Figure 14

Tracking ground truth. Tracking ground truth and generated scenarios. The 80 manually labeled 3D tracks are shown in (a) where the thick dots correspond to observations with no recoverable depth. Examples of generated scenarios with 2, 10, and 16 targets are shown in (b), (c), and (d); black crosses correspond to false alarms, which were similarly distributed, as illustrated in Figure 13. Ninety percent of false alarms are defined with no depth and are displayed at z=250.