During run time, the entities observed and optionally segmented objects from a camera on the vehicle are compared against {HEAD ~ the model} to detect {TAIL ~ obstacles} and their relative position and trajectory 
to detect
During run time , the entities observed and optionally segmented objects from a camera on the vehicle are compared against { HEAD ~ the model } to detect { TAIL ~ obstacles } and their relative position and trajectory
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH