TABLE 1.

Statistical results of the estimate of the obstacle dimensions in both simulation and on the real robot. The data were extracted considering rectangular obstacles of different dimensions, placed at different distance and orientation with respect to the robot.

	Simulation results	Real robot results
Min. Depth Error	0.007 m	0.007 m
Max. Depth Error	0.053 m	0.045 m
Avg. Depth Error	0.026 m	0.026 m
Std. Dev. Depth	0.0302 m	0.0297 m
Min. Height Error	0.001 m	0.004 m
Min. Height Error	0.010 m	0.020 m
Avg. Height Error	0.005 m	0.006 m
Std. Dev. Height	0.0051 m	0.0062 m