Study Year Number of density categories Modalities Number of views Number of images Segmentation evaluation Risk/density estimation accuracy General clustering Oliver et al. [38 ] 2005 Fatty and dense Digitised SFM MLO 180 (MIAS) N/A 73% (fatty, glandular, and dense) Strange et al. [39 ] 2013 Dense and fatty FFDM CC 12 Visually assessed N/A Marias et al. [40 ] 2005 Dense, semidense, and fatty Digitised SFM MLO 146 Visually assessed 65% (BI-RADS I and II) 86% (BI-RADS III and IV) Oliver et al. [41 ] 2005 Dense and fatty Digitised SFM MLO 300 (DDSM) N/A 47% (BI-RADS) Oliver et al. [42 ] 2005 Dense and fatty Digitised SFM MLO 320 (MIAS) and 300 (DDSM) N/A 48% MIAS, 47% DDSM (BI-RADS) Oliver et al. [43 ] 2007 Dense and fatty Digitised SFM MLO 322 (MIAS) N/A 78% (BI-RADS) Oliver et al. [44 ] 2008 Dense and fatty Digitised SFM MLO and CC 322 (MIAS) and 831 (DDSM) Visually assessed 77% MIAS, 86% DDSM (BI-RADS) Oliver et al. [45 ] 2006 Dense and fatty Digitised SFM MLO 322 (MIAS) Visually assessed 82% (BI-RADS) Torrent et al. [46 ] 2008 Dense and fatty FFDM MLO and CC 300 Visually assessed 82% MLO, 75% CC (BI-RADS) Tortajada et al. [47 ] 2012 Dense and fatty Digitised SFM and FFDM MLO and CC 322 (MIAS), 831 (DDSM), and 236 (digital DB) Visually assessed 86% MIAS, 77% DDSM, and 92% digital DB (BI-RADS) Adaptive/modified fuzzy -means Chen and Zwiggelaar [48 ] 2010 4 densities Digitised SFM MLO N/A Visually assessed N/A Keller et al. [49 ] 2011 2–9 densities FFDM (processed) MLO 160 Visually assessed; = 0.75 (automatic-manual) N/A Keller et al. [50 ] 2012 2–13 densities FFDM (processed and raw) MLO 160 Visually assessed; (raw, processed) = 0.82, 0.85 (automatic-manual) N/A Expectation-maximisation Aylward et al. [51 ] 1998 Dense, fatty, and uncompressed-fatty Digitised SFM MLO and CC 70 Visually assessed N/A Zwiggelaar et al. [52 ] 2002 4–6 densities Digitised SFM MLO 263 (MIAS) Visually assessed 67% (SCC) Zwiggelaar et al. [53 ] 2003 4–6 densities Digitised SFM MLO 263 (MIAS) Visually assessed 86% (SCC) Zwiggelaar et al. [54 ] 2003 4–6 densities Digitised SFM MLO 263 (MIAS) N/A 86% (BI-RADS) Zwiggelaar and Denton [55 ] 2004 4 densities Digitised SFM MLO 36 (MIAS) Visually assessed 75% (4 densities: 0%–10%, 11%–25%, 26%–50%, and 51%–75%) Selvan et al. [56 ] 2006 5/8 densities Digitised SFM MLO 112 (mini-MIAS) Visually assessed (92% good/excellent) N/A