I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
4
3
,
No
.
3
,
Sep
tem
b
er
202
6
,
p
p
.
8
9
8
~
9
0
7
I
SS
N:
2
5
0
2
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
4
3
.i
3
.
pp
898
-
9
07
898
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Ev
ent
-
lev
el ill
eg
a
l parkin
g
det
ectio
n using
Y
O
LOv8
a
nd
SSD
mo
dels
P
ra
chi So
deg
a
o
nk
a
r
1
,
Ra
ha
t
A.
K
ha
n
2
1
D
e
p
a
r
t
me
n
t
o
f
A
r
t
i
f
i
c
i
a
l
I
n
t
e
l
l
i
g
e
n
c
e
a
n
d
M
a
c
h
i
n
e
L
e
a
r
n
i
n
g
,
D
e
o
g
i
r
i
I
n
st
i
t
u
t
e
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
M
a
n
a
g
e
me
n
t
S
t
u
d
i
e
s,
S
a
mb
h
a
j
i
n
a
g
a
r
,
I
n
d
i
a
2
D
e
p
a
r
t
me
n
t
o
f
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
r
i
n
g
,
G.
H
.
R
a
i
s
o
n
i
I
n
t
e
r
n
a
t
i
o
n
a
l
S
k
i
l
l
T
e
c
h
U
n
i
v
e
r
si
t
y
,
P
u
n
e
,
I
n
d
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
15
,
2
0
2
5
R
ev
is
ed
J
u
n
29
,
2
0
2
6
Acc
ep
ted
Au
g
19
,
2
0
2
6
Un
a
u
th
o
rize
d
p
a
rk
i
n
g
i
n
u
rb
a
n
a
r
e
a
s
re
su
lt
s
in
traffic
c
o
n
g
e
stio
n
a
n
d
lea
d
s
t
o
th
e
in
e
fficie
n
t
u
se
o
f
ro
a
d
i
n
fra
st
ru
c
tu
re
.
Th
is
stu
d
y
p
re
se
n
ts
a
n
e
v
e
n
t
-
lev
e
l
il
leg
a
l
p
a
rk
in
g
d
e
tec
ti
o
n
fra
m
e
wo
rk
t
h
a
t
c
o
m
b
i
n
e
s
d
e
e
p
lea
rn
in
g
–
b
a
se
d
o
b
jec
t
d
e
tec
ti
o
n
wit
h
re
g
io
n
-
b
a
s
e
d
tem
p
o
ra
l
lo
g
ic
to
d
ist
in
g
u
ish
tran
sie
n
t
sto
p
s
fro
m
a
c
tu
a
l
p
a
r
k
in
g
v
i
o
lati
o
n
s.
A
c
o
m
p
a
ra
ti
v
e
a
n
a
l
y
sis
o
f
YO
LOv
8
s
a
n
d
sin
g
le
sh
o
t
m
u
lt
ib
o
x
d
e
tec
to
r
(
SSD
)
is
c
o
n
d
u
c
ted
u
sin
g
re
a
l
-
wo
rld
su
rv
e
il
lan
c
e
fo
o
tag
e
s
p
a
n
n
i
n
g
h
ig
h
traffic
d
e
n
sit
y
a
n
d
p
o
o
r
li
g
h
ti
n
g
c
o
n
d
i
ti
o
n
s.
Un
li
k
e
tra
d
it
i
o
n
a
l
a
p
p
r
o
a
c
h
e
s
th
a
t
re
l
y
o
n
h
a
rd
wa
r
e
-
in
ten
siv
e
m
u
lt
i
-
o
b
jec
t
trac
k
in
g
,
o
u
r
m
e
th
o
d
u
ti
li
z
e
s
a
3
0
-
se
c
o
n
d
sta
ti
o
n
a
rit
y
th
re
sh
o
ld
with
in
d
e
si
g
n
a
ted
re
g
i
o
n
s
o
f
in
tere
st
(ROIs
)
to
d
e
tec
t
v
io
lati
o
n
s.
Ex
p
e
rime
n
tal
re
su
lt
s
in
d
ica
te
th
a
t
YO
LOv
8
s
o
u
t
p
e
rfo
rm
s
S
S
D
in
e
n
fo
rc
e
m
e
n
t
re
li
a
b
i
li
ty
,
a
c
h
ie
v
i
n
g
a
Re
c
a
ll
o
f
1
.
0
0
o
n
a
l
i
m
it
e
d
-
sc
a
le
e
v
a
lu
a
ti
o
n
se
t
o
f
1
2
c
o
n
firme
d
v
io
lati
o
n
e
v
e
n
ts
a
n
d
a
n
F
1
-
sc
o
r
e
o
f
0
.
8
9
,
c
o
m
p
a
re
d
wit
h
S
S
D
’
s
Re
c
a
ll
o
f
0
.
6
7
a
n
d
F
1
-
sc
o
re
o
f
0
.
7
7
.
M
o
re
o
v
e
r,
YO
LOv
8
s
a
c
h
iev
e
s
a
n
in
fe
re
n
c
e
sp
e
e
d
o
f
u
p
to
9
7
fra
m
e
s
p
e
r
se
c
o
n
d
(
F
P
S
)
,
we
ll
b
e
y
o
n
d
re
a
l
-
ti
m
e
re
q
u
irem
e
n
ts.
Th
e
se
re
su
lt
s
i
n
d
ica
te
stro
n
g
p
o
ten
ti
a
l
fo
r
re
a
l
-
ti
m
e
il
leg
a
l
p
a
rk
i
n
g
d
e
tec
ti
o
n
u
n
d
e
r
u
rb
a
n
su
rv
e
il
lan
c
e
c
o
n
d
it
io
n
s.
K
ey
w
o
r
d
s
:
I
lleg
al
p
ar
k
in
g
d
etec
tio
n
I
n
tellig
en
t tr
an
s
p
o
r
tatio
n
s
y
s
tem
s
Sin
g
le
s
h
o
t m
u
ltib
o
x
d
etec
to
r
Su
r
v
eillan
ce
v
id
eo
an
aly
s
is
YOL
Ov
8
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Pra
ch
i So
d
eg
ao
n
k
ar
Dep
ar
tm
en
t o
f
Ar
tific
ial
I
n
tellig
en
ce
an
d
Ma
ch
in
e
L
ea
r
n
in
g
Deo
g
ir
i
I
n
s
titu
te
o
f
E
n
g
in
ee
r
in
g
an
d
Ma
n
ag
em
e
n
t Stu
d
ies
C
h
h
atr
ap
ati
Sam
b
h
ajin
ag
a
r
,
Ma
h
ar
ash
tr
a,
I
n
d
ia
E
m
ail:
p
r
ac
h
is
o
d
eg
a
o
n
k
a
r
2
0
0
9
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Ur
b
an
ar
ea
s
in
cr
ea
s
in
g
ly
f
ac
e
tr
af
f
ic
co
n
g
esti
o
n
an
d
p
a
r
k
in
g
m
an
ag
em
en
t
ch
allen
g
es,
an
d
m
an
u
al
en
f
o
r
ce
m
e
n
t
r
em
ain
s
lab
o
r
-
i
n
ten
s
iv
e
an
d
d
if
f
icu
lt
to
s
ca
le.
E
ar
ly
au
t
o
m
ated
a
p
p
r
o
ac
h
es
(
b
ac
k
g
r
o
u
n
d
s
u
b
tr
ac
tio
n
,
m
o
tio
n
d
etec
tio
n
,
h
an
d
cr
a
f
ted
f
ea
tu
r
es)
p
r
o
v
e
d
h
i
g
h
ly
s
en
s
itiv
e
to
illu
m
in
atio
n
an
d
d
y
n
am
ic
b
ac
k
g
r
o
u
n
d
s
;
d
ee
p
lear
n
in
g
h
as
s
in
ce
im
p
r
o
v
ed
d
etec
tio
n
r
o
b
u
s
tn
ess
.
Sin
g
le
-
s
tag
e
d
etec
to
r
s
s
u
ch
as
YOL
O
an
d
s
in
g
le
s
h
o
t
m
u
ltib
o
x
d
ete
cto
r
(
SSD
)
b
ala
n
ce
ac
c
u
r
ac
y
with
r
ea
l
-
tim
e
s
p
ee
d
,
b
u
t
a
d
i
r
ec
t
co
m
p
ar
is
o
n
f
o
r
il
leg
al
p
ar
k
in
g
d
etec
tio
n
r
e
m
ain
s
u
n
d
er
e
x
p
lo
r
ed
.
A
k
e
y
c
h
allen
g
e
is
“
tem
p
o
r
al
a
m
b
ig
u
ity
”
:
d
is
tin
g
u
is
h
in
g
v
eh
icles
b
r
ief
ly
h
alted
b
y
s
ig
n
als
o
r
co
n
g
esti
o
n
f
r
o
m
th
o
s
e
in
v
io
latio
n
,
wh
ich
f
r
am
e
-
l
ev
el
p
r
esen
ce
alo
n
e
ca
n
n
o
t
r
eso
lv
e.
Mu
lti
-
o
b
ject
tr
ac
k
in
g
ca
n
h
elp
b
u
t
ad
d
s
o
v
e
r
h
ea
d
a
n
d
m
ay
f
ail
u
n
d
e
r
o
cc
lu
s
io
n
;
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
in
s
tead
u
s
es
a
lig
h
tweig
h
t,
tr
ac
k
in
g
-
f
r
ee
,
ce
n
t
r
o
id
-
b
ased
d
is
p
lace
m
e
n
t
an
a
ly
s
is
to
d
eter
m
in
e
s
tatio
n
ar
ity
ac
r
o
s
s
f
r
am
es.
T
h
is
s
tu
d
y
in
tr
o
d
u
ce
s
a
n
e
v
e
n
t
-
lev
el
illeg
al
p
a
r
k
in
g
d
etec
t
io
n
f
r
a
m
ewo
r
k
th
at
c
o
m
b
in
es
r
ea
l
-
tim
e
d
ee
p
lear
n
in
g
–
b
ased
v
eh
icle
d
etec
tio
n
with
r
eg
io
n
-
b
ased
t
em
p
o
r
al
r
ea
s
o
n
in
g
.
W
e
co
n
d
u
ct
a
co
m
p
ar
ativ
e
ev
alu
atio
n
o
f
YOL
Ov
8
s
an
d
SS
D
o
n
r
ea
l
-
w
o
r
ld
s
u
r
v
eillan
ce
s
eq
u
en
ce
s
s
p
a
n
n
in
g
h
i
g
h
-
d
en
s
ity
tr
af
f
ic
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
ve
n
t
-
leve
l illeg
a
l p
a
r
kin
g
d
et
ec
tio
n
u
s
in
g
YOLOv8
a
n
d
S
S
D
mo
d
els
(
P
r
a
ch
i S
o
d
eg
a
o
n
ka
r
)
899
lo
w
-
lig
h
t
co
n
d
itio
n
s
,
ev
alu
atin
g
s
y
s
tem
p
er
f
o
r
m
an
ce
at
th
e
ev
en
t
lev
el
u
s
in
g
p
r
ec
is
io
n
,
r
ec
all,
F1
-
s
co
r
e,
an
d
f
r
am
es p
er
s
ec
o
n
d
(
FPS
)
.
C
o
n
tr
ib
u
tio
n
a
n
d
s
ig
n
if
ican
ce
o
f
th
e
s
tu
d
y
:
−
An
ev
en
t
-
lev
el
illeg
al
p
ar
k
in
g
d
etec
tio
n
f
r
am
ewo
r
k
is
d
ev
elo
p
ed
th
at
in
teg
r
ates
d
ee
p
le
ar
n
in
g
–
b
ased
v
eh
icle
d
etec
tio
n
with
r
eg
i
o
n
-
b
ased
tem
p
o
r
al
r
ea
s
o
n
in
g
.
T
h
is
ap
p
r
o
ac
h
en
ab
les
th
e
s
y
s
tem
to
d
if
f
er
en
tiate
b
etwe
en
s
h
o
r
t
-
ter
m
v
eh
icle
s
to
p
s
an
d
g
e
n
u
in
e
p
ar
k
in
g
v
i
o
latio
n
s
in
s
u
r
v
eillan
ce
en
v
ir
o
n
m
en
ts
.
−
A
co
m
p
ar
ativ
e
ev
alu
atio
n
o
f
two
wid
ely
u
s
ed
r
ea
l
-
tim
e
o
b
ject
d
etec
tio
n
ar
ch
itectu
r
es,
YOL
Ov
8
an
d
SS
D,
i
s
co
n
d
u
cted
u
n
d
e
r
id
en
tical
ex
p
er
im
en
tal
co
n
d
itio
n
s
u
s
in
g
r
ea
l
-
wo
r
ld
s
u
r
v
eillan
ce
f
o
o
tag
e,
p
r
o
v
id
i
n
g
in
s
ig
h
ts
in
to
t
h
eir
ef
f
ec
tiv
en
ess
f
o
r
p
a
r
k
in
g
en
f
o
r
c
em
en
t a
p
p
licatio
n
s
.
−
T
h
e
s
tu
d
y
ad
o
p
ts
an
ev
en
t
-
o
r
ien
ted
ev
alu
atio
n
s
tr
ateg
y
i
n
wh
ich
p
ar
k
in
g
v
io
latio
n
s
ar
e
tr
ea
ted
as
b
eh
av
io
r
al
ev
e
n
ts
r
ath
er
th
an
is
o
lated
f
r
am
e
-
lev
el
d
etec
tio
n
s
.
T
h
is
p
r
o
v
id
es
a
m
o
r
e
r
ea
lis
tic
ass
e
s
s
m
en
t
o
f
en
f
o
r
ce
m
en
t
r
eliab
ilit
y
in
in
tellig
en
t tr
an
s
p
o
r
tat
io
n
s
y
s
tem
s
.
−
T
h
e
ex
p
er
im
e
n
tal
r
esu
lts
d
em
o
n
s
tr
ate
th
at
co
m
b
in
in
g
h
i
g
h
-
s
p
ee
d
o
b
ject
d
etec
tio
n
with
lig
h
tweig
h
t
tem
p
o
r
al
a
n
aly
s
is
en
ab
les
r
eliab
le
r
ea
l
-
tim
e
m
o
n
ito
r
i
n
g
,
in
d
icatin
g
th
e
p
r
ac
tical
p
o
ten
tial
o
f
th
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
f
o
r
u
r
b
a
n
t
r
af
f
ic
s
u
r
v
eillan
c
e
a
p
p
licatio
n
s
.
2.
B
A
C
K
G
R
O
U
ND
AN
D
RE
L
A
T
E
D
W
O
R
K
T
h
e
s
t
u
d
y
o
f
il
l
e
g
a
l
p
a
r
k
i
n
g
d
et
e
c
t
i
o
n
h
as
e
v
o
l
v
e
d
f
r
o
m
t
r
a
d
i
ti
o
n
a
l
i
m
a
g
e
p
r
o
c
es
s
i
n
g
t
o
d
e
e
p
l
e
a
r
n
i
n
g
–
b
a
s
e
d
a
p
p
r
o
a
c
h
e
s
.
E
a
r
l
y
m
e
t
h
o
d
s
r
e
l
i
e
d
o
n
b
a
c
k
g
r
o
u
n
d
s
u
b
t
r
a
c
t
i
o
n
a
n
d
m
o
t
i
o
n
a
n
a
l
y
s
i
s
to
d
e
t
e
c
t
s
t
a
ti
o
n
a
r
y
v
e
h
i
c
l
e
s
[
1
]
,
[
2
]
,
w
h
i
l
e
l
a
t
e
r
wo
r
k
i
n
t
e
g
r
a
t
e
d
h
a
n
d
c
r
a
f
t
e
d
v
i
s
u
a
l
f
e
a
t
u
r
e
s
w
it
h
m
a
c
h
i
n
e
l
e
a
r
n
i
n
g
c
l
a
s
s
i
f
i
e
r
s
[
3
]
,
[
4
]
.
A
l
t
h
o
u
g
h
e
f
f
e
c
t
i
v
e
i
n
c
o
n
t
r
o
l
l
e
d
s
e
t
ti
n
g
s
,
t
h
es
e
a
p
p
r
o
a
ch
e
s
p
r
o
v
e
d
h
i
g
h
l
y
s
e
n
s
i
ti
v
e
t
o
l
i
g
h
t
i
n
g
,
s
h
a
d
o
w
s
,
c
a
m
e
r
a
v
i
b
r
a
t
i
o
n
,
a
n
d
d
y
n
a
m
i
c
b
a
c
k
g
r
o
u
n
d
s
,
s
t
r
u
g
g
l
e
d
i
n
c
r
o
w
d
e
d
o
r
c
h
a
n
g
i
n
g
c
o
n
d
i
t
i
o
n
s
,
a
n
d
r
e
q
u
i
r
e
d
m
a
n
u
a
l
f
e
a
t
u
r
e
e
n
g
i
n
e
e
r
i
n
g
t
h
a
t
d
i
d
n
o
t
s
c
a
l
e
w
e
ll
a
c
r
o
s
s
s
u
r
v
e
il
l
a
n
c
e
lo
c
a
t
i
o
n
s
.
A
s
d
e
e
p
l
e
a
r
n
i
n
g
m
a
t
u
r
e
d
,
C
N
N
s
b
e
c
a
m
e
d
o
m
i
n
a
n
t
f
o
r
t
r
a
f
f
i
c
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
.
T
w
o
-
s
t
ag
e
d
e
t
e
c
t
o
r
s
l
i
k
e
Fa
s
t
e
r
R
-
C
N
N
i
m
p
r
o
v
e
d
a
c
c
u
r
a
c
y
b
u
t
w
e
r
e
t
o
o
c
o
s
t
ly
f
o
r
r
e
a
l
-
t
i
m
e
u
s
e
[
5
]
,
f
a
v
o
r
i
n
g
f
a
s
t
e
r
o
n
e
-
s
ta
g
e
d
e
t
e
c
t
o
r
s
.
