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Detection rate and expansion error of the approach.
| Scenario | Frames with Ground (G) | FRAMES Detected Ground Correctly (GD) | Detection Rate (DR) | Frames Expanded to Non-Ground Areas (ENG) | Expansion Error (EE) |
|---|---|---|---|---|---|
| An office | 1361 | 1259 | 92.5% | 44 | 3.2% |
| A corridor | 633 | 614 | 97.0% | 101 | 15.9% |
| School roads | 837 | 797 | 95.2% | 81 | 9.7% |
| A playground | 231 | 228 | 98.7% | 13 | 5.6% |
| All | 3062 | 2898 | 94.4% | 239 | 7.8% |
