Table 2. Results comparison of laser feature sets.
Three feature sets are compared. The feature basis is described in Table 1. DIST denotes the addition of distance features to the feature basis. The proposed feature set is described in Section 4.2. The laser data sets from Table 3 were used.
| Static | Moving | |||||
|---|---|---|---|---|---|---|
|
| ||||||
| Basis | Basis + DIST | Proposed | Basis | Basis + DIST | Proposed | |
| Precision | 95.25% | 98.89% | 97.86% | 86.67% | 91.26% | 89.75% |
| Recall | 88.60% | 98.67% | 96.96% | 84.66% | 90.14% | 88.57% |
| Specificity | 99.75% | 99.94% | 99.88% | 98.27% | 98.86% | 98.66% |
|
| ||||||
| (a) Gymnasium experiments. | ||||||
| Moving | ||||||
|---|---|---|---|---|---|---|
|
| ||||||
| Basis | Basis + DIST | Proposed | ||||
| Precision | 76.84% | 76.83% | 78.97% | |||
| Recall | 59.93% | 63.36% | 66.11% | |||
| Specificity | 97.97% | 97.83% | 98.00% | |||
|
| ||||||
| (b) Outdoor experiments. | ||||||