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