Y
OL
O
i
s
w
i
d
el
y
u
s
e
d
f
o
r
r
e
a
l
-
ti
m
e
v
e
h
ic
l
e
d
e
t
e
cti
o
n
[
6
]
,
[
7
]
,
w
it
h
s
u
c
c
es
s
i
n
p
a
r
k
i
n
g
m
a
n
a
g
e
m
e
n
t
a
n
d
v
i
o
l
a
t
i
o
n
d
e
t
e
c
t
i
o
n
[
8
]
,
[
9
]
,
t
y
p
i
c
a
l
l
y
w
i
t
h
o
u
t
a
d
d
r
e
s
s
i
n
g
t
e
m
p
o
r
a
l
f
a
c
t
o
r
s
d
i
s
t
i
n
g
u
is
h
i
n
g
b
r
i
e
f
s
t
o
p
s
f
r
o
m
v
i
o
l
a
t
i
o
n
s
.
S
SD
u
s
es
m
u
lt
i
-
s
ca
l
e
f
e
a
t
u
r
e
m
a
p
s
[
1
0
]
a
n
d
r
e
d
u
c
e
s
f
a
ls
e
d
e
t
ec
t
i
o
n
s
,
b
u
t
s
t
r
u
g
g
l
e
s
w
it
h
s
m
al
l
o
r
o
c
c
l
u
d
e
d
v
e
h
i
c
l
es
i
n
c
r
o
w
d
e
d
s
c
e
n
e
s
[
1
1
]
.
T
o
a
d
d
r
e
s
s
f
r
a
m
e
-
l
e
v
el
li
m
i
ta
t
i
o
n
s
,
r
ec
e
n
t
w
o
r
k
i
n
c
o
r
p
o
r
a
t
e
s
t
e
m
p
o
r
a
l
i
n
f
o
r
m
a
t
i
o
n
—
v
i
a
o
b
j
e
ct
t
r
a
c
k
i
n
g
[
1
2
]
,
[
1
3
]
o
r
t
e
m
p
o
r
a
l
-
t
h
r
e
s
h
o
l
d
a
n
d
r
u
l
e
-
b
as
e
d
l
o
g
i
c
[
1
4
]
—
t
h
o
u
g
h
t
r
a
c
k
i
n
g
a
d
d
s
o
v
e
r
h
e
a
d
a
n
d
i
s
s
e
n
s
i
t
i
v
e
t
o
o
c
c
l
u
s
i
o
n
.
D
i
r
e
c
t
,
s
y
s
te
m
a
t
i
c
c
o
m
p
a
r
is
o
n
s
b
e
t
w
ee
n
Y
O
L
O
-
b
a
s
e
d
d
e
t
e
ct
o
r
s
a
n
d
S
S
D
u
s
i
n
g
r
e
g
i
o
n
-
b
a
s
e
d
t
e
m
p
o
r
a
l
l
o
g
i
c
r
e
m
a
i
n
li
m
i
t
e
d
,
p
a
r
t
ic
u
l
a
r
l
y
a
c
r
o
s
s
v
a
r
ie
d
c
o
n
d
i
t
i
o
n
s
a
n
d
e
v
e
n
t
-
l
e
v
e
l
(
r
a
t
h
e
r
t
h
a
n
f
r
a
m
e
-
l
e
v
e
l
o
r
o
c
c
u
p
a
n
c
y
-
b
a
s
e
d
)
m
e
t
r
i
c
s
,
m
o
ti
v
a
t
i
n
g
t
h
e
p
r
es
e
n
t
e
v
a
lu
a
t
i
o
n
.
R
e
c
e
n
t
it
e
r
a
ti
o
n
s
o
f
Y
O
L
O
(
v
4
,
v
7
,
v
8
)
h
a
v
e
f
u
r
t
h
e
r
i
m
p
r
o
v
e
d
d
e
t
e
c
t
i
o
n
a
c
c
u
r
a
c
y
w
h
i
l
e
p
r
e
s
e
r
v
i
n
g
r
e
a
l
-
t
i
m
e
p
e
r
f
o
r
m
a
n
c
e
[
1
5
]
–
[
1
7
]
,
a
n
d
s
u
r
v
e
y
s
c
o
n
f
i
r
m
t
h
e
s
u
i
t
a
b
i
l
it
y
o
f
s
i
n
g
l
e
-
s
t
a
g
e
d
e
t
e
ct
o
r
s
f
o
r
i
n
t
e
l
l
i
g
e
n
t
t
r
a
n
s
p
o
r
t
a
ti
o
n
a
p
p
l
i
c
a
ti
o
n
s
[
1
8
]
.
O
t
h
e
r
s
t
u
d
i
es
r
e
p
o
r
t
r
o
b
u
s
t
d
e
e
p
l
e
a
r
n
i
n
g
–
b
a
s
e
d
v
e
h
ic
l
e
d
ete
c
t
i
o
n
a
n
d
t
r
a
c
k
i
n
g
a
c
r
o
s
s
v
a
r
y
i
n
g
t
r
a
f
f
i
c
d
e
n
s
it
i
es
a
n
d
il
l
u
m
i
n
a
ti
o
n
[
1
9
]
,
[
2
0
]
,
a
n
d
s
e
v
e
r
a
l
h
a
v
e
i
n
v
es
t
i
g
a
te
d
v
i
s
i
o
n
-
b
a
s
e
d
i
l
le
g
a
l
p
a
r
k
i
n
g
a
n
d
p
a
r
k
i
n
g
-
m
a
n
a
g
e
m
e
n
t
s
y
s
t
e
m
s
[
2
1
]
,
[
2
2
]
,
a
f
f
i
r
m
i
n
g
t
h
e
b
r
o
a
d
e
r
e
f
f
e
c
t
i
v
e
n
e
s
s
o
f
d
e
e
p
l
e
a
r
n
i
n
g
f
o
r
a
u
t
o
m
a
t
e
d
e
n
f
o
r
c
e
m
e
n
t
[
2
3
]
-
[
2
5
]
.
3.
M
E
T
H
O
D
T
h
i
s
s
e
c
ti
o
n
o
u
t
l
i
n
es
t
h
e
p
r
o
p
o
s
e
d
f
r
a
m
e
w
o
r
k
f
o
r
i
d
e
n
t
i
f
y
i
n
g
i
l
l
e
g
al
p
a
r
k
i
n
g
t
h
r
o
u
g
h
t
h
e
ex
a
m
i
n
a
t
i
o
n
o
f
s
u
r
v
e
i
l
l
a
n
c
e
v
i
d
e
o
d
a
t
a
.
T
h
e
m
e
t
h
o
d
o
l
o
g
y
i
s
s
t
r
u
c
t
u
r
e
d
i
n
t
o
t
h
r
e
e
f
u
n
d
a
m
e
n
t
a
l
s
t
a
g
es
:
t
h
e
d
et
e
c
ti
o
n
o
f
v
e
h
i
c
l
e
s
,
t
h
e
a
p
p
l
i
c
at
i
o
n
o
f
r
e
g
i
o
n
-
b
a
s
e
d
s
p
a
ti
a
l
f
il
t
e
r
i
n
g
,
a
n
d
t
h
e
a
s
s
e
s
s
m
e
n
t
o
f
il
l
e
g
a
l
p
a
r
k
i
n
g
t
h
r
o
u
g
h
t
e
m
p
o
r
a
l
l
o
g
i
c
.
A
c
o
m
p
a
r
a
t
i
v
e
a
n
a
l
y
s
is
is
c
o
n
d
u
c
t
e
d
u
t
i
l
iz
i
n
g
tw
o
d
e
e
p
l
e
a
r
n
i
n
g
–
b
a
s
e
d
o
b
j
e
ct
d
et
e
c
t
i
o
n
m
o
d
e
l
s
,
Y
O
L
O
v
8
a
n
d
SSD
,
u
n
d
e
r
i
d
e
n
ti
c
a
l
e
x
p
e
r
i
m
e
n
t
a
l
c
o
n
d
i
ti
o
n
s
.
3
.
1
.
S
y
s
t
e
m
o
v
e
r
v
i
e
w
F
i
g
u
r
e
1
i
l
l
u
s
t
r
a
te
s
t
h
e
o
v
e
r
al
l
s
y
s
te
m
a
r
c
h
it
e
c
t
u
r
e
f
o
r
i
ll
e
g
a
l
p
a
r
k
i
n
g
d
e
t
e
c
t
i
o
n
u
s
i
n
g
d
e
e
p
l
ea
r
n
i
n
g
a
n
d
t
e
m
p
o
r
a
l
l
o
g
i
c
.
T
h
e
p
i
p
e
li
n
e
ex
t
r
a
c
t
s
f
r
a
m
es
f
r
o
m
t
h
e
v
i
d
e
o
s
t
r
e
a
m
,
a
p
p
l
ie
s
d
e
e
p
le
a
r
n
i
n
g
m
o
d
e
l
s
t
o
l
o
c
a
li
z
e
o
b
j
e
c
t
s
,
f
i
l
te
r
s
d
et
e
c
ti
o
n
s
s
p
a
ti
a
l
l
y
t
o
is
o
l
a
t
e
v
e
h
i
c
le
s
i
n
h
ig
h
-
r
i
s
k
“
no
-
p
a
r
k
i
n
g
”
a
r
e
as
,
an
d
f
i
n
a
l
l
y
a
p
p
l
ie
s
a
t
e
m
p
o
r
a
l
l
o
g
i
c
e
n
g
i
n
e
t
o
d
et
e
r
m
i
n
e
w
h
e
t
h
e
r
s
t
a
ti
o
n
a
r
y
p
r
e
s
e
n
c
e
c
o
n
s
t
it
u
t
es
a
b
r
i
e
f
s
t
o
p
o
r
a
v
i
o
l
a
t
i
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
4
3
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
8
9
8
-
9
0
7
900
F
i
g
u
r
e
1
.
S
y
s
t
e
m
a
r
c
h
it
e
c
t
u
r
e
f
o
r
d
e
t
e
c
t
i
n
g
i
ll
e
g
a
l
p
a
r
k
i
n
g
u
t
ili
z
i
n
g
d
e
e
p
l
e
a
r
n
i
n
g
-
b
a
s
e
d
v
e
h
ic
l
e
d
e
t
e
ct
i
o
n
a
n
d
r
e
g
i
o
n
-
b
a
s
e
d
t
e
m
p
o
r
a
l
l
o
g
i
c
3
.
2
.
V
e
h
i
c
le
d
e
t
ec
t
i
o
n
u
s
i
n
g
d
e
e
p
l
e
a
r
ni
n
g
T
h
e
v
e
h
i
c
l
e
d
e
t
e
c
t
i
o
n
p
h
a
s
e
em
p
l
o
y
s
t
w
o
o
n
e
-
s
t
a
g
e
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
m
o
d
e
l
s
,
c
h
o
s
e
n
f
o
r
t
h
e
i
r
h
i
g
h
-
s
p
e
e
d
i
n
f
e
r
e
n
c
e
a
n
d
l
o
c
a
li
z
a
tio
n
a
c
c
u
r
a
c
y
:
Y
O
L
O
v
8
f
r
a
m
es
d
e
t
e
c
ti
o
n
a
s
a
s
i
n
g
l
e
r
e
g
r
e
s
s
i
o
n
t
as
k
,
d
i
r
e
c
t
l
y
p
r
e
d
i
c
t
i
n
g
b
o
u
n
d
i
n
g
b
o
x
e
s
a
n
d
c
l
a
s
s
p
r
o
b
a
b
i
li
t
ie
s
f
o
r
r
ap
i
d
,
l
o
w
-
l
a
t
e
n
c
y
i
n
f
e
r
e
n
c
e;
SS
D
i
n
s
t
e
a
d
a
p
p
l
ie
s
c
o
n
v
o
l
u
t
i
o
n
a
l
f
i
l
te
r
s
o
v
e
r
m
u
lt
i
-
s
c
a
l
e
f
e
a
t
u
r
e
m
a
p
s
,
e
n
a
b
l
i
n
g
d
e
t
e
c
t
i
o
n
o
f
b
o
t
h
d
is
t
a
n
t
a
n
d
n
ea
r
b
y
v
e
h
i
c
l
e
s
.
B
o
t
h
n
e
t
w
o
r
k
s
a
r
e
i
n
i
t
i
al
i
z
e
d
w
i
t
h
p
r
e
-
t
r
a
i
n
e
d
M
S
C
O
C
O
w
ei
g
h
t
s
v
i
a
t
r
a
n
s
f
e
r
l
e
a
r
n
i
n
g
,
a
n
d
d
e
t
e
ct
i
o
n
s
a
r
e
f
i
l
t
e
r
e
d
t
o
r
e
t
a
i
n
o
n
l
y
v
e
h
i
c
l
e
ca
t
e
g
o
r
i
es
(
c
a
r
s
,
m
o
t
o
r
c
y
c
l
es
,
b
u
s
es
,
t
r
u
c
k
s
)
t
o
r
e
d
u
c
e
f
a
ls
e
a
la
r
m
s
a
n
d
co
m
p
u
t
a
t
i
o
n
a
l
c
o
s
t.
S
S
D
w
as
s
el
e
c
t
e
d
as
a
b
a
s
e
l
i
n
e
b
e
c
a
u
s
e
i
t
r
e
m
a
i
n
s
a
w
i
d
el
y
u
s
e
d
,
l
o
w
-
o
v
e
r
h
e
a
d
r
e
a
l
-
t
i
m
e
d
e
t
e
c
t
o
r
i
n
e
m
b
e
d
d
e
d
v
i
s
i
o
n
s
y
s
t
e
m
s
,
p
r
o
v
i
d
i
n
g
a
r
e
p
r
es
e
n
t
a
ti
v
e
p
o
i
n
t
o
f
c
o
m
p
a
r
is
o
n
f
o
r
e
v
a
l
u
at
i
n
g
t
h
e
i
m
p
r
o
v
e
m
e
n
ts
i
n
t
r
o
d
u
c
e
d
b
y
m
o
r
e
r
e
c
e
n
t
a
r
c
h
i
t
e
c
t
u
r
es
s
u
c
h
a
s
Y
O
L
O
v
8
.
T
h
i
s
a
ll
o
ws
t
h
e
s
t
u
d
y
t
o
a
n
a
l
y
z
e
p
e
r
f
o
r
m
a
n
c
e
d
i
f
f
e
r
e
n
c
e
s
b
et
w
e
e
n
e
a
r
l
ie
r
a
n
ch
o
r
-
b
a
s
e
d
a
n
d
n
e
w
e
r
a
n
c
h
o
r
-
f
r
e
e
d
e
t
e
ct
o
r
s
u
n
d
e
r
i
d
e
n
t
i
c
al
c
o
n
d
i
t
i
o
n
s
,
t
h
o
u
g
h
w
e
a
c
k
n
o
w
l
e
d
g
e
SS
D
’
s
a
g
e
r
e
l
a
ti
v
e
t
o
Y
O
L
O
v
8
as
a
li
m
i
t
at
i
o
n
o
n
c
o
m
p
a
r
i
s
o
n
f
a
i
r
n
e
s
s
.
3
.
3
.
R
e
g
i
o
n
-
b
a
s
e
d
p
a
r
ki
n
g
zo
n
e
d
e
f
in
i
t
i
o
n
T
o
r
e
d
u
c
e
f
a
ls
e
p
o
s
i
t
i
v
es
f
r
o
m
a
c
t
i
v
e
t
r
a
f
f
i
c
l
a
n
es
,
t
h
e
f
r
am
e
w
o
r
k
s
e
g
m
e
n
ts
ea
c
h
v
i
d
e
o
f
r
a
m
e
i
n
t
o
p
r
e
d
e
f
i
n
e
d
r
e
g
i
o
n
s
o
f
i
n
t
e
r
es
t
(
R
O
I
)
c
o
r
r
es
p
o
n
d
i
n
g
t
o
r
e
s
t
r
i
c
t
e
d
r
o
a
d
s
i
d
e
s
o
r
n
o
-
p
a
r
k
i
n
g
a
r
e
a
s
,
i
n
f
o
r
m
e
d
b
y
c
a
m
e
r
a
p
e
r
s
p
e
ct
i
v
e
,
u
r
b
a
n
l
a
y
o
u
t
,
a
n
d
l
o
c
a
l
p
a
r
k
i
n
g
r
e
g
u
l
a
t
io
n
s
.
T
h
e
s
y
s
t
e
m
c
o
m
p
u
t
es
t
h
e
g
e
o
m
e
t
r
i
c
c
e
n
t
r
o
i
d
(
x
,
y
)
o
f
i
ts
b
o
u
n
d
i
n
g
b
o
x
;
o
n
l
y
v
e
h
i
c
l
es
w
h
o
s
e
c
e
n
t
r
o
i
d
f
al
ls
w
i
t
h
i
n
a
p
a
r
k
i
n
g
z
o
n
e
’
s
p
o
l
y
g
o
n
a
l
b
o
u
n
d
a
r
y
e
n
t
e
r
t
h
e
t
e
m
p
o
r
a
l
a
n
a
l
y
s
i
s
p
i
p
e
li
n
e
,
e
x
e
m
p
t
i
n
g
a
c
t
i
v
e
t
r
a
n
s
i
t
l
a
n
es
a
n
d
r
e
d
u
c
i
n
g
c
o
m
p
u
t
a
t
i
o
n
a
l
l
o
a
d
a
n
d
e
r
r
o
n
e
o
u
s
d
e
t
e
c
t
i
o
n
s
.
