Fig. 4.

Confusion matrices for localisation classifiers for each house. Each confusion matrix shows high values in the diagonal, denoting a strong true positive counts. In home B, the halls 1 and 2 are commonly confused by the stairs 1, and the kitchen 1 and the laundry room 1 seem difficult to differentiate as well. In home C, the bedroom 3 is confused with the hall 1, whilst the porch 1 and stars 1 are occasionally predicted when the true location was living room 1, kitchen 1, dinning room1 or bedroom 1