9082	16.4623
6	352	12.6787	18.819
7	317	11.9844	16.0062
8	312	13.1241	19.157
9	311	13.0241	19.2298
10	286	11.1746	15.7359
11	302	12.8086	14.7002
12	302	8.95978	13.718
13	316	9.96439	11.0846
14	312	9.59863	13.7665
15	289	8.57352	13.9045
16	297	9.51617	12.4994
17	279	9.54658	10.8614
18	303	8.3988	11.0561

Performance Results (Detector = AKAZE, Descriptor = AKAZE)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	14.1092
2			309	12.6142	19.3702
3			326	14.091	14.6982
4			322	16.6894	14.2488
5			344	15.9082	16.4623
6			352	12.6787	18.819
7			317	11.9844	16.0062
8			312	13.1241	19.157
9			311	13.0241	19.2298
10			286	11.1746	15.7359
11			302	12.8086	14.7002
12			302	8.95978	13.718
13			316	9.96439	11.0846
14			312	9.59863	13.7665
15			289	8.57352	13.9045
16			297	9.51617	12.4994
17			279	9.54658	10.8614
18			303	8.3988	11.0561
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = AKAZE, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.1702
2	309	12.6142	19.6201
3	326	14.091	15.4951
4	322	16.6894	16.3802
5	344	15.9082	19.5266
6	352	12.6787	22.9059
7	317	11.9844	15.5453
8	312	13.1241	17.5596
9	311	13.0241	16.7731
10	286	11.1746	12.9801
11	302	12.8086	13.419
12	302	8.95978	13.2617
13	316	9.96439	14.5664
14	312	9.59863	14.3813
15	289	8.57352	14.4444
16	297	9.51617	10.0024
17	279	9.54658	11.0174
18	303	8.3988	10.5579

Performance Results (Detector = AKAZE, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.1702
2			309	12.6142	19.6201
3			326	14.091	15.4951
4			322	16.6894	16.3802
5			344	15.9082	19.5266
6			352	12.6787	22.9059
7			317	11.9844	15.5453
8			312	13.1241	17.5596
9			311	13.0241	16.7731
10			286	11.1746	12.9801
11			302	12.8086	13.419
12			302	8.95978	13.2617
13			316	9.96439	14.5664
14			312	9.59863	14.3813
15			289	8.57352	14.4444
16			297	9.51617	10.0024
17			279	9.54658	11.0174
18			303	8.3988	10.5579
Experiment has 1 result sets
ResultSet has 9 results

Performance Results (Detector = SIFT, Descriptor = BRISK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.2506
3	326	14.091	21.4077
5	344	15.9082	23.9242
7	317	11.9844	15.5788
9	311	13.0241	12.5821
11	302	12.8086	13.6225
13	316	9.96439	9.85855
15	289	8.57352	12.3265
17	279	9.54658	9.47992

Performance Results (Detector = SIFT, Descriptor = BRISK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.2506
3			326	14.091	21.4077
5			344	15.9082	23.9242
7			317	11.9844	15.5788
9			311	13.0241	12.5821
11			302	12.8086	13.6225
13			316	9.96439	9.85855
15			289	8.57352	12.3265
17			279	9.54658	9.47992
Experiment has 1 result sets
ResultSet has 9 results

Performance Results (Detector = SIFT, Descriptor = BRIEF)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.9436
3	326	14.091	15.5012
5	344	15.9082	14.7056
7	317	11.9844	15.1492
9	311	13.0241	12.009
11	302	12.8086	11.9281
13	316	9.96439	9.52669
15	289	8.57352	9.24158
17	279	9.54658	10.8549

Performance Results (Detector = SIFT, Descriptor = BRIEF)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.9436
3			326	14.091	15.5012
5			344	15.9082	14.7056
7			317	11.9844	15.1492
9			311	13.0241	12.009
11			302	12.8086	11.9281
13			316	9.96439	9.52669
15			289	8.57352	9.24158
17			279	9.54658	10.8549
Experiment has 1 result sets
ResultSet has 9 results

Performance Results (Detector = SIFT, Descriptor = FREAK)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	12.0485
3	326	14.091	14.1195
5	344	15.9082	16.4509
7	317	11.9844	15.2205
9	311	13.0241	14.2745
11	302	12.8086	16.9532
13	316	9.96439	11.4831
15	289	8.57352	9.48731
17	279	9.54658	9.40456

Performance Results (Detector = SIFT, Descriptor = FREAK)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	12.0485
3			326	14.091	14.1195
5			344	15.9082	16.4509
7			317	11.9844	15.2205
9			311	13.0241	14.2745
11			302	12.8086	16.9532
13			316	9.96439	11.4831
15			289	8.57352	9.48731
17			279	9.54658	9.40456
Experiment has 1 result sets
ResultSet has 18 results

Performance Results (Detector = SIFT, Descriptor = SIFT)

Frame	Lidar points	TTC Lidar	TTC Camera
1	340	12.5156	11.3868
2	309	12.6142	12.4937
3	326	14.091	12.9327
4	322	16.6894	18.8184
5	344	15.9082	12.4983
6	352	12.6787	11.2969
7	317	11.9844	13.5231
8	312	13.1241	15.0608
9	311	13.0241	12.9662
10	286	11.1746	10.5698
11	302	12.8086	11.2481
12	302	8.95978	10.9771
13	316	9.96439	13.5733
14	312	9.59863	10.5836
15	289	8.57352	9.77464
16	297	9.51617	9.05267
17	279	9.54658	8.69186
18	303	8.3988	8.93007

Performance Results (Detector = SIFT, Descriptor = SIFT)

Frame	Top view perspective of Lidar points showing distance markers	Image with TTC estimates from Lidar and Camera	Lidar points	TTC Lidar	TTC Camera
1			340	12.5156	11.3868
2			309	12.6142	12.4937
3			326	14.091	12.9327
4			322	16.6894	18.8184
5			344	15.9082	12.4983
6			352	12.6787	11.2969
7			317	11.9844	13.5231
8			312	13.1241	15.0608
9			311	13.0241	12.9662
10			286	11.1746	10.5698
11			302	12.8086	11.2481
12			302	8.95978	10.9771
13			316	9.96439	13.5733
14			312	9.59863	10.5836
15			289	8.57352	9.77464
16			297	9.51617	9.05267
17			279	9.54658	8.69186
18			303	8.3988	8.93007