FPGA-Based Real-Time Moving Target Detection System for Unmanned Aerial Vehicle Application

Table 5

Performance evaluation in terms of and for 1000 frames using different density in ego-motion estimation, , and frame differencing threshold, .

12	15	0.958	0.643
12	20	0.954	0.331
12	25	0.949	0.194
24	15	0.957	0.568
24	20	0.950	0.324
24	25	0.945	0.101
35	15	0.958	0.548
35	20	0.952	0.215
35	25	0.947	0.090
48	15	0.959	0.539
48	20	0.952	0.253
48	25	0.944	0.079
70	15	0.958	0.509
70	20	0.951	0.188
70	25	0.946	0.075
88	15	0.960	0.489
88	20	0.951	0.219
88	25	0.947	0.074
108	15	0.958	0.483
108	20	0.952	0.168
108	25	0.946	0.058
140	15	0.958	0.499
140	20	0.951	0.187
140	25	0.946	0.059
165	15	0.958	0.474
165	20	0.953	0.214
165	25	0.947	0.068
192	15	0.959	0.478
192	20	0.952	0.169
192	25	0.946	0.092