Table 5.

Results for orthogonal distances to planes for the experiments water milk1, water milk2, water milk3 and water milk4.

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	water milk1	38.7015%	0.5681 m	$-2.51\times {10}^{-5}$	$-1.39\times {10}^{-19}$	0.0025	$6.03\times {10}^{-6}$	0.0016	0.0020	0.0015
	water milk2	8.5417%	0.3411 m	$8.56\times {10}^{-5}$	$-3.49\times {10}^{-20}$	0.0018	$3.11\times {10}^{-6}$	0.0011	0.0013	0.0011
	water milk3	36.8538%	0.3419 m	$2.49\times {10}^{-5}$	$2.21\times {10}^{-19}$	0.0017	$2.82\times {10}^{-6}$	0.0011	0.0013	0.0010
	water milk4	78.2705%	0.3257 m	$1.05\times {10}^{-4}$	$3.03\times {10}^{-19}$	0.0011	$1.28\times {10}^{-6}$	$6.50\times {10}^{-4}$	$8.21\times {10}^{-4}$	$7.81\times {10}^{-4}$
L515	water milk1	1.1019%	0.4221 m	-	-	-	-	-	-	-
	water milk2	21.9079%	0.3867 m	$-5.01\times {10}^{-5}$	$-4.17\times {10}^{-19}$	0.0132	$1.75\times {10}^{-4}$	0.0083	0.0103	0.0103
	water milk3	54.7113%	0.3921 m	$3.37\times {10}^{-4}$	$-1.52\times {10}^{-19}$	0.0101	$1.03\times {10}^{-4}$	0.0065	0.0080	0.0063
	water milk4	99.3779%	0.3798 m	$6.29\times {10}^{-5}$	$9.68\times {10}^{-21}$	0.0035	$1.24\times {10}^{-5}$	0.0025	0.0029	0.0021
SR305	water milk1	0.0918%	0.0177 m	-	-	-	-	-	-	-
	water milk2	0.1139%	0.0519 m	-	-	-	-	-	-	-
	water milk3	0.0579%	0.0222 m	-	-	-	-	-	-	-
	water milk4	45.4095%	0.3370 m	$-1.45\times {10}^{-4}$	$-1.51\times {10}^{-19}$	0.0025	$6.03\times {10}^{-6}$	0.0013	0.0018	0.0017

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 e. 4 Mean 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.