Locomotion Strategy Selection for a Hybrid Mobile Robot Using Time of Flight Depth Sensor

Table 2

Effects of different feature extraction levels and filtering to SVM and LDA classification accuracies.

Number of iterations	2	3	4	5
Number of features	20	84	340	1364
Extraction time (ms)	1.1	2	3.7	8.3
Unfiltered data
LDA	70.16%	92.99%	94.57%	92.72%
SVM	77.65%	90.86%	95.27%	96.32%
Filtered data
LDA	83.46%	94.78%	96.71%	95.12%
SVM	92.78%	97.02%	98.13%	98.46%