| subset | images | heads | AP | R@P99 | recall@thr | prec@thr | FP/img | state acc | red->green | green->red | shape acc | ECE |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| all | 27625 | 71427 | 0.856 | 0.000 | 0.043 | 0.972 | 0.003 | 0.999 | 0 | 2 | 0.949 | 0.005 |
| bosch | 8334 | 11398 | 0.931 | 0.160 | 0.007 | 0.988 | 0.000 | 1.000 | 0 | 0 | 0.952 | 0.010 |
| bosch/day | 8334 | 11398 | 0.931 | 0.160 | 0.007 | 0.988 | 0.000 | 1.000 | 0 | 0 | 0.952 | 0.010 |
| lisa | 18252 | 57649 | 0.840 | 0.000 | 0.042 | 0.967 | 0.005 | 1.000 | 0 | 1 | 0.949 | 0.005 |
| lisa/day | 7473 | 18020 | 0.877 | 0.000 | 0.057 | 0.935 | 0.010 | 1.000 | 0 | 0 | 0.878 | 0.005 |
| lisa/night | 10779 | 39629 | 0.830 | 0.087 | 0.036 | 0.992 | 0.001 | 0.999 | 0 | 1 | 1.000 | 0.004 |
| s2tld | 1039 | 2380 | 0.959 | 0.293 | 0.235 | 0.991 | 0.005 | 0.996 | 0 | 1 | - | 0.003 |

Recall by estimated distance (fraction, heads):

- all: 0-30 m: 0.084 (28298), 30-50 m: 0.024 (24603), 50-70 m: 0.011 (10896), 70-90 m: 0.001 (4789), 90-120 m: 0.000 (2765), 120-inf m: 0.000 (76)
- bosch: 0-30 m: 0.015 (2750), 30-50 m: 0.001 (4547), 50-70 m: 0.014 (2282), 70-90 m: 0.005 (998), 90-120 m: 0.000 (745), 120-inf m: 0.000 (76)
- bosch/day: 0-30 m: 0.015 (2750), 30-50 m: 0.001 (4547), 50-70 m: 0.014 (2282), 70-90 m: 0.005 (998), 90-120 m: 0.000 (745), 120-inf m: 0.000 (76)
- lisa: 0-30 m: 0.075 (23983), 30-50 m: 0.030 (19427), 50-70 m: 0.010 (8447), 70-90 m: 0.000 (3778), 90-120 m: 0.000 (2014), 120-inf m: - (0)
- lisa/day: 0-30 m: 0.060 (6318), 30-50 m: 0.059 (9563), 50-70 m: 0.038 (2139), 70-90 m: - (0), 90-120 m: - (0), 120-inf m: - (0)
- lisa/night: 0-30 m: 0.080 (17665), 30-50 m: 0.001 (9864), 50-70 m: 0.000 (6308), 70-90 m: 0.000 (3778), 90-120 m: 0.000 (2014), 120-inf m: - (0)
- s2tld: 0-30 m: 0.344 (1565), 30-50 m: 0.030 (629), 50-70 m: 0.018 (167), 70-90 m: 0.000 (13), 90-120 m: 0.000 (6), 120-inf m: - (0)