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