W
h
il
e
t
h
e
R
O
I
s
we
r
e
d
e
f
i
n
e
d
b
a
s
e
d
o
n
s
c
e
n
e
-
s
p
e
c
i
f
i
c
c
o
n
s
t
r
a
i
n
ts
,
t
h
e
a
p
p
r
o
a
c
h
i
s
g
e
n
e
r
a
l
iz
a
b
l
e
a
c
r
o
s
s
d
i
f
f
e
r
e
n
t
c
a
m
e
r
a
p
e
r
s
p
e
c
t
i
v
es
b
y
a
d
a
p
t
i
n
g
r
e
g
i
o
n
b
o
u
n
d
a
r
i
e
s
a
c
c
o
r
d
i
n
g
t
o
t
h
e
g
e
o
m
e
t
r
i
c
l
a
y
o
u
t
o
f
t
h
e
s
u
r
v
e
i
l
l
a
n
ce
e
n
v
i
r
o
n
m
e
n
t
.
3
.
4
.
T
e
mp
o
r
a
l
l
o
g
i
c
f
o
r
i
l
l
e
g
a
l
p
a
r
ki
n
g
d
e
t
e
c
t
i
o
n
C
o
n
v
en
tio
n
al
o
b
ject
d
etec
tio
n
m
eth
o
d
s
ar
e
f
u
n
d
am
e
n
tally
in
ad
eq
u
ate
f
o
r
id
en
tif
y
in
g
p
ar
k
in
g
v
io
latio
n
s
,
as
th
ey
lack
th
e
ca
p
ab
ilit
y
to
d
if
f
er
e
n
tiate
b
etwe
en
illeg
al
s
tatio
n
ar
y
v
eh
icles
an
d
tem
p
o
r
ar
y
s
to
p
s
r
esu
ltin
g
f
r
o
m
tr
af
f
ic
s
ig
n
als,
p
ed
estrian
cr
o
s
s
in
g
s
,
o
r
co
n
g
e
s
tio
n
.
T
o
ad
d
r
ess
th
is
lim
itati
o
n
,
th
e
f
r
am
ew
o
r
k
in
co
r
p
o
r
ates
a
tem
p
o
r
al
lo
g
ic
en
g
in
e
s
p
ec
if
ically
d
esig
n
ed
to
ass
ess
v
eh
icle
b
eh
a
v
io
r
a
cr
o
s
s
a
co
n
tin
u
o
u
s
tim
e
-
s
er
ies.
T
h
e
s
y
s
t
e
m
m
o
n
it
o
r
s
t
h
e
t
r
a
j
e
ct
o
r
y
o
f
t
h
e
g
e
o
m
e
t
r
i
c
ce
n
t
r
o
i
d
(
x
,
y
)
f
o
r
e
a
c
h
v
e
h
i
c
l
e
i
d
e
n
t
i
f
i
e
d
w
i
t
h
i
n
t
h
e
p
r
e
-
d
e
f
i
n
e
d
R
O
I
a
c
r
o
s
s
s
e
q
u
en
t
i
a
l
f
r
a
m
es
.
T
h
e
c
la
s
s
i
f
i
ca
t
i
o
n
o
f
a
p
a
r
k
i
n
g
i
n
f
r
a
ct
i
o
n
is
d
e
t
e
r
m
i
n
e
d
b
y
tw
o
p
r
i
m
a
r
y
p
a
r
a
m
e
t
e
r
s
:
−
S
p
a
t
i
al
d
i
s
p
l
ac
e
m
e
n
t
t
h
r
es
h
o
ld
(
∆
d
)
:
t
h
e
s
y
s
t
e
m
o
b
s
e
r
v
es
th
e
c
e
n
t
r
o
i
d
’
s
m
o
v
e
m
e
n
t
b
e
t
we
e
n
c
o
n
s
e
c
u
t
i
v
e
f
r
a
m
e
s
.
W
h
e
n
t
h
e
d
i
s
p
l
a
c
e
m
en
t
i
s
b
e
l
o
w
a
d
e
f
i
n
e
d
m
i
n
i
m
u
m
p
i
x
e
l
t
h
r
es
h
o
l
d
(
≈
0
)
,
t
h
e
v
e
h
ic
l
e
is
c
l
a
s
s
i
f
ie
d
a
s
“
p
o
t
e
n
t
i
a
ll
y
s
ta
t
i
o
n
a
r
y
.
”
−
T
e
m
p
o
r
a
l
l
i
m
it
(
)
:
a
v
i
o
l
at
i
o
n
is
i
n
i
t
i
at
e
d
o
n
l
y
w
h
e
n
t
h
e
c
o
n
d
i
t
io
n
o
f
s
t
a
t
i
o
n
a
r
i
t
y
p
e
r
s
i
s
t
s
c
o
n
t
in
u
o
u
s
l
y
f
o
r
a
p
e
r
i
o
d
e
x
c
e
e
d
i
n
g
a
s
p
e
c
i
f
ie
d
t
i
m
e
t
h
r
es
h
o
l
d
(
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
ve
n
t
-
leve
l illeg
a
l p
a
r
kin
g
d
et
ec
tio
n
u
s
in
g
YOLOv8
a
n
d
S
S
D
mo
d
els
(
P
r
a
ch
i S
o
d
eg
a
o
n
ka
r
)
901
O
n
t
h
e
o
t
h
e
r
h
a
n
d
,
v
e
h
i
c
l
e
s
t
h
at
e
i
t
h
e
r
t
r
a
v
e
r
s
e
a
d
i
s
t
a
n
c
e
g
r
e
at
e
r
t
h
a
n
o
r
d
e
p
a
r
t
f
r
o
m
t
h
e
R
O
I
p
r
i
o
r
t
o
t
h
e
e
x
p
i
r
a
t
i
o
n
o
f
t
h
e
ti
m
e
l
im
i
t
a
r
e
c
a
t
e
g
o
r
i
z
e
d
a
s
“
t
r
a
n
s
ie
n
t
l
y
s
t
o
p
p
e
d
”
a
n
d
e
x
c
l
u
d
e
d
f
r
o
m
v
i
o
l
a
t
i
o
n
r
e
c
o
r
d
s
,
e
n
s
u
r
i
n
g
e
n
f
o
r
c
e
m
e
n
t
t
a
r
g
e
t
s
o
n
l
y
v
e
h
i
c
l
es
wi
t
h
ex
t
e
n
d
e
d
i
m
m
o
b
i
l
i
t
y
a
n
d
r
e
d
u
c
i
n
g
f
a
l
s
e
p
o
s
i
ti
v
e
s
.
I
n
m
a
n
y
u
r
b
a
n
p
a
r
k
i
n
g
r
e
g
u
l
a
t
i
o
n
s
,
b
r
i
e
f
s
t
o
p
p
i
n
g
i
n
t
e
r
v
a
l
s
s
u
c
h
a
s
p
a
s
s
e
n
g
e
r
d
r
o
p
-
o
f
f
s
a
r
e
t
o
l
e
r
a
t
e
d
,
w
h
e
r
e
a
s
p
r
o
l
o
n
g
e
d
s
t
a
t
i
o
n
a
r
y
p
r
e
s
e
n
c
e
ty
p
i
c
a
l
l
y
i
n
d
i
c
at
e
s
a
v
i
o
la
t
i
o
n
.
T
h
e
3
0
-
s
e
c
o
n
d
t
h
r
e
s
h
o
l
d
w
a
s
ch
o
s
e
n
t
o
d
i
s
t
i
n
g
u
is
h
s
h
o
r
t
t
r
a
f
f
i
c
-
o
r
s
i
g
n
a
l
-
r
e
l
a
te
d
s
t
o
p
s
f
r
o
m
g
e
n
u
i
n
e
v
i
o
l
a
t
i
o
n
s
.
T
h
e
t
h
r
e
s
h
o
l
d
i
s
d
e
s
i
g
n
e
d
t
o
b
e
a
d
j
u
s
t
a
b
l
e
t
o
l
o
c
a
l
r
e
g
u
l
a
t
i
o
n
s
,
wi
t
h
s
t
r
i
ct
e
r
“
no
-
s
to
p
p
i
n
g
”
z
o
n
e
s
w
a
r
r
a
n
t
i
n
g
s
h
o
r
te
r
t
h
r
e
s
h
o
l
d
s
a
n
d
“
no
-
p
a
r
k
i
n
g
”
z
o
n
e
s
l
o
n
g
e
r
o
n
e
s
.
3
.
5
.
C
o
mp
a
r
a
t
i
v
e
e
v
a
l
u
a
t
i
o
n
f
r
a
me
w
o
r
k
YOL
Ov
8
an
d
SS
D
ar
e
ass
ess
ed
u
n
d
er
id
en
tical
c
o
n
d
i
tio
n
s
:
s
y
n
ch
r
o
n
ized
v
id
eo
s
eq
u
en
ce
s
,
s
tan
d
ar
d
ized
R
OI
d
ef
in
itio
n
s
,
an
d
co
n
s
is
ten
t
tem
p
o
r
al
th
r
esh
o
ld
s
.
E
a
c
h
m
o
d
e
l
’
s
p
e
r
f
o
r
m
a
n
c
e
i
s
e
v
a
l
u
a
t
e
d
i
n
d
e
p
e
n
d
e
n
t
l
y
a
t
t
h
e
e
v
e
n
t
l
e
v
e
l
,
w
it
h
e
a
c
h
v
e
h
i
c
l
e
’
s
p
r
e
s
e
n
c
e
i
n
a
r
e
s
t
r
i
c
t
e
d
z
o
n
e
t
r
e
a
t
e
d
a
s
a
d
is
t
i
n
ct
e
x
p
e
r
i
m
e
n
t
a
l
e
v
e
n
t
r
at
h
e
r
t
h
a
n
a
s
i
m
p
l
e
a
g
g
r
e
g
a
t
i
o
n
o
f
f
r
a
m
e
s
.
T
h
e
e
v
a
l
u
a
t
i
o
n
e
m
p
l
o
y
s
a
c
o
m
p
r
e
h
e
n
s
i
v
e
s
e
t
o
f
p
e
r
f
o
r
m
a
n
c
e
m
e
t
r
i
c
s
t
o
as
s
e
s
s
t
h
e
m
o
d
e
l
s
a
cr
o
s
s
t
h
r
ee
p
r
i
m
a
r
y
d
o
m
a
i
n
s
:
a
c
c
u
r
a
c
y
,
r
eli
a
b
i
l
it
y
,
a
n
d
o
p
e
r
a
t
i
o
n
a
l
v
i
a
b
il
i
ty
.
T
h
e
m
e
t
r
i
c
s
i
n
c
l
u
d
e
,
−
D
e
t
e
c
ti
o
n
a
c
c
u
r
a
c
y
:
a
s
s
ess
e
d
u
s
i
n
g
p
r
e
c
i
s
i
o
n
,
r
e
c
a
l
l
,
a
n
d
t
h
e
F
1
-
s
c
o
r
e
t
o
e
v
a
l
u
at
e
t
h
e
m
o
d
e
ls
’
e
f
f
e
c
t
i
v
e
n
ess
i
n
a
c
c
u
r
a
t
e
l
y
i
d
e
n
t
i
f
y
i
n
g
v
i
o
l
a
to
r
s
w
h
i
l
e
m
i
n
i
m
i
zi
n
g
f
a
l
s
e
p
o
s
i
t
i
v
es
.
−
Op
er
atio
n
al
r
o
b
u
s
tn
ess
:
e
v
al
u
ated
th
r
o
u
g
h
t
h
e
u
s
e
o
f
a
co
n
f
u
s
io
n
m
atr
ix
an
d
a
co
m
p
r
eh
en
s
iv
e
f
alse
d
etec
tio
n
an
aly
s
is
,
aim
ed
at
u
n
d
er
s
tan
d
in
g
m
o
d
el
b
eh
a
v
io
r
u
n
d
er
c
h
allen
g
i
n
g
en
v
i
r
o
n
m
e
n
tal
co
n
d
itio
n
s
.
−
R
ea
l
-
tim
e
ap
p
licab
ilit
y
:
a
s
s
es
s
ed
b
y
ev
al
u
atin
g
th
e
p
r
o
ce
s
s
in
g
s
p
ee
d
,
m
ea
s
u
r
ed
i
n
FPS
,
to
ascer
tain
th
e
m
o
d
el
’
s
ap
p
r
o
p
r
iate
n
ess
f
o
r
i
m
p
lem
en
tatio
n
in
liv
e
s
m
ar
t c
i
ty
s
u
r
v
eillan
ce
in
f
r
astru
ctu
r
es.
T
h
is
s
y
s
tem
atic
f
r
am
ewo
r
k
en
ab
l
es
a
th
o
r
o
u
g
h
co
m
p
ar
is
o
n
o
f
th
e
tr
ad
e
-
o
f
f
s
b
etwe
en
d
etec
tio
n
s
en
s
itiv
ity
an
d
co
m
p
u
tatio
n
al
ef
f
icien
cy
,
th
er
e
b
y
o
f
f
er
in
g
a
tech
n
ical
f
o
u
n
d
atio
n
f
o
r
s
elec
tin
g
th
e
m
o
s
t
s
u
itab
le
ar
ch
itectu
r
e
f
o
r
au
to
m
ated
tr
af
f
ic
en
f
o
r
ce
m
e
n
t.
3
.
6
.
I
mp
l
e
me
n
t
a
t
i
o
n
d
e
t
a
il
s
T
h
e
s
y
s
tem
is
im
p
lem
en
ted
in
Py
th
o
n
,
u
s
in
g
Op
en
C
V
f
o
r
v
id
eo
s
tr
ea
m
h
an
d
lin
g
an
d
f
r
am
e
ex
tr
ac
tio
n
,
Py
T
o
r
ch
with
th
e
Ultr
aly
tics
im
p
lem
en
tatio
n
f
o
r
YOL
Ov
8
,
an
d
T
en
s
o
r
Flo
w/Ker
as
f
o
r
SS
D.
All e
x
p
er
im
en
ts
ar
e
p
e
r
f
o
r
m
e
d
with
in
a
s
tan
d
ar
d
i
ze
d
co
m
p
u
tatio
n
al
en
v
ir
o
n
m
en
t:
−
Har
d
war
e
co
n
f
ig
u
r
atio
n
:
t
h
e
s
y
s
tem
is
co
n
f
i
g
u
r
ed
o
n
a
wo
r
k
s
tatio
n
f
ea
tu
r
in
g
an
I
n
tel
C
o
r
e
i7
C
PU
an
d
an
NVI
DI
A
GeFo
r
ce
R
T
X
3
0
-
s
er
ies
GPU.
T
h
is
s
etu
p
f
ac
ilit
ates
h
ar
d
war
e
ac
ce
ler
atio
n
th
r
o
u
g
h
C
UDA
an
d
cu
DNN
k
er
n
els,
th
er
eb
y
o
p
tim
izin
g
in
f
er
e
n
ce
laten
cy
.
−
So
f
twar
e
en
v
ir
o
n
m
en
t:
th
e
i
m
p
le
m
en
tatio
n
em
p
lo
y
s
C
UDA
1
1
.
8
a
n
d
Py
th
o
n
3
.
1
0
,
with
m
o
d
el
weig
h
ts
in
itialized
f
r
o
m
MS
C
OC
O
p
r
e
-
tr
ain
ed
c
h
ec
k
p
o
in
ts
to
estab
lis
h
a
s
tan
d
ar
d
ized
b
aselin
e
f
o
r
f
ea
tu
r
e
ex
tr
ac
tio
n
.
−
E
x
ec
u
tio
n
p
a
r
am
eter
s
:
v
id
eo
p
r
o
ce
s
s
in
g
is
co
n
d
u
cted
at
a
n
ativ
e
r
eso
lu
tio
n
o
f
1
2
8
0
×7
2
0
p
ix
els,
with
th
e
tem
p
o
r
al
l
o
g
ic
e
n
g
in
e
f
u
n
ctio
n
in
g
at
a
s
am
p
lin
g
r
ate
th
at
is
s
y
n
ch
r
o
n
ize
d
with
th
e
f
r
am
e
r
ate
o
f
th
e
s
o
u
r
ce
f
o
o
tag
e.
4.
E
X
P
E
RIM
E
NT
AL
SE
T
U
P
T
h
i
s
s
e
c
ti
o
n
o
u
t
l
i
n
es
t
h
e
d
a
ta
s
e
t
u
s
e
d
f
o
r
e
x
p
e
r
i
m
e
n
ta
t
i
o
n
,
t
h
e
e
x
p
e
r
i
m
e
n
t
a
l
s
e
t
u
p
,
a
n
d
t
h
e
e
v
a
l
u
a
t
i
o
n
p
r
o
t
o
c
o
l
e
m
p
l
o
y
e
d
t
o
a
s
s
e
s
s
t
h
e
p
e
r
f
o
r
m
a
n
c
e
o
f
Y
O
L
O
v
8
a
n
d
S
S
D
i
n
d
e
t
e
c
ti
n
g
i
l
le
g
a
l
p
a
r
k
i
n
g
.
4
.
1
.
D
a
t
a
s
e
t
d
es
c
r
ip
t
i
o
n
P
e
r
f
o
r
m
a
n
c
e
i
s
e
v
a
l
u
a
t
e
d
u
s
i
n
g
t
h
e
I
S
L
a
b
-
P
V
D
(
I
l
l
e
g
a
l
l
y
P
a
r
k
e
d
V
e
h
i
c
l
e
D
a
t
a
s
e
t
)
,
a
s
s
e
m
b
l
e
d
f
r
o
m
s
t
a
t
i
o
n
a
r
y
C
C
T
V
f
o
o
t
a
g
e
a
c
r
o
s
s
v
a
r
i
o
u
s
u
r
b
a
n
r
o
a
d
s
e
t
t
i
n
g
s
.
