Research Article

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

Table 2

The classification ratios.

MethodRecall ratioPrecision ratioF value

Previous0.18 (3/17)0.25 (3/12)0.21
Simple0.63 (10/16)0.13 (10/79)0.21
Ours0.94 (17/18)0.77 (17/22)0.85