Table 2 Comparison with other plane segmentation approaches on the SegComp ABW dataset

SegComp ABW data set (30 test images) by Hoover et al. [32]

USF[35]

15.2

12.7

0.2

0.1

2.1

1.2

WSU[35]

15.2

9.7

0.5

0.2

4.5

2.2

UB[35]

15.2

12.8

0.5

0.1

1.7

2.1

UE[35]

15.2

13.4

0.4

0.2

1.1

0.8

OU[35]

15.2

9.8

0.2

0.4

4.4

3.2

PPU [35]

15.2

6.8

0.1

2.1

3.4

2.0

UA[35]

15.2

4.9

0.3

2.2

3.6

3.2

UFPR[35]

15.2

13.0

0.5

0.1

1.6

1.4

Trevor et al. [37]

15.2

9.7

0.8

0.4

3.9

2.8

Georgiev et al. [36]

15.2

6.9

0.6

1.9

3.6

2.1

Holz et al. [38]

15.2

8.4

1.2

0.5

4.2

2.3

Oehler et al. [34]

15.2

11.1

0.2

0.7

2.2

0.8

Ours

15.2

11.3

0.4

0.4

1.7

1.5