O
f
t
h
e
1
6
s
e
q
u
e
n
c
e
s
i
n
t
h
e
f
u
l
l
r
e
p
o
s
i
t
o
r
y
,
t
h
i
s
s
t
u
d
y
u
s
e
s
a
s
u
b
s
e
t
o
f
1
1
,
s
e
l
e
c
t
e
d
t
o
t
e
s
t
t
h
e
t
e
m
p
o
r
a
l
l
o
g
i
c
e
n
g
i
n
e
a
n
d
d
e
t
e
c
t
i
o
n
m
o
d
e
l
s
a
c
r
o
s
s
t
h
e
f
o
l
l
o
w
i
n
g
v
a
r
i
a
b
l
e
s
:
−
E
n
v
i
r
o
n
m
e
n
t
a
l
v
a
r
i
a
b
i
l
it
y
:
l
u
m
i
n
o
s
i
t
y
r
a
n
g
e
s
f
r
o
m
h
i
g
h
-
c
o
n
t
r
a
s
t
d
a
y
l
i
g
h
t
(
I
S
L
a
b
-
0
4
)
t
o
l
o
w
-
l
i
g
h
t
a
n
d
n
i
g
h
t
t
i
m
e
c
o
n
d
i
ti
o
n
s
(
I
S
L
a
b
-
1
6
)
.
−
T
r
a
f
f
i
c
d
e
n
s
it
y
a
n
d
o
c
c
l
u
s
i
o
n
:
t
h
e
I
S
L
a
b
-
1
3
s
e
q
u
e
n
c
es
,
c
h
a
r
ac
t
e
r
i
z
e
d
b
y
h
i
g
h
-
d
e
n
s
it
y
t
r
a
f
f
i
c
f
l
o
w
,
p
r
e
s
e
n
t
a
s
i
g
n
i
f
i
c
a
n
t
c
h
a
l
le
n
g
e
f
o
r
t
h
e
s
y
s
t
e
m
’
s
a
b
i
li
t
y
t
o
m
a
i
n
t
a
i
n
c
e
n
tr
o
i
d
t
r
a
c
k
i
n
g
i
n
t
h
e
p
r
e
s
e
n
c
e
o
f
f
r
e
q
u
e
n
t
i
n
t
e
r
-
v
e
h
i
c
l
e
o
c
c
l
u
s
i
o
n
s
.
−
B
e
h
a
v
i
o
u
r
a
l
c
o
m
p
l
e
x
i
t
y
:
t
h
e
s
e
l
e
c
t
e
d
f
o
o
t
a
g
e
c
o
n
t
a
i
n
s
a
b
a
la
n
c
e
d
d
i
s
t
r
i
b
u
t
i
o
n
o
f
l
a
w
f
u
l
tr
a
n
s
i
t
,
t
r
a
n
s
i
e
n
t
s
t
o
p
s
(
d
u
e
t
o
s
i
g
n
a
l
iz
e
d
i
n
t
e
r
s
ec
t
i
o
n
s
o
r
c
o
n
g
e
s
t
i
o
n
)
,
a
n
d
g
e
n
u
i
n
e
p
a
r
k
i
n
g
i
n
f
r
a
c
t
i
o
n
s
.
W
h
i
l
e
t
h
e
I
S
L
a
b
-
PV
D
d
a
t
as
e
t
p
r
o
v
i
d
e
s
d
i
v
e
r
s
e
u
r
b
a
n
t
r
a
f
f
i
c
s
c
e
n
a
r
i
o
s
,
it
s
li
m
i
t
e
d
s
i
z
e
a
n
d
r
e
s
t
r
i
c
te
d
p
u
b
l
i
c
a
v
a
i
l
a
b
i
li
t
y
m
a
y
a
f
f
e
c
t
f
u
l
l
r
e
p
r
o
d
u
c
i
b
i
l
i
t
y
.
F
u
t
u
r
e
s
t
u
d
i
e
s
w
il
l
c
o
n
s
i
d
e
r
a
d
d
it
i
o
n
al
p
u
b
l
i
c
l
y
a
v
a
i
l
a
b
l
e
d
a
t
a
s
et
s
t
o
i
m
p
r
o
v
e
c
r
o
s
s
-
d
at
a
s
e
t
g
e
n
e
r
a
l
i
z
at
i
o
n
.
P
e
r
f
o
r
m
a
n
c
e
is
e
v
a
l
u
a
te
d
a
t
t
h
e
e
v
e
n
t
l
e
v
e
l
r
a
t
h
e
r
t
h
a
n
t
h
e
f
r
a
m
e
l
e
v
e
l
,
s
i
n
c
e
f
r
a
m
e
-
l
e
v
e
l
a
cc
u
r
a
c
y
c
a
n
b
e
i
n
f
l
a
t
e
d
i
n
l
a
r
g
e
l
y
s
t
at
i
c
s
ce
n
e
s
.
N
o
n
e
t
h
e
l
es
s
,
t
h
e
n
u
m
b
e
r
o
f
d
i
s
t
i
n
c
t
v
i
d
e
o
s
e
q
u
e
n
c
es
(
1
1
)
a
n
d
c
o
n
f
i
r
m
e
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
4
3
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
8
9
8
-
9
0
7
902
v
i
o
l
a
t
i
o
n
e
v
e
n
ts
(
1
2
)
i
s
l
i
m
i
t
e
d
,
w
h
i
c
h
c
o
n
s
t
r
a
i
n
s
t
h
e
s
t
a
ti
s
t
i
c
al
g
e
n
e
r
a
l
i
z
a
b
il
i
t
y
o
f
t
h
e
r
es
u
l
ts
;
t
h
i
s
is
t
r
e
at
e
d
a
s
a
l
i
m
i
t
at
i
o
n
a
n
d
a
d
d
r
e
s
s
e
d
f
u
r
t
h
er
i
n
s
e
c
ti
o
n
6.
4
.
2
.
E
x
p
e
r
i
men
t
a
l
c
o
n
f
i
g
u
r
a
t
i
o
n
T
o
en
s
u
r
e
an
im
p
a
r
tial
b
en
ch
m
ar
k
in
g
p
r
o
ce
s
s
,
YOL
Ov
8
an
d
SS
D
wer
e
as
s
ess
ed
wi
th
in
a
r
ig
o
r
o
u
s
ly
co
n
tr
o
lled
e
x
p
er
im
e
n
tal
s
ettin
g
.
T
h
e
in
te
g
r
atio
n
o
f
b
o
th
ar
c
h
itectu
r
es
in
to
a
s
in
g
le
v
id
e
o
p
r
o
ce
s
s
in
g
p
ip
elin
e
was
ex
ec
u
ted
to
en
s
u
r
e
th
at
an
y
o
b
s
er
v
ed
p
er
f
o
r
m
an
ce
d
i
f
f
er
en
ce
s
wer
e
attr
ib
u
tab
le
s
o
lely
to
th
e
m
o
d
el
ar
ch
itectu
r
es th
em
s
elv
es,
r
ath
er
th
an
to
e
x
ter
n
al
v
ar
iab
les.
−
I
n
f
er
en
ce
en
g
i
n
e:
th
e
s
y
s
tem
p
r
o
ce
s
s
es
v
id
eo
f
r
am
e
-
by
-
f
r
am
e,
p
r
eser
v
i
n
g
h
i
g
h
tem
p
o
r
al
r
eso
lu
tio
n
f
o
r
s
tatio
n
ar
ity
an
aly
s
is
.
−
Mo
d
el
in
itializatio
n
: b
o
th
d
ete
cto
r
s
u
s
e
t
r
an
s
f
er
lear
n
i
n
g
wit
h
p
r
e
-
tr
ai
n
ed
MS
C
OC
O
weig
h
ts
,
estab
lis
h
in
g
a
r
o
b
u
s
t f
ea
tu
r
e
-
ex
tr
ac
tio
n
b
as
elin
e
f
o
r
c
o
m
m
o
n
u
r
b
an
o
b
jec
ts
.
−
C
las
s
f
ilter
in
g
:
d
etec
tio
n
is
co
n
f
in
ed
to
v
e
h
icle
ca
teg
o
r
ies
(
ca
r
s
,
m
o
to
r
cy
cles,
b
u
s
es,
tr
u
c
k
s
)
,
s
u
p
p
r
ess
in
g
all
o
th
er
class
es a
t
th
e
o
u
tp
u
t l
ay
er
to
im
p
r
o
v
e
ef
f
icien
cy
.
T
o
m
ain
tain
r
i
g
o
r
o
u
s
co
n
s
is
t
en
cy
ac
r
o
s
s
all
co
m
p
ar
ativ
e
t
r
ials
,
th
e
m
ai
n
e
x
p
er
im
en
tal
p
ar
am
eter
s
u
s
ed
f
o
r
b
o
th
d
etec
tio
n
m
o
d
els
ar
e
s
u
m
m
ar
ized
in
T
ab
le
1
.
B
ey
o
n
d
T
ab
le
1
,
b
o
t
h
m
o
d
els
wer
e
tr
ain
ed
with
a
lear
n
in
g
r
ate
o
f
0
.
0
1
,
b
atch
s
iz
e
o
f
1
6
,
an
d
1
0
0
ep
o
ch
s
,
en
s
u
r
in
g
a
f
air
a
n
d
c
o
n
s
is
ten
t c
o
m
p
ar
is
o
n
.
T
ab
le
1
.
Sy
s
tem
h
y
p
er
p
a
r
am
et
er
s
an
d
o
p
e
r
atio
n
al
co
n
s
tr
ain
ts
P
a
r
a
me
t
e
r
V
a
l
u
e
/
S
e
t
t
i
n
g
R
a
t
i
o
n
a
l
e
C
o
n
f
i
d
e
n
c
e
t
h
r
e
s
h
o
l
d
0
.
4
0
B
a
l
a
n
c
e
s
d
e
t
e
c
t
i
o
n
se
n
si
t
i
v
i
t
y
w
i
t
h
f
a
l
se
-
p
o
si
t
i
v
e
su
p
p
r
e
ssi
o
n
.
I
o
U
t
h
r
e
s
h
o
l
d
0
.
4
5
S
t
a
n
d
a
r
d
i
z
e
s
non
-
ma
x
i
m
u
m s
u
p
p
r
e
ssi
o
n
(
N
M
S
)
f
o
r
o
v
e
r
l
a
p
p
i
n
g
v
e
h
i
c
l
e
s.
I
n
p
u
t
r
e
s
o
l
u
t
i
o
n
1
2
8
0
×
7
2
0
M
a
i
n
t
a
i
n
s
p
i
x
e
l
-
l
e
v
e
l
d
e
t
a
i
l
f
o
r
d
i
st
a
n
t
v
e
h
i
c
l
e
d
e
t
e
c
t
i
o
n
.
Te
mp
o
r
a
l
t
h
r
e
sh
o
l
d
(
)
3
0
se
c
o
n
d
s
A
l
i
g
n
s
w
i
t
h
s
t
a
n
d
a
r
d
u
r
b
a
n
“
n
o
p
a
r
k
i
n
g
”
e
n
f
o
r
c
e
m
e
n
t
w
i
n
d
o
w
s.
S
t
a
t
i
o
n
a
r
i
t
y
t
o
l
e
r
a
n
c
e
(
∆
d
)
5
p
i
x
e
l
s
A
c
c
o
u
n
t
s
f
o
r
m
i
n
o
r
c
a
m
e
r
a
v
i
b
r
a
t
i
o
n
o
r
p
i
x
e
l
j
i
t
t
e
r
.
4
.
3
.
G
r
o
u
n
d
t
ru
t
h
a
n
n
o
t
a
t
i
o
n
Gr
o
u
n
d
tr
u
th
was
estab
lis
h
ed
th
r
o
u
g
h
m
an
u
al,
f
r
am
e
-
by
-
f
r
a
m
e
an
n
o
tatio
n
o
f
ea
c
h
v
eh
icle
in
ter
ac
tio
n
with
in
th
e
R
OI
,
g
u
id
ed
b
y
th
e
f
o
llo
win
g
cr
iter
ia:
−
E
v
en
t
class
if
icatio
n
:
ea
ch
v
e
h
icle
en
ter
in
g
th
e
R
OI
is
an
in
d
iv
id
u
al
e
x
p
er
im
en
tal
u
n
it
,
class
if
ied
as
a
Vio
latio
n
(
I
lleg
al
Par
k
in
g
)
o
r
No
n
-
Vio
latio
n
(
T
r
an
s
it o
r
T
e
m
p
o
r
ar
y
Sto
p
)
.
−
T
em
p
o
r
al
ca
te
g
o
r
izatio
n
:
a
“
n
o
n
-
v
io
latio
n
”
d
esig
n
atio
n
is
a
p
p
lied
to
v
eh
icles
th
at
eith
e
r
r
em
ain
in
m
o
tio
n
o
r
ar
e
s
tatio
n
ar
y
f
o
r
a
d
u
r
ati
o
n
s
h
o
r
ter
th
an
th
e
s
p
ec
if
ied
tem
p
o
r
al
th
r
esh
o
ld
(
)
.
I
n
co
n
tr
ast,
an
“
illeg
al
p
ar
k
in
g
”
d
esig
n
atio
n
is
ap
p
lied
ex
clu
s
iv
ely
wh
e
n
a
v
eh
icle
r
e
m
ain
s
s
tatio
n
ar
y
f
o
r
a
p
er
i
o
d
ex
ce
ed
in
g
(
).
−
Def
in
itiv
e
r
ef
er
e
n
ce
:
th
ese
h
u
m
an
-
v
er
if
ie
d
a
n
n
o
tatio
n
s
co
n
s
titu
te
th
e
g
o
ld
s
tan
d
ar
d
f
o
r
d
eter
m
in
in
g
th
e
r
ates
o
f
tr
u
e
p
o
s
itiv
es
(
T
P),
f
al
s
e
p
o
s
itiv
es
(
FP
)
,
an
d
f
alse n
e
g
ativ
es
(
FN)
.
4
.
4
.
E
v
a
l
u
a
t
i
o
n
p
r
o
t
o
c
o
l
T
o
r
i
g
o
r
o
u
s
l
y
q
u
a
n
t
i
f
y
p
e
r
f
o
r
m
a
n
c
e
,
t
h
i
s
s
t
u
d
y
e
m
p
l
o
y
s
a
n
e
v
e
n
t
-
b
a
s
e
d
e
v
a
l
u
a
t
i
o
n
p
r
o
t
o
c
o
l
,
w
h
i
c
h
a
v
o
i
d
s
t
h
e
i
n
f
l
a
t
e
d
a
cc
u
r
a
c
y
t
h
a
t
f
r
a
m
e
-
l
e
v
e
l
a
n
a
l
y
s
is
c
a
n
p
r
o
d
u
c
e
i
n
l
a
r
g
e
l
y
s
t
a
ti
c
s
ce
n
e
s
.
R
e
s
u
l
ts
a
r
e
c
l
as
s
i
f
i
e
d
a
s
f
o
l
l
o
ws
:
−
T
P
:
a
n
il
l
e
g
a
l
p
a
r
k
i
n
g
v
i
o
la
t
i
o
n
i
s
a
c
c
u
r
at
e
l
y
d
e
t
ec
t
e
d
a
f
t
e
r
t
h
e
t
e
m
p
o
r
a
l
t
h
r
e
s
h
o
l
d
h
a
s
b
e
e
n
s
u
r
p
a
s
s
e
d
.
−
FP:
a
v
e
h
ic
l
e
t
h
at
i
s
l
e
g
a
l
l
y
p
ar
k
e
d
o
r
t
e
m
p
o
r
a
r
i
l
y
s
t
o
p
p
e
d
(
e
.
g
.
,
a
t
a
t
r
a
f
f
i
c
l
i
g
h
t
)
i
s
i
n
c
o
r
r
ec
t
l
y
m
a
r
k
e
d
a
s
a
v
i
o
l
a
t
o
r
.
−
F
N
:
a
n
a
ct
u
a
l
i
n
s
t
a
n
ce
o
f
i
l
l
e
g
al
p
a
r
k
i
n
g
o
c
c
u
r
s
w
it
h
i
n
t
h
e
R
OI
b
u
t
i
s
n
o
t
d
e
t
e
ct
e
d
o
r
f
l
a
g
g
e
d
b
y
t
h
e
s
y
s
t
e
m
.
F
r
o
m
t
h
e
s
e
cl
as
s
i
f
i
c
a
ti
o
n
s
,
t
h
e
s
u
b
s
e
q
u
e
n
t
s
t
a
n
d
a
r
d
p
e
r
f
o
r
m
a
n
c
e
m
e
t
r
i
cs
a
r
e
es
t
a
b
li
s
h
e
d
:
−
P
r
e
c
is
i
o
n
:
r
e
f
e
r
s
t
o
t
h
e
a
c
c
u
r
ac
y
o
f
v
i
o
l
a
t
i
o
n
a
le
r
t
s
,
q
u
a
n
t
i
f
i
e
d
b
y
t
h
e
p
r
o
p
o
r
t
i
o
n
o
f
t
r
u
e
v
i
o
l
at
i
o
n
s
r
el
a
t
i
v
e
t
o
t
h
e
t
o
t
a
l
n
u
m
b
e
r
o
f
d
e
t
e
ct
i
o
n
s
.
−
R
e
c
al
l
:
a
s
s
es
s
e
s
t
h
e
s
y
s
t
e
m
’
s
s
e
n
s
i
ti
v
i
t
y
b
y
d
et
e
r
m
i
n
i
n
g
t
h
e
p
r
o
p
o
r
t
i
o
n
o
f
t
r
u
e
v
i
o
la
t
i
o
n
s
d
e
te
c
t
e
d
r
e
la
t
i
v
e
to
t
h
e
t
o
t
a
l
n
u
m
b
e
r
o
f
a
c
t
u
al
v
i
o
l
at
i
o
n
s
p
r
e
s
e
n
t
.
