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Table 1 The ROC results on ToF camera generated depth maps (all results are in percentage)

From: Depth image-based plane detection

Methods

CORG [23]

RPCA[24]

CC-RANSAC[33]

Deng et al. [10]

Ours

Scene1

Sensitivity

51.62

66.72

71.40

23.57

95.21

 

Specificity

99.95

99.89

99.85

22.64

99.80

 

CDR

25.00

37.50

62.50

25.00

100.00

Scene2

Sensitivity

45.10

61.86

68.52

38.35

95.37

 

Specificity

99.78

99.96

99.85

36.01

99.55

 

CDR

20.00

20.00

40.00

40.00

100.00

Scene3

Sensitivity

35.64

55.10

43.88

38.84

91.31

 

Specificity

99.99

84.79

99.82

42.74

99.32

 

CDR

0.00

14.29

28.57

42.86

71.43

Scene4

Sensitivity

69.52

80.08

73.35

14.76

93.99

 

Specificity

99.76

99.98

99.25

16.26

99.53

 

CDR

50.00

83.33

66.67

16.67

83.33

Scene5

Sensitivity

44.64

57.15

35.63

9.92

66.92

 

Specificity

89.92

79.97

89.26

9.96

87.92

 

CDR

0.00

20.00

0.00

10.00

50.00

Average

Sensitivity

49.30

64.18

58.56

25.09

88.56

 

Specificity

97.88

92.92

97.61

25.52

97.22

 

CDR

19.00

35.02

39.55

26.91

80.95

  1. The best results are marked in bold