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Table 3 Plane detection performance against different levels of Gaussian noise in terms of “Measured angle”(in degree), “Sensitivity”(in percentage) and “Specificity”(in percentage)

From: Depth image-based plane detection

   Measured angle Δ Sensitivity Specificity
Plane 1 CG 9.95 -0.05 100.00 98.53
  SNR_40 9.95 -0.05 100.00 98.53
  SNR_30 9.96 -0.04 100.00 98.53
  SNR_20 11.37 1.37 87.00 100.00
Plane 5 CG 29.65 -0.35 100.00 97.79
  SNR_40 29.65 -0.35 100.00 97.79
  SNR_30 30.00 0.00 100.00 97.89
  SNR_20 35.45 5.45 100.00 97.55
Plane 9 CG 54.88 4.88 100.00 97.79
  SNR_40 54.89 4.89 100.00 97.80
  SNR_30 48.61 -1.39 100.00 97.94
  SNR_20 69.10 19.10 38.21 100.00
Plane 13 CG 86.23 16.23 62.50 97.79
  SNR_40 86.09 16.09 62.57 97.79
  SNR_30 80.06 10.06 34.94 100.00
  SNR_20
Plane 17 CG 109.24 19.24 100.00 95.59
  SNR_40 109.35 19.35 100.00 95.57
  SNR_30
  SNR_20