Table 3: Comparison of results with (+) or without (−) preprocessing (preP) and postprocessing (postP) steps.

Tsukuba Venus Teddy Cones
PreP PostP Nonocc All Disc Nonocc All Disc Nonocc All Disc Nonocc All Disc

3.6 5.41 10.04 2.76 4.38 13.18 8.11 17.42 19.73 4.77 15.04 12.33
+ 2.74 4.50 10.11 0.62 1.63 7.95 7.52 16.82 19.41 3.98 14.37 11.27
+ 2.45 3.05 7.31 1.53 2.11 5.75 6.11 12.49 15.20 3.20 9.30 9.14
+ + 1.33 1.82 7.19 0.32 0.79 4.5 5.32 11.90 14.50 2.73 9.69 7.91