−
F1
-
s
c
o
r
e
:
d
e
f
i
n
e
d
as
t
h
e
h
a
r
m
o
n
i
c
m
e
a
n
o
f
p
r
e
c
is
i
o
n
a
n
d
r
e
c
a
l
l
,
s
e
r
v
i
n
g
as
a
c
o
m
p
r
e
h
e
n
s
i
v
e
m
et
r
i
c
t
o
e
v
a
l
u
a
t
e
t
h
e
e
q
u
il
i
b
r
i
u
m
b
e
tw
ee
n
d
e
t
e
c
t
i
o
n
a
c
c
u
r
a
c
y
a
n
d
s
e
n
s
i
t
i
v
i
t
y
.
C
o
n
f
u
s
i
o
n
m
a
t
r
i
c
es
a
r
e
al
s
o
d
ev
e
l
o
p
e
d
f
o
r
e
a
c
h
m
o
d
e
l
,
a
n
d
p
r
o
c
e
s
s
i
n
g
s
p
e
e
d
i
s
q
u
a
n
ti
f
i
e
d
i
n
F
PS
t
o
a
s
s
e
s
s
s
u
it
a
b
i
li
t
y
f
o
r
l
i
v
e
s
m
ar
t
c
i
t
y
s
u
r
v
e
il
l
a
n
c
e
s
y
s
t
e
m
s
.
T
h
e
e
v
a
l
u
a
t
i
o
n
f
o
l
l
o
ws
s
t
a
n
d
a
r
d
o
b
j
e
c
t
d
e
t
e
c
ti
o
n
a
s
s
e
s
s
m
e
n
t
p
r
a
c
t
ic
e
s
i
n
i
n
te
l
li
g
e
n
t
t
r
a
n
s
p
o
r
t
a
ti
o
n
r
e
s
e
a
r
c
h
,
w
h
e
r
e
e
v
e
n
t
-
l
e
v
e
l
p
r
e
c
is
i
o
n
,
r
e
c
a
ll
,
a
n
d
F
1
-
s
c
o
r
e
a
r
e
w
i
d
e
l
y
u
s
e
d
t
o
m
e
a
s
u
r
e
d
et
e
c
t
io
n
r
e
l
i
a
b
i
l
it
y
i
n
s
u
r
v
e
il
l
a
n
c
e
-
b
as
e
d
a
p
p
l
i
c
at
i
o
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
ve
n
t
-
leve
l illeg
a
l p
a
r
kin
g
d
et
ec
tio
n
u
s
in
g
YOLOv8
a
n
d
S
S
D
mo
d
els
(
P
r
a
ch
i S
o
d
eg
a
o
n
ka
r
)
903
A
l
t
h
o
u
g
h
s
ta
t
is
t
ic
a
l
v
a
r
i
a
n
c
e
a
c
r
o
s
s
m
u
l
ti
p
l
e
r
u
n
s
w
as
n
o
t
e
x
p
l
i
c
it
l
y
c
o
m
p
u
t
e
d
d
u
e
t
o
d
a
t
as
et
c
o
n
s
t
r
a
i
n
ts
,
t
h
e
e
v
e
n
t
-
l
e
v
e
l
e
v
a
l
u
a
t
i
o
n
a
c
r
o
s
s
d
i
v
e
r
s
e
t
r
a
f
f
i
c
s
c
e
n
a
r
i
o
s
p
r
o
v
i
d
e
s
a
c
o
n
s
is
t
e
n
t
a
n
d
r
e
p
r
e
s
e
n
t
at
i
v
e
p
e
r
f
o
r
m
a
n
c
e
a
s
s
e
s
s
m
e
n
t
.
F
u
tu
r
e
w
o
r
k
w
i
ll
i
n
c
o
r
p
o
r
a
t
e
s
ta
t
i
s
t
i
c
al
v
a
l
i
d
at
i
o
n
t
h
r
o
u
g
h
r
e
p
e
a
t
e
d
t
r
ia
l
s
a
n
d
c
o
n
f
i
d
e
n
c
e
i
n
t
e
r
v
a
l
es
t
i
m
a
t
i
o
n
t
o
f
u
r
t
h
e
r
s
t
r
e
n
g
t
h
e
n
r
es
u
l
t
r
e
lia
b
i
l
i
t
y
.
5.
R
E
S
UL
T
S
AN
D
DIS
C
US
SI
O
N
S
A
s
s
e
s
s
m
e
n
t
is
p
e
r
f
o
r
m
e
d
a
t
t
h
e
e
v
e
n
t
l
e
v
e
l
,
w
i
t
h
e
a
c
h
v
e
h
i
c
l
e
r
e
g
a
r
d
e
d
a
s
a
d
i
s
ti
n
c
t
e
v
e
n
t
:
a
t
r
u
e
p
o
s
i
t
i
v
e
is
a
c
o
r
r
e
c
t
l
y
i
d
e
n
t
i
f
i
ed
v
i
o
l
a
t
o
r
,
w
h
i
l
e
f
a
ls
e
p
o
s
i
t
i
v
es
a
n
d
f
al
s
e
n
e
g
a
t
i
v
es
i
n
d
i
c
a
te
in
c
o
r
r
e
c
t
a
n
d
m
is
s
e
d
d
e
t
e
c
t
i
o
n
s
.
D
et
e
c
t
i
o
n
ac
c
u
r
a
c
y
i
s
e
v
al
u
a
t
e
d
v
i
a
p
r
e
c
is
i
o
n
,
r
e
ca
l
l
,
F
1
-
s
c
o
r
e
,
f
a
ls
e
d
et
e
c
ti
o
n
an
a
l
y
s
is
,
p
r
o
c
e
s
s
i
n
g
s
p
e
e
d
,
a
n
d
c
o
n
f
u
s
i
o
n
m
a
t
r
i
ce
s
.
5
.
1
.
C
o
mp
a
r
a
t
i
v
e
v
e
h
i
c
l
e
d
e
t
e
c
t
i
o
n
a
n
a
l
y
s
is
E
v
alu
atio
n
b
e
g
an
b
y
co
m
p
ar
in
g
r
aw
v
eh
icle
d
etec
tio
n
co
u
n
ts
ac
r
o
s
s
all
1
1
s
eq
u
en
ce
s
,
s
in
ce
th
e
r
eliab
ilit
y
o
f
th
e
s
u
b
s
eq
u
en
t te
m
p
o
r
al
lo
g
ic
d
ep
e
n
d
s
en
tire
ly
o
n
th
e
b
ase
m
o
d
el
’
s
r
ec
all.
5
.
1
.
1
.
Appl
ica
t
io
n
o
f
ev
a
lua
t
io
n m
et
rics
Per
th
e
e
v
alu
atio
n
p
r
o
t
o
co
l
(
Sectio
n
4
.
4
)
,
m
o
d
els
ar
e
ass
ess
ed
o
n
m
in
im
izin
g
f
alse
n
eg
ati
v
es
wh
ile
s
u
s
tain
in
g
h
ig
h
p
r
ec
is
io
n
.
“
d
etec
tio
n
co
u
n
t
”
s
er
v
es
as
th
e
p
r
in
ci
p
al
s
en
s
itiv
ity
in
d
icat
o
r
:
a
h
ig
h
e
r
c
o
u
n
t
co
r
r
esp
o
n
d
s
to
b
etter
r
ec
all,
m
ea
n
in
g
f
ewe
r
p
o
ten
tial v
i
o
latio
n
s
with
in
th
e
R
OI
g
o
u
n
id
en
tif
ied
.
5
.
1
.
2
.
Q
ua
ntit
a
t
i
v
e
perf
o
r
m
a
nce
a
nd
m
o
del sens
it
iv
it
y
F
i
g
u
r
e
2
p
r
e
s
e
n
t
s
a
c
o
m
p
a
r
a
ti
v
e
a
n
a
l
y
s
i
s
o
f
r
aw
v
e
h
i
cl
e
d
e
t
e
c
t
i
o
n
c
o
u
n
ts
f
o
r
YO
L
O
v
8
s
a
n
d
S
SD
m
o
d
e
l
s
.
A
c
r
o
s
s
a
ll
t
es
t
v
i
d
e
o
s
,
Y
O
L
O
v
8
s
d
e
te
c
t
e
d
a
t
o
t
a
l
o
f
5
1
d
i
s
t
i
n
c
t
v
e
h
i
cl
e
e
v
e
n
ts
,
w
h
er
e
a
s
SS
D
i
d
e
n
ti
f
i
e
d
2
5
,
i
n
d
i
c
a
t
i
n
g
a
s
u
b
s
t
a
n
ti
a
l
d
i
f
f
e
r
e
n
c
e
i
n
d
e
t
e
c
ti
o
n
s
e
n
s
i
ti
v
i
t
y
b
e
t
w
e
e
n
t
h
e
tw
o
a
r
c
h
i
t
ec
t
u
r
e
s
.
F
i
g
u
r
e
2
.
C
o
m
p
a
r
a
ti
v
e
a
n
a
l
y
s
is
o
f
r
a
w
v
e
h
i
c
l
e
d
e
t
ec
t
i
o
n
c
o
u
n
ts
f
o
r
Y
O
L
O
v
8
s
a
n
d
SS
D
m
o
d
el
s
a
c
r
o
s
s
T
h
e
h
i
g
h
e
r
d
e
t
e
ct
i
o
n
c
o
u
n
t o
f
Y
O
L
O
v
8
s
d
e
m
o
n
s
t
r
at
es
it
s
s
t
r
o
n
g
e
r
c
a
p
a
b
i
l
i
t
y
t
o
i
d
e
n
t
i
f
y
v
eh
i
c
l
e
s
u
n
d
e
r
d
i
v
e
r
s
e
u
r
b
a
n
c
o
n
d
it
i
o
n
s
.
F
o
r
in
s
t
a
n
c
e
,
i
n
t
h
e
h
i
g
h
-
d
e
n
s
it
y
s
eq
u
e
n
c
e
I
S
L
a
b
-
1
4
,
YO
L
O
v
8
s
u
c
c
e
s
s
f
u
l
l
y
i
d
e
n
t
i
f
i
e
d
1
2
v
e
h
i
c
l
e
s
,
w
h
e
r
e
as
SS
D
d
et
e
c
t
e
d
o
n
l
y
7
.
T
h
e
s
e
r
es
u
l
ts
in
d
i
c
a
t
e
t
h
a
t
Y
O
L
O
v
8
s
p
r
o
v
i
d
e
s
t
h
e
h
i
g
h
r
e
c
a
ll
c
a
p
a
b
i
l
i
t
y
r
e
q
u
i
r
e
d
f
o
r
a
r
e
li
a
b
le
e
n
f
o
r
c
e
m
e
n
t
s
y
s
t
e
m
.
5
.
1
.
3
.
A
n
a
l
y
s
is
o
f
d
e
t
ec
t
i
o
n
ph
i
l
o
s
o
p
h
y
:
s
e
ns
i
t
i
v
i
t
y
v
s
.
c
o
ns
e
r
v
a
t
i
s
m
T
h
is
d
iv
er
g
en
ce
r
ef
lects
th
e
t
wo
ar
ch
itectu
r
es
’
u
n
d
er
ly
i
n
g
d
esig
n
s
:
YOL
Ov
8
s
’
an
ch
o
r
-
f
r
ee
h
ea
d
an
d
en
h
an
ce
d
f
ea
t
u
r
e
r
ep
r
esen
tati
o
n
im
p
r
o
v
e
d
etec
tio
n
o
f
s
m
all
o
r
p
ar
tially
o
cc
lu
d
ed
v
e
h
icles,
wh
ile
SS
D
’
s
an
ch
o
r
-
b
ased
,
m
u
lti
-
s
ca
le
ap
p
r
o
ac
h
is
m
o
r
e
co
n
s
er
v
ativ
e
,
t
r
ad
in
g
f
ewe
r
f
alse
p
o
s
itiv
es
f
o
r
a
h
ig
h
er
r
is
k
o
f
m
is
s
ed
d
etec
tio
n
s
.
I
n
i
lleg
al
p
ar
k
in
g
en
f
o
r
ce
m
e
n
t,
wh
er
e
m
is
s
ed
v
io
latio
n
s
ar
e
m
o
r
e
c
o
s
tly
th
an
o
cc
asio
n
al
f
alse a
lar
m
s
,
th
is
m
ak
es YO
L
Ov
8
s
’
h
ig
h
e
r
r
ec
all
p
ar
ticu
la
r
ly
v
alu
ab
le
i
n
co
m
p
lex
u
r
b
an
s
ettin
g
s
.
5
.
2
.
E
n
v
i
r
o
n
me
n
t
a
l
s
t
r
e
s
s
o
r
a
n
a
l
y
s
is
T
h
e
d
etec
tio
n
m
o
d
els
’
p
e
r
f
o
r
m
an
ce
wa
s
f
u
r
th
er
ca
teg
o
r
ized
in
to
f
o
u
r
d
is
tin
ct
en
v
ir
o
n
m
en
tal
s
ce
n
ar
io
s
to
ass
es
s
th
eir
r
o
b
u
s
tn
ess
ag
ain
s
t
r
ea
l
-
wo
r
ld
u
r
b
an
s
tr
ess
o
r
s
.
T
h
is
cla
s
s
if
icatio
n
f
ac
ilit
ates
a
m
o
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
4
3
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
8
9
8
-
9
0
7
904
n
u
an
ce
d
u
n
d
er
s
tan
d
in
g
o
f
h
o
w
f
ac
to
r
s
s
u
ch
as
illu
m
in
atio
n
,
o
b
ject
d
en
s
ity
,
an
d
b
ac
k
g
r
o
u
n
d
n
o
is
e
af
f
ec
t
d
etec
tio
n
ac
cu
r
ac
y
ac
r
o
s
s
th
e
1
1
s
eq
u
en
ce
s
.
T
o
f
u
r
th
er
an
aly
ze
m
o
d
el
r
o
b
u
s
tn
es
s
u
n
d
er
d
if
f
er
e
n
t
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
,
th
e
d
etec
tio
n
r
esu
lts
wer
e
g
r
o
u
p
ed
in
to
f
o
u
r
s
ce
n
ar
io
ca
teg
o
r
ies.
5
.
2
.
1
.
S
t
a
n
d
a
r
d
d
a
y
l
i
g
h
t
(
B
a
s
e
l
i
n
e
)
A
c
r
o
s
s
a
l
l
f
o
u
r
c
a
t
e
g
o
r
i
es
,
YO
L
O
v
8
s
c
o
n
s
is
t
e
n
tl
y
o
u
t
p
e
r
f
o
r
m
e
d
S
S
D:
1
8
v
s
.
7
d
e
t
e
c
ti
o
n
s
i
n
h
i
g
h
-
v
i
s
i
b
il
i
t
y
s
e
q
u
e
n
c
es
(
I
S
L
a
b
-
0
1
,
0
4
,
0
7
,
1
0
;
e
.
g
.
,
6
v
s
.
1
i
n
I
SL
a
b
-
0
1
)
,
8
v
s
.
3
u
n
d
e
r
c
o
m
p
l
ex
b
a
c
k
g
r
o
u
n
d
s
a
n
d
o
c
c
l
u
s
i
o
n
(
I
S
L
a
b
-
0
2
,
0
3
,
0
6
;
S
S
D
s
c
o
r
e
d
z
e
r
o
i
n
I
S
L
a
b
-
0
3
v
s
.
Y
O
L
O
v
8
s
’
4
)
,
2
1
v
s
.
1
3
i
n
h
i
g
h
-
d
e
n
s
i
t
y
t
r
a
f
f
ic
(
I
S
L
a
b
-
0
5
,
1
3
,
1
4
;
1
2
v
s
.
7
in
I
S
L
a
b
-
1
4
)
,
a
n
d
4
v
s
.
2
u
n
d
e
r
l
o
w
l
i
g
h
t
(
I
S
L
a
b
-
1
6
)
.
T
h
i
s
c
o
n
s
is
t
e
n
t
m
a
r
g
i
n
s
u
p
p
o
r
t
s
Y
OL
O
v
8
s
’
s
u
i
t
a
b
il
i
t
y
f
o
r
c
o
n
t
i
n
u
o
u
s
,
c
o
n
d
i
t
i
o
n
-
i
n
d
e
p
e
n
d
e
n
t
s
u
r
v
e
i
l
l
a
n
ce
.
5
.
3
.
I
l
l
e
g
a
l
p
a
r
ki
n
g
id
e
n
t
i
f
i
c
a
t
i
o
n
r
es
u
l
t
s
W
h
ile
th
e
p
r
ec
ed
in
g
s
ec
tio
n
s
ex
am
in
ed
th
e
m
o
d
els
’
f
u
n
d
a
m
en
tal
d
etec
tio
n
ca
p
ab
ilit
ies,
th
is
s
ec
tio
n
ass
es
s
es
th
e
p
er
f
o
r
m
an
ce
o
f
t
h
e
in
teg
r
ated
s
y
s
tem
in
i
d
en
ti
f
y
in
g
ac
tu
al
p
ar
k
i
n
g
v
io
latio
n
s
.
T
h
is
ev
alu
atio
n
in
v
o
lv
es
th
e
a
p
p
li
ca
tio
n
o
f
a
r
eg
io
n
-
b
ased
tem
p
o
r
al
lo
g
ic
m
ec
h
an
is
m
to
d
is
tin
g
u
is
h
tr
a
n
s
ien
t
v
eh
icle
s
to
p
s
f
r
o
m
g
en
u
in
e
illeg
al
p
ar
k
i
n
g
e
v
en
ts
.
