Table 4.

Results for orthogonal distances to planes for the experiments wall, empty and water full.

Camera	Acquisition	Used Points ${}^1$	Dist. Plane ${}^2$	$\tilde{x}\left(ϵ\right)$ ${}^3$	$\overline{x}\left(ϵ\right)$ ${}^4$	$\sigma \left(ϵ\right)$ ${}^5$	$MSE\left(ϵ\right)$ ${}^6$	$\tilde{x}\left(\left|ϵ\right|\right)$ ${}^7$	$\overline{x}\left(\left|ϵ\right|\right)$ ${}^8$	$\sigma \left(\left|ϵ\right|\right)$ ${}^9$
D415	wall	88.7129%	0.6393 m	$-9.34\times {10}^{-5}$	$-2.50\times {10}^{-19}$	0.0021	$4.50\times {10}^{-6}$	0.0015	0.0017	0.0013
	empty	80.2240%	0.6266 m	$-2.01\times {10}^{-5}$	$6.03\times {10}^{-20}$	0.0024	$5.68\times {10}^{-6}$	0.0016	0.0019	0.0014
	water full	59.3398%	0.5630 m	$-2.40\times {10}^{-4}$	$-7.53\times {10}^{-20}$	0.0053	$2.80\times {10}^{-5}$	0.0040	0.0044	0.0030
L515	wall	97.7275%	0.6441 m	$6.55\times {10}^{-4}$	$1.70\times 10-20$	0.0038	$1.45\times {10}^{-5}$	0.0023	0.0029	0.0025
	empty	67.6309%	0.6414 m	0.0014	$1.01\times {10}^{-19}$	0.0059	$3.51\times {10}^{-5}$	0.0021	0.0036	0.0047
	water full	8.9310%	0.6748 m	$4.81\times {10}^{-4}$	$3.96\times {10}^{-20}$	0.0060	$3.55\times {10}^{-5}$	0.0038	0.0046	0.0037
SR305	wall	48.9993%	0.6407 m	$4.13\times {10}^{-5}$	$5.75\times {10}^{-20}$	0.0055	$3.01\times {10}^{-5}$	0.0027	0.0038	0.0040
	empty	28.2650%	0.6248 m	$-1.89\times {10}^{-5}$	$7.50\times {10}^{-19}$	0.0025	$6.21\times {10}^{-6}$	0.0016	0.0020	0.0015
	water full	0.3529%	0.3075 m	-	-	-	-	-	-	-

¹ Percentage of used points regarding the initial points (of the original point cloud). ² Distance from plane to camera. ³ Median of the orthogonal distances ϵ. ⁴ Mean of the orthogonal distances ϵ. ⁵ Standard deviation of the orthogonal distances ϵ. ⁶ Mean Squared Error of the orthogonal error distances. ⁷ Median of the absolute orthogonal distances ϵ. ⁸ Mean of the absolute orthogonal distances ϵ. ⁹ Standard deviation of the absolute orthogonal distances ϵ.