People Detection Based on Spatial Mapping of Friendliness and Floor Boundary Points for a Mobile Navigation Robot

Table 3

The classification ratios in various patterns.

Pattern	Recall ratio	Precision ratio	F value
1	1.00 (21/21)	0.64 (21/33)	0.79
2	0.98 (42/43)	0.64 (42/67)	0.77
3	0.80 (16/20)	0.64 (17/29)	0.71
4	0.93 (42/45)	0.59 (42/74)	0.72
5	0.93 (13/14)	0.57 (13/23)	0.71