5
.
3
.
1
.
T
em
po
ra
l
rule
lo
g
ic
v
a
lid
a
t
io
n
T
h
e
ap
p
licatio
n
o
f
a
3
0
-
s
ec
o
n
d
s
tatio
n
ar
ity
th
r
esh
o
ld
h
a
s
d
em
o
n
s
tr
ated
s
ig
n
if
ican
t
e
f
f
icac
y
in
r
ed
u
cin
g
f
alse
alar
m
s
tr
ig
g
er
ed
b
y
n
o
n
-
v
io
latin
g
ev
e
n
ts
.
I
n
s
eq
u
en
ce
s
s
u
ch
as
I
SLa
b
-
1
3
an
d
I
SLa
b
-
1
4
,
ch
ar
ac
ter
ized
b
y
h
ig
h
tr
a
f
f
ic
d
en
s
ity
a
n
d
f
r
e
q
u
en
t
s
ig
n
al
-
in
d
u
ce
d
s
to
p
s
,
t
h
e
tem
p
o
r
al
en
g
in
e
ef
f
ec
tiv
ely
d
if
f
er
en
tiated
b
etwe
en
:
−
T
r
an
s
ien
t
s
to
p
s
:
r
ef
er
s
to
v
eh
icles
th
at
ar
e
tem
p
o
r
ar
ily
h
alted
d
u
e
to
f
ac
to
r
s
s
u
ch
as
co
n
g
esti
o
n
,
tr
af
f
ic
s
ig
n
als,
o
r
b
r
ief
p
ass
en
g
er
d
r
o
p
-
o
f
f
s
.
T
h
ese
s
to
p
s
ar
e
ex
clu
d
ed
f
r
o
m
an
aly
s
is
if
th
e
v
eh
icles
r
esu
m
e
m
o
v
em
en
t w
ith
in
a
3
0
-
s
ec
o
n
d
tim
ef
r
am
e.
−
I
lleg
al
p
ar
k
in
g
:
v
eh
icles
th
at
r
em
ain
s
tatio
n
ar
y
with
in
th
e
R
OI
b
ey
o
n
d
th
e
s
p
ec
if
ied
th
r
esh
o
ld
ar
e
id
en
tifie
d
as v
io
latio
n
s
o
f
p
ar
k
in
g
r
eg
u
latio
n
s
.
B
y
m
an
d
atin
g
a
s
tatio
n
ar
y
p
er
io
d
o
f
3
0
s
ec
o
n
d
s
,
th
e
s
y
s
tem
en
s
u
r
es
th
at
en
f
o
r
ce
m
en
t
tar
g
ets
v
eh
icles c
au
s
in
g
im
m
ed
iate
o
b
s
tr
u
ctio
n
s
,
th
er
eb
y
o
f
f
er
in
g
a
r
esp
o
n
s
iv
e
m
o
n
ito
r
in
g
f
r
am
e
wo
r
k
ap
p
r
o
p
r
iate
f
o
r
h
ig
h
-
tr
af
f
ic
u
r
b
an
ar
ea
s
.
5
.
3
.
2
.
T
em
po
ra
l
t
hresh
o
ld s
ens
it
iv
it
y
a
na
ly
s
is
Selectin
g
an
ap
p
r
o
p
r
iate
te
m
p
o
r
al
t
h
r
esh
o
ld
is
cr
u
cial
f
o
r
ac
cu
r
ately
d
if
f
e
r
en
tiatin
g
b
etwe
en
tr
an
s
ien
t
v
eh
icle
s
to
p
s
an
d
ac
tu
al
p
ar
k
in
g
v
io
latio
n
s
.
I
n
th
e
ab
s
en
ce
o
f
em
p
ir
ical
th
r
esh
o
ld
s
wee
p
s
in
th
is
s
tu
d
y
,
th
e
f
o
llo
win
g
o
u
tlin
e
s
th
e
q
u
alitativ
e
r
ea
s
o
n
in
g
b
eh
in
d
ca
n
d
id
ate
th
r
esh
o
l
d
v
alu
es,
d
r
awin
g
o
n
co
m
m
o
n
l
y
u
s
ed
tem
p
o
r
al
i
n
ter
v
als
r
ep
o
r
ted
i
n
s
u
r
v
eillan
ce
-
b
ased
p
a
r
k
in
g
e
n
f
o
r
ce
m
e
n
t
liter
atu
r
e.
Sh
o
r
t
th
r
esh
o
ld
s
m
ay
in
co
r
r
ec
tly
class
if
y
tem
p
o
r
ar
y
s
to
p
s
,
s
u
ch
as
th
o
s
e
ca
u
s
ed
b
y
tr
af
f
ic
s
ig
n
als,
p
ass
en
g
er
d
r
op
-
o
f
f
s
,
o
r
co
n
g
esti
o
n
,
as
v
io
lati
o
n
s
.
C
o
n
v
er
s
ely
,
ex
ce
s
s
iv
ely
lo
n
g
th
r
esh
o
l
d
s
m
ay
d
elay
v
io
latio
n
an
d
r
e
d
u
ce
s
y
s
tem
r
esp
o
n
s
iv
en
ess
.
T
h
er
e
f
o
r
e,
m
u
ltip
le
ca
n
d
id
ate
th
r
e
s
h
o
ld
s
wer
e
co
n
s
id
er
e
d
to
r
e
aso
n
th
r
o
u
g
h
th
eir
ex
p
ec
ted
b
e
h
av
io
r
al
i
m
p
ac
t o
n
v
io
latio
n
d
e
tectio
n
,
as su
m
m
a
r
ized
b
elo
w.
C
an
d
id
ate
th
r
esh
o
ld
s
wer
e
r
e
aso
n
ed
th
r
o
u
g
h
as
f
o
llo
ws:
1
0
s
-
v
er
y
s
en
s
itiv
e
to
s
h
o
r
t
s
to
p
s
,
h
ig
h
f
alse
-
p
o
s
itiv
e
r
is
k
;
2
0
s
-
m
o
d
er
ately
s
en
s
itiv
e,
s
o
m
e
tr
an
s
ien
t
s
to
p
s
s
till
m
i
s
clas
s
if
ied
;
3
0
s
(
s
elec
ted
)
-
b
alan
ce
d
d
etec
tio
n
,
r
ed
u
ce
s
f
a
ls
e
p
o
s
itiv
es
wh
ile
m
ain
tain
in
g
s
en
s
itiv
ity
;
6
0
s
-
v
er
y
c
o
n
s
e
r
v
ativ
e,
h
ig
h
er
r
is
k
o
f
f
alse
n
eg
ativ
es
an
d
d
elay
ed
d
etec
tio
n
.
B
ased
o
n
th
is
r
ea
s
o
n
in
g
,
th
e
3
0
-
s
ec
o
n
d
th
r
esh
o
l
d
was
s
elec
ted
a
s
a
p
r
ac
tical
o
p
er
atio
n
al
co
m
p
r
o
m
is
e
b
etwe
en
d
etec
tio
n
s
en
s
i
tiv
ity
an
d
r
eliab
ilit
y
.
W
e
n
o
te
th
is
as
a
lim
itatio
n
o
f
th
e
cu
r
r
en
t
s
tu
d
y
:
th
e
th
r
esh
o
ld
was
n
o
t
em
p
ir
ically
v
ali
d
ated
th
r
o
u
g
h
ab
latio
n
ac
r
o
s
s
m
u
ltip
le
v
alu
es
o
r
d
atasets
,
an
d
r
esu
lts
s
h
o
u
ld
b
e
in
ter
p
r
eted
ac
c
o
r
d
i
n
g
ly
.
A
s
y
s
tem
atic
em
p
ir
ical
ab
lat
io
n
ac
r
o
s
s
th
r
esh
o
ld
v
alu
es a
n
d
d
atasets
is
p
lan
n
ed
as f
u
tu
r
e
wo
r
k
.
5
.
3
.
3
.
E
v
ent
-
lev
el
perf
o
r
m
a
n
ce
m
et
rics
T
h
e
u
ltima
te
p
er
f
o
r
m
an
ce
o
u
t
co
m
es
o
f
th
e
two
m
o
d
els,
f
o
ll
o
win
g
th
e
ap
p
licatio
n
o
f
th
e
3
0
-
s
ec
o
n
d
tem
p
o
r
al
lo
g
ic,
a
r
e
p
r
esen
ted
in
T
ab
le
2
.
T
h
eses
e
r
esu
lts
ar
e
d
er
iv
ed
f
r
o
m
t
h
e
class
if
ica
tio
n
s
an
d
f
o
r
m
u
las
d
elin
ea
ted
in
th
e
e
v
alu
atio
n
p
r
o
to
co
l (
Sectio
n
4
.
4
)
.
T
ab
le
2
.
Fin
al
ev
e
n
t
-
lev
el
p
e
r
f
o
r
m
an
ce
c
o
m
p
ar
is
o
n
(
3
0
-
s
ec
o
n
d
th
r
esh
o
l
d
)
M
o
d
e
l
To
t
a
l
v
i
o
l
a
t
i
o
n
s
Tr
u
e
p
o
si
t
i
v
e
s
(
TP)
F
a
l
se
p
o
si
t
i
v
e
s
(FP)
F
a
l
se
n
e
g
a
t
i
v
e
s
(FN)
P
r
e
c
i
s
i
o
n
R
e
c
a
l
l
F1
-
sc
o
r
e
Y
O
LO
v
8
s
12
12
3
0
0
.
8
1
0
.
8
9
SSD
12
8
1
4
0
.
8
9
0
.
6
7
0
.
7
7
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
ve
n
t
-
leve
l illeg
a
l p
a
r
kin
g
d
et
ec
tio
n
u
s
in
g
YOLOv8
a
n
d
S
S
D
mo
d
els
(
P
r
a
ch
i S
o
d
eg
a
o
n
ka
r
)
905
5
.
3
.
4
.
Co
nfusi
o
n
m
a
t
rix
a
nd
er
ro
r
a
na
ly
s
is
C
o
n
f
u
s
io
n
m
atr
ices
wer
e
d
ev
elo
p
ed
f
o
r
b
o
th
m
o
d
els
to
ex
am
in
e
f
alse
p
o
s
itiv
e
an
d
f
alse
n
eg
ativ
e
b
eh
av
io
r
in
m
o
r
e
d
etail.
As
s
h
o
wn
i
n
Fig
u
r
e
3
,
YOL
Ov
8
s
’
er
r
o
r
s
ar
e
co
n
f
in
ed
to
th
e
f
al
s
e
p
o
s
iti
v
e
q
u
ad
r
a
n
t
(
3
ca
s
es,
f
r
o
m
en
v
ir
o
n
m
e
n
tal
n
o
is
e
m
is
class
if
ied
as
v
eh
icles),
with
ze
r
o
f
alse
n
e
g
ativ
es,
y
ield
in
g
a
r
ec
all
o
f
1
.
0
0
a
n
d
p
r
ec
is
io
n
o
f
0
.
8
0
.
As s
h
o
wn
in
Fig
u
r
e
3
(
r
ig
h
t)
,
SS
D
’
s
er
r
o
r
s
co
n
ce
n
tr
ate
in
th
e
f
alse n
eg
ativ
e
q
u
ad
r
a
n
t (
4
ca
s
es)
r
ath
er
th
an
f
alse
p
o
s
itiv
es
(
1
ca
s
e)
,
co
n
s
is
ten
t
with
its
co
n
s
er
v
ativ
e
d
etec
tio
n
b
eh
a
v
io
r
:
it
f
r
eq
u
en
tly
f
ails
to
f
lag
p
ar
tially
o
cc
lu
d
ed
o
r
lo
w
-
lig
h
t
v
eh
icles
ev
e
n
a
f
ter
th
e
y
e
x
c
ee
d
th
e
3
0
-
s
ec
o
n
d
th
r
esh
o
ld
,
y
ield
in
g
a
r
ec
all
o
f
o
n
ly
0
.
6
7
.
Fals
e
p
o
s
itiv
es
in
b
o
th
m
o
d
els
m
ain
l
y
s
tem
f
r
o
m
tem
p
o
r
ar
y
h
alts
at
tr
a
f
f
ic
s
i
g
n
als
o
r
co
n
g
esti
o
n
,
wh
ile
f
alse
n
eg
ativ
es
co
n
ce
n
tr
ate
in
h
ea
v
y
o
cc
lu
s
io
n
o
r
lo
w
-
lig
h
t
s
ce
n
ar
io
s
,
u
n
d
er
s
co
r
in
g
th
e
p
r
ac
t
ical
ch
allen
g
es o
f
r
ea
l
-
wo
r
ld
s
u
r
v
e
illan
ce
co
n
d
itio
n
s
.
Fig
u
r
e
3
.
C
o
n
f
u
s
io
n
m
atr
ices
f
o
r
YOL
Ov
8
s
(
lef
t)
a
n
d
SS
D
(
r
ig
h
t)
m
o
d
els
5
.
4
.
O
pera
t
io
na
l
ef
f
iciency
a
nd
re
a
l
-
t
im
e
perf
o
r
m
a
nce
T
h
e
p
r
ac
tical
f
ea
s
ib
ilit
y
o
f
an
au
to
m
ated
s
y
s
tem
f
o
r
en
f
o
r
ci
n
g
illeg
al
p
ar
k
in
g
is
co
n
tin
g
e
n
t
u
p
o
n
its
ca
p
ac
ity
to
p
r
o
ce
s
s
h
ig
h
-
r
eso
l
u
tio
n
v
id
e
o
s
tr
ea
m
s
in
r
ea
l
-
tim
e.
B
o
th
in
f
er
en
ce
s
p
ee
d
an
d
d
etec
tio
n
ac
cu
r
ac
y
ar
e
cr
u
cial;
an
y
s
u
b
s
tan
tial la
ten
cy
o
r
f
r
am
e
lo
s
s
m
ay
r
esu
lt in
tr
ac
k
in
g
d
is
co
n
tin
u
ities
,
th
er
eb
y
co
m
p
r
o
m
is
in
g
th
e
p
r
ec
is
io
n
o
f
th
e
3
0
-
s
ec
o
n
d
s
tatio
n
ar
y
tim
er
.
5
.
4
.
1
.
I
nfe
re
nce
s
peed
a
nd
t
h
ro
ug
hp
ut
T
o
ass
ess
th
e
co
m
p
u
tatio
n
al
e
f
f
icien
cy
o
f
th
e
I
SLa
b
-
PVD
s
y
s
tem
,
th
e
th
r
o
u
g
h
p
u
t
o
f
b
o
th
YOL
Ov
8
s
an
d
SS
D
was e
v
alu
ated
.
Hig
h
p
r
o
ce
s
s
in
g
s
p
ee
d
s
ar
e
ess
en
tial to
m
ain
tain
co
n
s
is
ten
t o
b
ject
I
Ds ac
r
o
s
s
f
r
am
es.
I
n
ter
m
s
o
f
r
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
ef
f
icien
cy
,
YOL
Ov
8
s
ac
h
i
ev
ed
an
av
er
a
g
e
in
f
e
r
en
ce
s
p
ee
d
o
f
8
5
–
9
7
FP
S
(
~1
0
.
3
m
s
p
er
f
r
am
e)
,
co
m
p
ar
ed
to
SS
D
’
s
2
2
–
4
6
FP
S
(
~1
6
.
5
m
s
p
er
f
r
am
e)
,
g
iv
in
g
YOL
Ov
8
s
ex
ce
llen
t
r
ea
l
-
tim
e
ca
p
ab
ilit
y
v
er
s
u
s
SS
D
’
s
m
ar
g
in
al
p
e
r
f
o
r
m
an
ce
.
T
h
is
s
p
ee
d
ad
v
an
tag
e
is
p
r
im
a
r
ily
d
u
e
to
th
e
a
n
ch
o
r
-
f
r
ee
h
ea
d
an
d
C
2
f
b
ac
k
b
o
n
e
m
o
d
u
les
with
in
th
e
YOL
Ov
8
ar
ch
itectu
r
e.
I
n
co
n
tr
ast
to
SS
D
’
s
an
ch
o
r
-
b
ased
ar
ch
itectu
r
e,
wh
ich
n
ec
ess
itates
th
e
ev
alu
atio
n
o
f
a
lar
g
e
n
u
m
b
e
r
o
f
p
r
e
-
d
ef
in
ed
b
o
x
es,
YOL
Ov
8
s
d
ir
ec
tly
p
r
ed
icts
o
b
ject
ce
n
tr
es,
s
ig
n
if
ic
an
tly
r
e
d
u
cin
g
th
e
co
m
p
u
tatio
n
al
o
v
er
h
ea
d
p
er
f
r
am
e.
5
.
4
.
2
.
Co
m
pa
r
a
t
iv
e
m
et
ric
a
na
ly
s
is
T
ab
le
2
s
u
m
m
ar
izes
th
e
p
r
ec
is
io
n
,
r
ec
all,
an
d
F1
-
s
co
r
e
co
m
p
ar
is
o
n
b
etwe
en
YOL
Ov
8
s
an
d
SS
D.
As
T
ab
le
2
s
h
o
ws,
th
e
m
o
s
t
n
o
tab
le
d
if
f
er
e
n
ce
is
in
r
ec
all:
YOL
Ov
8
s
ac
h
iev
ed
a
p
e
r
f
ec
t
1
.
0
0
,
w
h
ile
SS
D
’
s
0
.
6
7
m
ea
n
s
it
m
is
s
ed
3
3
%
o
f
v
io
latio
n
s
.
SS
D
’
s
m
ar
g
in
ally
h
ig
h
er
p
r
ec
is
io
n
(
0
.
8
9
v
s
.
0
.
