TABLE IV.
Datasets | Metrics | Algorithms | |||||||
---|---|---|---|---|---|---|---|---|---|
SLAM | FCSC | CRM | ASTC | PGCSC | TI | TII | |||
X 1 | 5% | NMI-m | 0.8908 | 0.8522 | 0.8727 | 0.8876 | 0.8898 | 0.8986 | 0.9016 |
NMI-s | 0.0016 | 0.0245 | 0.0158 | 0.0016 | 0.0034 | 0.0088 | 0.0024 | ||
RI-m | 0.9695 | 0.9526 | 0.9533 | 0.9590 | 0.9676 | 0.9714 | 0.9711 | ||
RI-s | 0.0012 | 0.0121 | 0.0055 | 0.0015 | 0.0007 | 0.0025 | 0.0007 | ||
DBI-m | 0.6755 | 0.6917 | 0.6988 | 0.6882 | 0.6783 | 0.6667 | 0.5333 | ||
DBI-s | 0.0036 | 0.0110 | 0.0102 | 0.0021 | 0.0030 | 0.3055 | 0.3512 | ||
CONS-m | 1 | 0.9870 | 0.9880 | 0.9877 | 1 | 0.9425 | 0.9928 | ||
CONS-s | 0 | 0.0225 | 0.0020 | 0.0025 | 0 | 0.0653 | 0.0124 | ||
Time-m | 1.2133 | 9.007 | 0.4925 | 0.4473 | 1.3499 | 0.5223 | 0.5591 | ||
Time-s | 0.0618 | 0.9381 | 0.0189 | 0.1601 | 0.0523 | 0.0126 | 0.0018 | ||
10% | NMI-m | 0.8824 | 0.8845 | 0.8779 | 0.8766 | 0.8829 | 0.8909 | 0.8884 | |
NMI-s | 0.0035 | 0.0054 | 0.0051 | 0.0012 | 0.0051 | 0.0048 | 0.0011 | ||
RI-m | 0.9660 | 0.9630 | 0.9568 | 0.9560 | 0.9660 | 0.9675 | 0.9675 | ||
RI-s | 0.0001 | 0.0015 | 0.0007 | 0.0011 | 0.0001 | 0.0025 | 0.0024 | ||
DBI-m | 0.6754 | 0.6778 | 0.6841 | 0.6864 | 0.6750 | 0.4215 | 0.4333 | ||
DBI-s | 0.0033 | 0.0019 | 0.0010 | 0.0055 | 0.0052 | 0.2646 | 0.2082 | ||
CONS-m | 1 | 1 | 0.9823 | 0.9877 | 1 | 0.9747 | 1 | ||
CONS-s | 0 | 0 | 0.0083 | 0.0025 | 0 | 0.0438 | 0 | ||
Time-m | 1.1235 | 9.4850 | 0.4727 | 0.3674 | 1.2161 | 0.5242 | 0.5588 | ||
Time-s | 0.0446 | 0.4850 | 0.0012 | 0.1587 | 0.0467 | 0.0145 | 0.0104 | ||
X 2 | 5% | NMI-m | 0.9190 | 0.8544 | 0.9097 | 0.9082 | 0.9156 | 0.9207 | 0.9325 |
NMI-s | 0.0099 | 0.0836 | 0.0066 | 0.0077 | 0.0066 | 0.0109 | 0.0231 | ||
RI-m | 0.9758 | 0.9536 | 0.9660 | 0.9654 | 0.9746 | 0.9758 | 0.9794 | ||
RI-s | 0.0032 | 0.0299 | 0.0036 | 0.0029 | 0.0012 | 0.0032 | 0.0082 | ||
DBI-m | 1.1512 | 1.6108 | 1.1583 | 1.1620 | 1.1399 | 1.0206 | 1.0997 | ||
DBI-s | 0.0078 | 0.8279 | 0.0082 | 0.0146 | 0.0037 | 0.1732 | 0.2309 | ||
CONS-m | 0.8764 | 1 | 0.9890 | 1 | 0.8764 | 1 | 1 | ||
CONS-s | 0.2141 | 0 | 0.0010 | 0 | 0.2141 | 0 | 0 | ||
Time-m | 2.7255 | 17.0034 | 1.2992 | 0.5175 | 2.1397 | 1.0153 | 1.0697 | ||
Time-s | 0.0878 | 1.3347 | 0.6661 | 0.1098 | 0.1051 | 0.0333 | 0.0268 | ||
