Table 2: Ball recognition results using different features on the whole dataset.

Ball Number TP
FN
TN
FP
Detection
features of input rate (%)

Wavelet HAAR64 (8 8) 1179 58 1028 209 89.20%
Wavelet DB3121 (11 11) 1166 71 1060 177 89.97%
Histogram 256 1174 63 958 279 86.17%
SIFT (BoW)20621 616 1059 178 67.90%
PCA 30 999 238 890 347 76.35%