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