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Table 4 Runtime (in seconds) comparison between the proposed algorithm and RANSAC

From: Depth image-based plane detection

Methods Total_Time Sensitivity Specificity CDR
Scene1 RANSAC 5.3 49.41 71.66 25.00
  Proposed 18.4 95.00 99.78 100.00
Scene2 RANSAC 4.3 57.04 73.60 60.00
  Proposed 14.7 95.57 99.42 100.00
Scene3 RANSAC 9.9 36.62 54.75 14.29
  Proposed 16.7 59.62 70.51 57.14
Scene4 RANSAC 2.6 29.97 59.94 0.00
  Proposed 26.5 78.95 98.71 66.67
Scene5 RANSAC 2.3 27.46 36.17 20.00
  Proposed 16.8 49.79 78.00 40.00
Average RANSAC 4.9 40.10 59.22 23.86
  Proposed 18.6 75.78 89.28 72.76