Fig. 4

Detection comparison. Detection comparison of the proposed DPSD method and the state-of-the-art methods. For each row from left to right is: a depth map of the indoor scene, b corresponding ground truth, testing result of c CORG [23], d RPCA [24], e CC-RANSAC [33], f Deng et al. [10] and g the proposed method (in the red bounding box)