8
0
)
r
ef
lects
a
m
o
r
e
co
n
s
er
v
ativ
e
ap
p
r
o
ac
h
t
h
at
tr
a
d
es
m
is
s
ed
v
io
latio
n
s
f
o
r
f
ew
er
f
alse
alar
m
s
,
an
d
YOL
Ov
8
s
’
h
ig
h
er
F1
-
s
co
r
e
(
0
.
8
9
v
s
.
0
.
7
7
)
co
n
f
ir
m
s
it a
s
t
h
e
m
o
r
e
b
alan
ce
d
m
o
d
el.
Sin
c
e
a
m
is
s
ed
v
io
latio
n
is
a
m
o
r
e
cr
itical
f
ailu
r
e
th
an
an
o
cc
asio
n
al
f
alse
alar
m
in
th
is
co
n
tex
t,
YOL
Ov
8
s
s
h
o
ws
s
tr
o
n
g
er
d
etec
tio
n
r
eliab
ilit
y
.
Fu
tu
r
e
wo
r
k
m
ay
ex
ten
d
th
is
co
m
p
ar
is
o
n
to
two
-
s
tag
e
m
o
d
els s
u
ch
as Fast
er
R
-
C
NN.
5
.
4
.
3
.
Reso
urce
ef
f
iciency
Alth
o
u
g
h
SS
D
is
o
f
ten
n
o
ted
f
o
r
m
in
im
al
m
em
o
r
y
u
s
ag
e,
its
th
r
o
u
g
h
p
u
t
in
h
ig
h
-
d
en
s
ity
tr
af
f
ic
(
~2
2
FP
S)
is
les
s
r
eliab
le
f
o
r
r
ea
l
-
tim
e
en
f
o
r
ce
m
en
t.
YOL
Ov
8
s
b
alan
ce
s
th
e
s
p
ee
d
n
ee
d
ed
f
o
r
im
m
ed
iate
aler
ts
with
ef
f
icien
cy
s
u
itab
le
f
o
r
co
n
tem
p
o
r
ar
y
e
d
g
e
-
c
o
m
p
u
tin
g
h
ar
d
wa
r
e
in
s
m
ar
t c
ity
d
e
p
lo
y
m
en
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
4
3
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
8
9
8
-
9
0
7
906
6.
C
O
N
CL
US
I
O
N
T
h
i
s
r
e
s
e
a
r
c
h
p
r
e
s
e
n
t
e
d
a
c
o
m
p
a
r
a
t
i
v
e
e
v
a
l
u
a
t
i
o
n
o
f
Y
O
L
O
v
8
s
a
n
d
S
S
D
a
r
c
h
it
e
c
t
u
r
e
s
f
o
r
t
h
e
a
u
t
o
m
a
t
e
d
i
d
e
n
t
i
f
i
c
a
t
i
o
n
o
f
i
lle
g
a
l
p
a
r
k
i
n
g
e
v
e
n
t
s
i
n
c
o
m
p
l
ex
u
r
b
a
n
e
n
v
i
r
o
n
m
e
n
t
s
.
B
y
i
m
p
l
e
m
e
n
t
i
n
g
a
r
e
g
i
o
n
-
b
a
s
e
d
t
e
m
p
o
r
a
l l
o
g
i
c
—
s
p
ec
i
f
i
ca
l
l
y
a
3
0
-
s
e
c
o
n
d
s
t
a
ti
o
n
a
r
i
t
y
t
h
r
e
s
h
o
l
d
—
t
h
is
s
t
u
d
y
s
u
c
c
es
s
f
u
lly
t
r
a
n
s
it
i
o
n
e
d
f
r
o
m
r
a
w
f
r
a
m
e
-
l
e
v
e
l
d
et
e
c
ti
o
n
t
o
a
m
o
r
e
m
e
a
n
i
n
g
f
u
l
e
v
e
n
t
-
l
e
v
e
l
an
a
l
y
s
is
.
Y
O
L
O
v
8
s
d
e
m
o
n
s
t
r
at
e
d
t
h
e
s
tr
o
n
g
e
s
t
p
e
r
f
o
r
m
a
n
c
e
,
a
c
h
ie
v
i
n
g
a
r
e
c
a
ll
o
f
1
.
0
0
a
n
d
F
1
-
s
c
o
r
e
o
f
0
.
8
9
,
w
i
t
h
i
n
f
e
r
e
n
c
e
s
p
e
e
d
u
p
t
o
9
7
F
P
S
.
S
SD
,
d
e
s
p
it
e
m
a
r
g
i
n
a
l
ly
h
i
g
h
e
r
p
r
e
c
i
s
i
o
n
,
s
h
o
w
e
d
a
s
u
b
s
t
a
n
t
i
a
ll
y
h
i
g
h
e
r
f
a
i
l
u
r
e
r
a
t
e
i
n
c
o
m
p
l
e
x
s
c
e
n
es
(
R
e
c
a
ll
o
f
0
.
6
7
)
a
n
d
l
o
w
e
r
t
h
r
o
u
g
h
p
u
t
,
m
a
k
i
n
g
i
t
l
e
s
s
s
u
i
ta
b
le
f
o
r
s
a
f
e
t
y
-
c
r
i
ti
c
a
l
e
n
f
o
r
c
e
m
e
n
t
.
T
h
e
s
e
r
e
s
u
lt
s
s
h
o
u
l
d
b
e
r
e
a
d
i
n
l
i
g
h
t
o
f
t
h
e
s
t
u
d
y
’
s
l
i
m
i
t
a
ti
o
n
s
:
t
h
e
3
0
-
s
e
c
o
n
d
t
h
r
e
s
h
o
l
d
w
a
s
n
o
t
e
m
p
i
r
i
c
a
l
l
y
v
a
l
i
d
at
e
d
ac
r
o
s
s
z
o
n
e
s
o
r
d
at
a
s
e
t
s
,
t
h
e
e
v
a
l
u
a
ti
o
n
s
e
t
w
as
s
m
a
ll
(
1
2
v
i
o
la
t
i
o
n
s
a
cr
o
s
s
1
1
s
e
q
u
e
n
c
es
)
,
a
n
d
h
a
r
d
w
a
r
e
w
a
s
l
i
m
it
e
d
t
o
a
h
i
g
h
-
p
e
r
f
o
r
m
a
n
c
e
G
P
U
,
l
e
av
i
n
g
e
d
g
e
-
d
e
v
i
c
e
p
e
r
f
o
r
m
a
n
c
e
u
n
t
e
s
t
e
d
.
C
e
n
t
r
o
i
d
-
b
a
s
e
d
f
i
l
te
r
i
n
g
m
a
y
a
ls
o
b
e
l
e
s
s
r
e
l
i
a
b
l
e
u
n
d
e
r
p
e
r
s
p
e
ct
i
v
e
d
is
to
r
t
i
o
n
o
r
s
e
v
e
r
e
o
c
c
l
u
s
i
o
n
.
F
u
tu
r
e
w
o
r
k
w
i
l
l
ta
r
g
e
t
e
m
p
i
r
i
c
a
l
t
h
r
e
s
h
o
l
d
a
b
l
a
t
i
o
n
,
lar
g
e
r
c
r
o
s
s
-
v
a
li
d
a
t
e
d
d
a
ta
s
et
s
,
ed
g
e
-
d
e
v
i
c
e
b
e
n
c
h
m
a
r
k
i
n
g
,
a
n
d
p
r
i
v
a
c
y
-
p
r
e
s
e
r
v
i
n
g
d
e
p
l
o
y
m
e
n
t
(
e
.
g
.
,
a
u
t
o
m
a
t
e
d
l
ic
e
n
s
e
p
l
at
e
m
a
s
k
i
n
g
)
f
o
r
c
i
t
y
-
s
c
a
l
e
s
u
r
v
e
il
l
a
n
c
e
.
A
l
t
h
o
u
g
h
t
h
e
d
a
t
a
s
e
t
is
n
o
t
p
u
b
l
i
c
l
y
a
v
a
i
l
a
b
l
e
d
u
e
t
o
p
r
i
v
a
c
y
c
o
n
s
t
r
a
i
n
t
s
,
d
e
t
ai
l
e
d
m
e
t
h
o
d
o
l
o
g
i
c
a
l
d
e
s
c
r
i
p
t
i
o
n
s
a
n
d
e
x
p
e
r
i
m
e
n
t
a
l
c
o
n
f
i
g
u
r
a
t
i
o
n
s
h
a
v
e
b
e
e
n
p
r
o
v
i
d
e
d
t
o
s
u
p
p
o
r
t
r
e
p
r
o
d
u
c
i
b
i
l
i
t
y
.
F
u
t
u
r
e
w
o
r
k
w
i
l
l
f
o
c
u
s
o
n
r
e
l
e
a
s
i
n
g
a
n
n
o
t
a
t
e
d
d
a
t
a
s
et
s
a
n
d
i
m
p
l
e
m
e
n
t
at
i
o
n
r
e
s
o
u
r
c
e
s
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
A
u
t
h
o
r
s
s
t
a
t
e
n
o
f
u
n
d
i
n
g
i
n
v
o
l
v
e
d
.
A
U
T
H
O
R
C
O
NT
R
I
B
UT
I
O
N
S
ST
AT
E
M
E
NT
T
h
i
s
j
o
u
r
n
a
l
u
s
es
t
h
e
C
o
n
t
r
i
b
u
t
o
r
R
o
l
e
s
T
a
x
o
n
o
m
y
(
C
R
e
d
i
T
)
t
o
r
e
c
o
g
n
i
z
e
i
n
d
i
v
i
d
u
a
l
a
u
t
h
o
r
c
o
n
t
r
i
b
u
t
i
o
n
s
,
r
e
d
u
c
e
a
u
t
h
o
r
s
h
ip
d
i
s
p
u
t
e
s
,
a
n
d
f
a
ci
l
it
a
t
e
c
o
l
l
a
b
o
r
a
t
i
o
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
Pra
ch
i So
d
eg
ao
n
k
ar
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
R
a
h
a
t
A.
Kh
an
✓
✓
✓
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
A
u
t
h
o
r
s
s
t
a
t
e
n
o
c
o
n
f
l
i
ct
o
f
i
n
te
r
e
s
t
.
D
A
T
A
AV
A
I
L
A
B
I
L
I
T
Y
T
h
e
d
a
t
a
u
s
e
d
i
n
t
h
i
s
s
t
u
d
y
c
o
n
s
i
s
t
o
f
r
e
a
l
-
w
o
r
l
d
s
u
r
v
e
i
l
la
n
c
e
v
i
d
e
o
s
e
q
u
e
n
c
e
s
.
D
u
e
t
o
p
r
i
v
a
c
y
a
n
d
e
t
h
i
c
a
l
r
e
s
t
r
i
c
ti
o
n
s
a
s
s
o
c
i
at
e
d
w
i
t
h
C
C
T
V
d
a
ta
,
t
h
e
d
a
t
as
et
s
a
r
e
n
o
t
p
u
b
li
c
l
y
a
v
a
i
l
a
b
le
.
H
o
w
e
v
e
r
,
t
h
e
d
at
a
s
u
p
p
o
r
t
i
n
g
t
h
e
f
i
n
d
i
n
g
s
o
f
t
h
is
s
t
u
d
y
a
r
e
a
v
a
i
la
b
l
e
f
r
o
m
t
h
e
c
o
r
r
e
s
p
o
n
d
i
n
g
a
u
t
h
o
r
u
p
o
n
r
e
a
s
o
n
a
b
l
e
r
e
q
u
e
s
t
.
R
E
F
E
RE
NC
E
S
[
1
]
R
.
C
u
c
c
h
i
a
r
a
,
C
.
G
r
a
n
a
,
M
.
P
i
c
c
a
r
d
i
,
a
n
d
A
.
P
r
a
t
i
,
“
D
e
t
e
c
t
i
n
g
mo
v
i
n
g
o
b
j
e
c
t
s
,
g
h
o
s
t
s,
a
n
d
s
h
a
d
o
w
s
i
n
v
i
d
e
o
s
t
r
e
a
ms,
”
I
EEE
T
r
a
n
s
a
c
t
i
o
n
s
o
n
Pa
t
t
e
rn
A
n
a
l
y
si
s
a
n
d
M
a
c
h
i
n
e
I
n
t
e
l
l
i
g
e
n
c
e
,
v
o
l
.
2
5
,
n
o
.
1
0
,
p
p
.
1
3
3
7
–
1
3
4
2
,
O
c
t
.
2
0
0
3
,
d
o
i
:
1
0
.
1
1
0
9
/
TPA
M
I
.
2
0
0
3
.
1
2
3
3
9
0
9
.
[
2
]
C
.
S
t
a
u
f
f
e
r
a
n
d
W
.
E
.
L.
G
r
i
ms
o
n
,
“
A
d
a
p
t
i
v
e
b
a
c
k
g
r
o
u
n
d
mi
x
t
u
r
e
m
o
d
e
l
s
f
o
r
r
e
a
l
-
t
i
m
e
t
r
a
c
k
i
n
g
,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE
C
o
n
f
e
re
n
c
e
o
n
C
o
m
p
u
t
e
r
Vi
s
i
o
n
a
n
d
Pa
t
t
e
r
n
Re
c
o
g
n
i
t
i
o
n
(
C
VP
R)
,
1
9
9
9
,
p
p
.
2
4
6
–
2
5
2
,
d
o
i
:
1
0
.
1
1
0
9
/
C
V
P
R
.
1
9
9
9
.
7
8
4
6
3
7
.
[
3
]
J.
W
.
H
s
i
e
h
,
S
.
H
.
Y
u
,
Y
.
S
.
C
h
e
n
,
a
n
d
W
.
F
.
H
u
,
“
A
u
t
o
ma
t
i
c
t
r
a
f
f
i
c
s
u
r
v
e
i
l
l
a
n
c
e
s
y
s
t
e
m
f
o
r
v
e
h
i
c
l
e
t
r
a
c
k
i
n
g
a
n
d
c
l
a
ss
i
f
i
c
a
t
i
o
n
,
”
I
EEE
T
r
a
n
s
a
c
t
i
o
n
s
o
n
I
n
t
e
l
l
i
g
e
n
t
T
r
a
n
sp
o
r
t
a
t
i
o
n
S
y
st
e
m
s
,
v
o
l
.
7
,
n
o
.
2
,
p
p
.
1
7
5
–
1
8
7
,
J
u
n
.
2
0
0
6
,
d
o
i
:
1
0
.
1
1
0
9
/
TI
TS.2
0
0
6
.
8
7
4
7
2
2
.
[
4
]
N
.
C
.
M
i
t
h
u
n
,
S
.
F
.
R
a
sh
i
d
,
a
n
d
S
.
M
.
M
.
R
a
h
ma
n
,
“
D
e
t
e
c
t
i
o
n
a
n
d
c
l
a
s
si
f
i
c
a
t
i
o
n
o
f
v
e
h
i
c
l
e
s
f
r
o
m
v
i
d
e
o
u
s
i
n
g
m
u
l
t
i
p
l
e
t
i
m
e
-
sp
a
t
i
a
l
i
ma
g
e
s
,
”
I
EEE
T
r
a
n
sa
c
t
i
o
n
s
o
n
I
n
t
e
l
l
i
g
e
n
t
T
r
a
n
sp
o
r
t
a
t
i
o
n
S
y
st
e
m
s
,
v
o
l
.
1
3
,
n
o
.
3
,
p
p
.
1
2
1
5
–
1
2
2
5
,
S
e
p
.
2
0
1
2
,
d
o
i
:
1
0
.
1
1
0
9
/
TI
TS.2
0
1
2
.
2
1
8
5
8
0
3
.
[
5
]
S
.
R
e
n
,
K
.
H
e
,
R
.
G
i
r
sh
i
c
k
,
a
n
d
J
.
S
u
n
,
“
F
a
s
t
e
r
R
-
C
N
N
:
t
o
w
a
r
d
s
r
e
a
l
-
t
i
m
e
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
w
i
t
h
r
e
g
i
o
n
p
r
o
p
o
sal
n
e
t
w
o
r
k
s
,
”
i
n
Ad
v
a
n
c
e
s i
n
N
e
u
r
a
l
I
n
f
o
rm
a
t
i
o
n
Pro
c
e
ssi
n
g
S
y
st
e
m
s
,
2
0
1
5
,
p
p
.
9
1
–
9
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
ve
n
t
-
leve
l illeg
a
l p
a
r
kin
g
d
et
ec
tio
n
u
s
in
g
YOLOv8
a
n
d
S
S
D
mo
d
els
(
P
r
a
ch
i S
o
d
eg
a
o
n
ka
r
)
907
[
6
]
J.
R
e
d
m
o
n
,
S
.
D
i
v
v
a
l
a
,
R
.
G
i
r
s
h
i
c
k
,
a
n
d
A
.
F
a
r
h
a
d
i
,
“
Y
o
u
o
n
l
y
l
o
o
k
o
n
c
e
:
u
n
i
f
i
e
d
,
r
e
a
l
-
t
i
m
e
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EE
E
C
o
n
f
e
re
n
c
e
o
n
C
o
m
p
u
t
e
r V
i
si
o
n
a
n
d
Pa
t
t
e
r
n
R
e
c
o
g
n
i
t
i
o
n
(
C
VPR)
,
2
0
1
6
,
p
p
.
7
7
9
–
7
8
8
,
d
o
i
:
1
0
.
1
1
0
9
/
C
V
P
R
.
2
0
1
6
.
9
1
.
[
7
]
J
.
R
e
d
m
o
n
a
n
d
A
.
F
a
r
h
a
d
i
,
“
Y
O
LO
v
3
:
a
n
i
n
c
r
e
m
e
n
t
a
l
i
m
p
r
o
v
e
me
n
t
,
”
a
rX
i
v
p
re
p
r
i
n
t
a
rX
i
v
:
1
8
0
4
.
