Table 1: Ball classification performance using SIFT and different number of clusters in the -means algorithm on whole dataset.

SIFT descriptors length TP
FN
TN
FP
Detection rate (%)

10 579 658 988 249 63.33%
20 621 616 1059 178 67.90%
30 558 579 1056 181 65.23%
40 519 718 1091 146 65.07%