10% | NMI-m | 0.3648 | 0.9102 | 0.9248 | 0.9253 | 0.9165 | 0.9330 | 0.9366 | |
NMI-s | 0.0673 | 0.0267 | 0.0216 | 0.0128 | 0.0239 | 0.0247 | 0.0266 | ||
RI-m | 0.6690 | 0.9745 | 0.9705 | 0.9716 | 0.9734 | 0.9785 | 0.9805 | ||
RI-s | 0.0271 | 0.0080 | 0.0073 | 0.0040 | 0.0084 | 0.0085 | 0.0098 | ||
DBI-m | 1.0987 | 1.3430 | 1.1680 | 1.1659 | 1.1362 | 1.0341 | 1.0239 | ||
DBI-s | 0.1536 | 0.3446 | 0.0241 | 0.0229 | 0.0302 | 0.2777 | 0.1939 | ||
CONS-m | 1 | 1 | 0.9893 | 0.9883 | 1 | 1 | 1 | ||
CONS-s | 0 | 0 | 0.0006 | 0.0015 | 0 | 0 | 0 | ||
Time-m | 2.7928 | 17.6024 | 1.1485 | 0.4837 | 2.1009 | 1.0122 | 1.0683 | ||
Time-s | 0.0967 | 1.4077 | 0.4569 | 0.0962 | 0.0891 | 0.0293 | 0.0175 | ||
X 3 | 5% | NMI-m | 0.8956 | 0.7237 | 0.8853 | 0.8868 | 0.8914 | 0.9033 | 0.9035 |
NMI-s | 0.0111 | 0.0658 | 0.0243 | 0.0166 | 0.0074 | 0.0089 | 0.0091 | ||
RI-m | 0.9731 | 0.9034 | 0.9621 | 0.9631 | 0.9715 | 0.9753 | 0.9753 | ||
RI-s | 0.0034 | 0.0340 | 0.0081 | 0.0052 | 0.0025 | 0.0028 | 0.0028 | ||
DBI-m | 6.4415 | 8.0839 | 6.1906 | 6.4519 | 6.4266 | 5.7511 | 5.7058 | ||
DBI-s | 0.1177 | 3.4620 | 0.5492 | 0.3011 | 0.0402 | 0.1025 | 0.1349 | ||
CONS-m | 1 | 1 | 0.9798 | 0.9917 | 1 | 1 | 1 | ||
CONS-s | 0 | 0 | 0.0211 | 0.0047 | 0 | 0 | 0 | ||
Time-m | 3.2666 | 13.7548 | 0.7066 | 0.4121 | 4.6916 | 1.6856 | 1.8101 | ||
Time-s | 0.3502 | 2.2228 | 0.0481 | 0.0700 | 0.0520 | 0.0886 | 0.0329 | ||
10% | NMI-m | 0.8972 | 0.7942 | 0.9011 | 0.8882 | 0.9004 | 0.9015 | 0.9014 | |
NMI-s | 0.0048 | 0.1323 | 0.0052 | 0.0048 | 0.0065 | 0.0027 | 0.0029 | ||
RI-m | 0.9737 | 0.9255 | 0.9675 | 0.9637 | 0.9742 | 0.9748 | 0.9748 | ||
RI-s | 0.0016 | 0.0666 | 0.0019 | 0.0016 | 0.0019 | 0.0009 | 0.0009 | ||
DBI-m | 6.3587 | 5.4516 | 6.0547 | 6.3895 | 6.3620 | 6.2377 | 6.3255 | ||
DBI-s | 0.0868 | 1.1024 | 0.2106 | 0.0746 | 0.0744 | 0.2129 | 0.1745 | ||
CONS-m | 1 | 1 | 0.9943 | 1 | 0.8333 | 1 | 1 | ||
CONS-s | 0 | 0 | 0.0045 | 0 | 0.2887 | 0 | 0 | ||
Time-m | 3.2024 | 12.3624 | 0.7028 | 0.3740 | 4.2121 | 1.6924 | 1.8049 | ||
Time-s | 0.0657 | 1.2427 | 0.0212 | 0.2277 | 0.1241 | 0.0222 | 0.0155 |
Note: *-m and *-s denote the values of the mean and standard deviation, respectively; TI and TII are the separate abbreviations of our proposed TI-APJCSC and TH-APJCSC algorithms.