From: Distance estimation with 2.5D anchors and its application to robot navigation

2.5D anchor | Avg. \(\mathbf {IoU}\) | Avg. \(\mathbf {E}_\text {dist}\) | PD (without regression) |
---|---|---|---|

Fixed depth, \(z = 0\) | 0.45 | 1.0 | 0.0 |

Fixed depth, \(z = \bar{z}\) | 0.45 | 0.39 | 0.29 |

Perspective anchor, \(\alpha =3\) | 0.45 | 0.26 | 0.50 |

Perspective anchor, \(\alpha =5\) | 0.45 | 0.27 | 0.49 |

Perspective anchor, \(\alpha =10\) | 0.45 | 0.33 | 0.35 |