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Table 5 Component analysis on ToF depth camera dataset

From: Depth image-based plane detection

Variants of our approach

 

Sensitivity

Specificity

CDR

Seed size

3×3

88.56

97.22

80.95

 

4×4

83.11

94.38

73.60

 

5×5

84.64

96.55

75.60

Seed order

Highest planarity

83.11

94.38

73.60

 

Lowest planarity

65.41

80.70

46.07

 

Random1

77.20

90.74

68.55

 

Random2

77.24

97.11

64.50

 

Random3

81.85

99.45

63.02

Threshold

[21]

80.51

94.49

67.10

 

[29]

76.49

92.22

67.10

 

[31]

67.22

80.79

57.26

 

[30]

83.68

99.78

71.45

 

Proposed threshold

83.11

94.38

73.60

  1. The best results are marked in bold