Figure 12.

Classification rates for ${\theta }_{\mathrm{conf}}$ in the range of $[0,1]$ for different descriptors and confidence measures using an MLP. The first row shows the VFH descriptor accuracies for ToF sensors in an angle of 30°, respectively in an angle of 90° for the second row. The third row concerns the ESF descriptor for an angle of 30° between the two sensors. From left to right, the first two columns show the performance when using only the first or second ToF sensor; the third column represents the late fusion approach and the fourth column the early fusion approach.