0
2
7
6
7
,
2
0
1
8
.
[
8
]
L.
Ja
y
a
k
u
mar,
M
.
D
o
n
t
a
b
h
a
k
t
u
n
i
,
a
n
d
S
.
P
e
d
d
a
k
r
i
sh
n
a
,
“
P
e
r
f
o
r
ma
n
c
e
e
v
a
l
u
a
t
i
o
n
o
f
Y
O
LO
v
5
-
b
a
s
e
d
c
u
s
t
o
m
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
mo
d
e
l
f
o
r
c
a
m
p
u
s
-
s
p
e
c
i
f
i
c
sce
n
a
r
i
o
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
E
x
p
e
ri
m
e
n
t
a
l
R
e
se
a
rc
h
a
n
d
Re
v
i
e
w
,
v
o
l
.
3
8
,
p
p
.
4
6
–
6
0
,
2
0
2
4
,
d
o
i
:
1
0
.
5
2
7
5
6
/
i
j
e
r
r
.
2
0
2
4
.
v
3
8
.
0
0
5
.
[
9
]
J.
Zh
a
n
g
e
t
a
l
.
,
“
A
n
i
m
p
r
o
v
e
d
Y
O
LO
v
5
-
b
a
s
e
d
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
f
r
a
me
w
o
r
k
f
o
r
t
r
a
f
f
i
c
s
u
r
v
e
i
l
l
a
n
c
e
,
”
S
e
n
s
o
rs
,
v
o
l
.
2
3
,
n
o
.
7
,
p
.
3
6
9
3
,
2
0
2
3
,
d
o
i
:
1
0
.
3
3
9
0
/
s
2
3
0
7
3
6
9
3
.
[
1
0
]
W
.
Li
u
e
t
a
l
.
,
“
S
S
D
:
s
i
n
g
l
e
sh
o
t
M
u
l
t
i
B
o
x
d
e
t
e
c
t
o
r
,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
Eu
ro
p
e
a
n
C
o
n
f
e
r
e
n
c
e
o
n
C
o
m
p
u
t
e
r
Vi
si
o
n
(
EC
C
V)
,
2
0
1
6
,
p
p
.
2
1
–
3
7
,
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
3
1
9
-
4
6
4
4
8
-
0
_
2
.
[
1
1
]
A
.
H
e
n
d
r
a
w
a
n
,
R
.
G
e
r
n
o
w
o
,
O
.
D
.
N
u
r
h
a
y
a
t
i
,
B
.
W
a
r
si
t
o
,
a
n
d
A
.
W
i
b
o
w
o
,
“
I
mp
r
o
v
e
me
n
t
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
a
l
g
o
r
i
t
h
m
b
a
se
d
o
n
Y
O
LO
v
5
w
i
t
h
B
o
t
t
l
e
n
e
c
k
C
S
P
,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
C
o
m
m
u
n
i
c
a
t
i
o
n
,
N
e
t
w
o
rks
a
n
d
S
a
t
e
l
l
i
t
e
(
C
O
MN
ET
S
AT)
,
2
0
2
2
,
p
p
.
7
9
–
8
3
,
d
o
i
:
1
0
.
1
1
0
9
/
C
O
M
N
ETSA
T
5
6
0
3
3
.
2
0
2
2
.
9
9
9
4
4
9
2
.
[
1
2
]
B
e
w
l
e
y
,
Z.
G
e
,
L.
O
t
t
,
F
.
R
a
m
o
s,
a
n
d
B
.
U
p
c
r
o
f
t
,
“
S
i
m
p
l
e
o
n
l
i
n
e
a
n
d
r
e
a
l
t
i
me
t
r
a
c
k
i
n
g
,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
I
m
a
g
e
Pro
c
e
ss
i
n
g
(
I
C
I
P)
,
2
0
1
6
,
p
p
.
3
4
6
4
–
3
4
6
8
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
I
P
.
2
0
1
6
.
7
5
3
3
0
0
3
.
[
1
3
]
N
.
W
o
j
k
e
,
A
.
B
e
w
l
e
y
,
a
n
d
D
.
P
a
u
l
u
s
,
“
S
i
m
p
l
e
o
n
l
i
n
e
a
n
d
r
e
a
l
t
i
me
t
r
a
c
k
i
n
g
w
i
t
h
a
d
e
e
p
a
ss
o
c
i
a
t
i
o
n
me
t
r
i
c
,
”
i
n
P
ro
c
e
e
d
i
n
g
s o
f
t
h
e
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
I
m
a
g
e
Pr
o
c
e
ssi
n
g
(
I
C
I
P)
,
2
0
1
7
,
p
p
.
3
6
4
5
–
3
6
4
9
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
I
P
.
2
0
1
7
.
8
2
9
6
9
6
2
.
[
1
4
]
G
.
A
mat
o
,
F
.
C
a
r
r
a
r
a
,
F
.
F
a
l
c
h
i
,
C
.
G
e
n
n
a
r
o
,
a
n
d
C
.
M
e
g
h
i
n
i
,
“
C
a
r
p
a
r
k
i
n
g
o
c
c
u
p
a
n
c
y
d
e
t
e
c
t
i
o
n
u
s
i
n
g
sm
a
r
t
c
a
m
e
r
a
n
e
t
w
o
r
k
s
a
n
d
d
e
e
p
l
e
a
r
n
i
n
g
,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
S
m
a
r
t
C
o
m
p
u
t
i
n
g
,
2
0
1
6
,
p
p
.
1
2
1
–
1
2
8
,
d
o
i
:
1
0
.
1
1
0
9
/
S
M
A
R
T
C
O
M
P
.
2
0
1
6
.
7
5
0
1
6
9
9
.
[
1
5
]
A
.
B
o
c
h
k
o
v
s
k
i
y
,
C
.
Y
.
W
a
n
g
,
a
n
d
H
.
Y
.
M
.
Li
a
o
,
“
Y
O
LO
v
4
:
o
p
t
i
m
a
l
sp
e
e
d
a
n
d
a
c
c
u
r
a
c
y
o
f
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
,
”
a
rXi
v
p
r
e
p
r
i
n
t
a
rXi
v
:
2
0
0
4
.
1
0
9
3
4
,
2
0
2
0
.
[
1
6
]
G
.
J
o
c
h
e
r
,
A
.
C
h
a
u
r
a
s
i
a
,
a
n
d
J
.
Q
i
u
,
“
Y
O
L
O
v
8
:
u
l
t
r
a
l
y
t
i
c
s
n
e
x
t
-
g
e
n
e
r
a
t
i
o
n
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
m
o
d
e
l
,
”
U
l
t
r
a
l
y
t
i
c
s
D
o
c
u
m
e
n
t
a
t
i
o
n
,
2
0
2
3
.
[
1
7
]
Y
.
W
a
n
g
,
A
.
B
o
c
h
k
o
v
sk
i
y
,
a
n
d
H
.
Y
.
M
.
L
i
a
o
,
“
Y
O
LO
v
7
:
t
r
a
i
n
a
b
l
e
b
a
g
-
of
-
f
r
e
e
b
i
e
s
se
t
s
n
e
w
st
a
t
e
-
of
-
t
h
e
-
a
r
t
f
o
r
r
e
a
l
-
t
i
me
o
b
j
e
c
t
d
e
t
e
c
t
o
r
s,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE/
C
VF
C
o
n
f
e
re
n
c
e
o
n
C
o
m
p
u
t
e
r
V
i
si
o
n
a
n
d
P
a
t
t
e
r
n
Re
c
o
g
n
i
t
i
o
n
(
C
VP
R)
,
2
0
2
2
,
p
p
.
7
4
6
4
–
7
4
7
5
,
d
o
i
:
1
0
.
1
1
0
9
/
C
V
P
R
5
2
6
8
8
.
2
0
2
2
.
0
0
7
2
9
.
[
1
8
]
Z.
Q
.
Zh
a
o
,
P
.
Z
h
e
n
g
,
S
.
T.
X
u
,
a
n
d
X
.
W
u
,
“
O
b
j
e
c
t
d
e
t
e
c
t
i
o
n
w
i
t
h
d
e
e
p
l
e
a
r
n
i
n
g
:
a
r
e
v
i
e
w
,
”
I
EE
E
T
ra
n
s
a
c
t
i
o
n
s
o
n
N
e
u
r
a
l
N
e
t
w
o
rks
a
n
d
L
e
a
rn
i
n
g
S
y
st
e
m
s
,
v
o
l
.
3
0
,
n
o
.
1
1
,
p
p
.
3
2
1
2
–
3
2
3
2
,
N
o
v
.
2
0
1
9
,
d
o
i
:
1
0
.
1
1
0
9
/
TN
N
LS
.
2
0
1
8
.
2
8
7
6
8
6
5
.
[
1
9
]
X
.
C
h
e
n
,
H
.
M
a
,
J.
W
a
n
,
B
.
L
i
,
a
n
d
T
.
X
i
a
,
“
M
u
l
t
i
-
v
i
e
w
3
D
o
b
j
e
c
t
d
e
t
e
c
t
i
o
n
n
e
t
w
o
r
k
f
o
r
a
u
t
o
n
o
m
o
u
s
d
r
i
v
i
n
g
,
”
i
n
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EE
E
C
o
n
f
e
re
n
c
e
o
n
C
o
m
p
u
t
e
r V
i
si
o
n
a
n
d
Pa
t
t
e
r
n
R
e
c
o
g
n
i
t
i
o
n
(
C
VPR)
,
2
0
1
7
,
p
p
.
1
9
0
7
–
1
9
1
5
,
d
o
i
:
1
0
.
1
1
0
9
/
C
V
P
R
.
2
0
1
7
.
2
0
2
.
[
2
0
]
L.
Li
,
D
.
W
e
n
,
a
n
d
D
.
Y
a
o
,
“
A
s
u
r
v
e
y
o
f
t
r
a
f
f
i
c
c
o
n
t
r
o
l
w
i
t
h
v
e
h
i
c
u
l
a
r
c
o
mm
u
n
i
c
a
t
i
o
n
s
,
”
I
EE
E
T
ra
n
sa
c
t
i
o
n
s
o
n
I
n
t
e
l
l
i
g
e
n
t
T
ra
n
s
p
o
rt
a
t
i
o
n
S
y
st
e
m
s
,
v
o
l
.
1
9
,
n
o
.
5
,
p
p
.
1
4
9
1
–
1
5
0
9
,
M
a
y
2
0
1
8
,
d
o
i
:
1
0
.
1
1
0
9
/
TI
TS.2
0
1
7
.
2
7
1
0
7
0
1
.
[
2
1
]
Z.
S
h
a
o
,
J.
C
a
i
,
Z.
W
a
n
g
,
a
n
d
H
.
Z
h
a
n
g
,
“
V
e
h
i
c
l
e
d
e
t
e
c
t
i
o
n
a
n
d
t
r
a
c
k
i
n
g
i
n
t
r
a
f
f
i
c
s
u
r
v
e
i
l
l
a
n
c
e
u
si
n
g
d
e
e
p
l
e
a
r
n
i
n
g
,
”
I
E
EE
T
ra
n
s
a
c
t
i
o
n
s
o
n
I
n
t
e
l
l
i
g
e
n
t
T
r
a
n
s
p
o
rt
a
t
i
o
n
S
y
s
t
e
m
s
,
v
o
l
.
2
2
,
n
o
.
6
,
p
p
.
3
7
5
5
–
3
7
6
6
,
J
u
n
.
2
0
2
1
,
d
o
i
:
1
0
.
1
1
0
9
/
TI
TS.2
0
2
0
.
2
9
6
7
8
3
9
.
[
2
2
]
T.
Ta
n
g
,
S
.
Z
h
o
u
,
Z.
D
e
n
g
,
L.
L
e
i
,
a
n
d
H
.
Z
o
u
,
“
V
e
h
i
c
l
e
d
e
t
e
c
t
i
o
n
i
n
a
e
r
i
a
l
i
ma
g
e
s
b
a
s
e
d
o
n
r
e
g
i
o
n
c
o
n
v
o
l
u
t
i
o
n
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
s
a
n
d
h
a
r
d
n
e
g
a
t
i
v
e
mi
n
i
n
g
,
”
S
e
n
s
o
rs
,
v
o
l
.
2
0
,
n
o
.
1
,
p
.
3
3
6
,
2
0
2
0
,
d
o
i
:
1
0
.
3
3
9
0
/
s
2
0
0
1
0
3
3
6
.
[
2
3
]
J.
W
u
,
M
.
X
u
,
a
n
d
C
.
Z
h
a
o
,
“
R
e
a
l
-
t
i
me
i
l
l
e
g
a
l
p
a
r
k
i
n
g
d
e
t
e
c
t
i
o
n
u
s
i
n
g
d
e
e
p
l
e
a
r
n
i
n
g
a
n
d
s
u
r
v
e
i
l
l
a
n
c
e
v
i
d
e
o
s,
”
J
o
u
r
n
a
l
o
f
Ad
v
a
n
c
e
d
T
r
a
n
s
p
o
r
t
a
t
i
o
n
,
v
o
l
.
2
0
2
1
,
A
r
t
.
n
o
.
6
6
2
3
7
1
4
,
2
0
2
1
,
d
o
i
:
1
0
.
1
1
5
5
/
2
0
2
1
/
6
6
2
3
7
1
4
.
[
2
4
]
F
.
Y
a
n
g
,
Z.
L
i
,
a
n
d
Y
.
W
a
n
g
,
“
I
n
t
e
l
l
i
g
e
n
t
p
a
r
k
i
n
g
m
a
n
a
g
e
me
n
t
s
y
st
e
m
b
a
s
e
d
o
n
d
e
e
p
l
e
a
r
n
i
n
g
a
n
d
v
i
d
e
o
s
u
r
v
e
i
l
l
a
n
c
e
,
”
Ap
p
l
i
e
d
S
c
i
e
n
c
e
s
,
v
o
l
.
1
2
,
n
o
.
9
,
p
.
4
3
1
2
,
2
0
2
2
,
d
o
i
:
1
0
.
3
3
9
0
/
a
p
p
1
2
0
9
4
3
1
2
.
[
2
5
]
Y
.
Z
h
a
n
g
,
L
.
W
a
n
g
,
a
n
d
H
.
Li
u
,
“
A
v
i
s
i
o
n
-
b
a
se
d
a
p
p
r
o
a
c
h
f
o
r
d
e
t
e
c
t
i
n
g
i
l
l
e
g
a
l
p
a
r
k
i
n
g
i
n
u
r
b
a
n
t
r
a
f
f
i
c
sc
e
n
e
s
,
”
I
EE
E
A
c
c
e
ss
,
v
o
l
.
8
,
p
p
.
1
7
0
4
5
6
–
1
7
0
4
6
8
,
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
0
.
3
0
2
3
3
4
4
.
B
IO
G
R
A
PHI
E
S
O
F A
U
T
H
O
R
S
P
r
a
c
h
i
S
o
d
e
g
a
o
n
k
a
r
i
s
a
P
h
.
D
.
r
e
s
e
a
rc
h
s
c
h
o
l
a
r
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
r
i
n
g
a
t
D
r
.
B
a
b
a
s
a
h
e
b
Am
b
e
d
k
a
r
M
a
r
a
t
h
wa
d
a
U
n
i
v
e
r
s
i
t
y
,
C
h
h
a
t
r
a
p
a
t
i
S
a
m
b
h
a
j
i
n
a
g
a
r
,
r
e
s
e
a
r
c
h
i
n
g
i
n
t
e
l
l
i
g
e
n
t
p
a
r
k
i
n
g
s
y
s
t
e
m
s
a
n
d
s
m
a
r
t
c
i
t
y
s
u
r
v
e
i
l
l
a
n
c
e
.
S
h
e
i
s
a
n
a
s
s
i
s
ta
n
t
p
r
o
f
e
s
s
o
r
a
t
D
e
o
g
i
r
i
I
n
s
t
i
t
u
t
e
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
M
a
n
a
g
e
m
e
n
t
S
t
u
d
i
e
s
,
w
i
t
h
r
e
s
e
a
rc
h
i
n
t
e
r
e
s
ts
i
n
A
I
a
n
d
c
o
m
p
u
t
e
r
v
i
s
i
o
n
.
S
h
e
c
a
n
b
e
c
o
n
ta
c
ted
a
t
e
m
a
il
:
p
ra
c
h
iso
d
e
g
a
o
n
k
a
r
2
0
0
9
@g
m
a
il
.
c
o
m
.
D
r
.
R
a
h
a
t
A
.
K
h
a
n
i
s
a
s
e
n
i
o
r
a
c
a
d
e
m
i
c
ia
n
a
n
d
r
e
s
e
a
rc
h
s
u
p
e
r
v
i
s
o
r
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
r
i
n
g
,
s
p
e
c
i
a
l
iz
i
n
g
i
n
A
I
a
n
d
c
o
m
p
u
t
e
r
v
i
s
i
o
n
,
w
i
t
h
a
P
h
.
D
.
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
a
n
d
a
r
o
l
e
a
s
r
e
s
e
a
r
c
h
g
u
i
d
e
a
t
D
r
.
B
a
b
a
s
a
h
e
b
A
m
b
e
d
k
a
r
M
a
r
a
t
h
w
a
d
a
U
n
i
v
e
r
s
i
t
y
,
C
h
h
a
t
r
a
p
a
t
i
S
a
m
b
h
a
j
i
n
a
g
a
r
.
S
h
e
c
a
n
b
e
c
o
n
t
a
c
t
e
d
a
t
e
m
a
i
l
:
r
a
h
a
t
.
k
h
a
n
@
g
h
i
r
s
t
u
.
e
d
u
.
i
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.