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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