Table 6.

Camera precision in terms of plane modelling consistency: Standard deviations of the normal components and spherical variance of the normal.

Camera	Acquisition	${\sigma }_{n_x}$ ${}^1$	${\sigma }_{n_y}$ ${}^2$	${\sigma }_{n_z}$ ${}^3$	$V_{\mathrm{sph}}$ ${}^4$
D415	wall	$3.4\times {10}^{-4}$	$2.4\times {10}^{-4}$	$3.2\times {10}^{-5}$	$7.2\times {10}^{-6}$
	empty	$4.3\times {10}^{-4}$	$4.3\times {10}^{-4}$	$1.8\times {10}^{-5}$	$1.1\times {10}^{-4}$
	water full	$1.3\times {10}^{-3}$	$1.1\times {10}^{-3}$	$7.9\times {10}^{-5}$	$3.1\times {10}^{-4}$
	water milk1	$1.7\times {10}^{-3}$	$1.1\times {10}^{-3}$	$1.9\times {10}^{-4}$	$1.2\times {10}^{-4}$
	water milk2	$4.4\times {10}^{-3}$	$2.4\times {10}^{-3}$	$1.9\times {10}^{-4}$	$3.2\times {10}^{-3}$
	water milk3	$2.1\times {10}^{-3}$	$1.9\times {10}^{-3}$	$8.4\times {10}^{-5}$	$2.2\times {10}^{-3}$
	water milk4	$3.2\times {10}^{-4}$	$2.6\times {10}^{-4}$	$2.3\times {10}^{-5}$	$1.3\times {10}^{-5}$
L515	wall	$8.0\times {10}^{-4}$	$5.4\times {10}^{-4}$	$4.0\times {10}^{-5}$	$1.3\times {10}^{-4}$
	empty	$1.0\times {10}^{-3}$	$4.4\times {10}^{-4}$	$3.4\times {10}^{-5}$	$3.1\times {10}^{-4}$
	water full	$4.1\times {10}^{-3}$	$2.8\times {10}^{-3}$	$1.3\times {10}^{-4}$	$8.8\times {10}^{-3}$
	water milk1	-	-	-	-
	water milk2	$1.1\times {10}^{-2}$	$8.1\times {10}^{-3}$	$8.9\times {10}^{-4}$	$1.0\times {10}^{-2}$
	water milk3	$3.6\times {10}^{-3}$	$3.4\times {10}^{-3}$	$5.0\times {10}^{-5}$	$6.7\times {10}^{-2}$
	water milk4	$1.1\times {10}^{-3}$	$7.3\times {10}^{-4}$	$2.5\times {10}^{-5}$	$1.4\times {10}^{-3}$
SR305	wall	$9.7\times {10}^{-3}$	$5.6\times {10}^{-4}$	$4.3\times {10}^{-4}$	$1.3\times {10}^{-2}$
	empty	$9.2\times {10}^{-3}$	$3.6\times {10}^{-4}$	$3.2\times {10}^{-4}$	$1.4\times {10}^{-2}$
	water full	$2.0\times {10}^{-2}$	$1.2\times {10}^{-2}$	$4.1\times {10}^{-4}$	$3.3\times {10}^{-1}$
	water milk1	-	-	-	-
	water milk2	-	-	-	-
	water milk3	-	-	-	-
	water milk4	$4.7\times {10}^{-3}$	$6.3\times {10}^{-4}$	$2.7\times {10}^{-4}$	$1.5\times {10}^{-3}$

¹ Standard deviation of the x component of the normal given by the estimated plane model. ² Standard deviation of the y component of the normal given by the estimated plane model. ³ Standard deviation of the z component of the normal given by the estimated plane model. ⁴ Spherical variance of the normal given by the estimated plane model.