Weather

conditions

Accuracy (%)

False detection rate (%)

d*

d

d+v

d*

d

d + v

Sunny day

91.8

96.9

98.6

0.3

2.8

1.1

Cloudy day

93.0

97.6

98.7

1.2

3.1

0.8

Facing sun ray

88.6

92.2

93.9

0.2

1.3

0.2

Long shadow

81.3

92.8

95.3

6.3

11.4

4.3

Rainy day

77.1

83.5

84.4

1.2

5.6

2.3

Heavily rainy day

64.7

73.6

72.3

1.9

12.5

6.4