Fig. 10

Localization results in terms of precision, recall, recall for different person–signage distances, recall for different occlusion (occ.) levels, and F1-score for Algorithm 1 (A1: red box), Algorithm 2 (A2: dark red box), Algorithm 3 (A3: light green box), and Algorithm 4 (A4: dark green box). When compatible with the system, the results are reported with inference in GPU (filled boxes) and CPU (non-filled boxes). Note that above 90% of the people are not occluded. Results indicate that trackers (A3–4) perform better than detectors (A1–2), and that the localization performance substantially worsen when people are far or occluded