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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