Journal of Robotics / 2019 / Article / Tab 3

Research Article

An Indoor Scene Classification Method for Service Robot Based on CNN Feature

Table 3

Results of scene classification with or without Z-Score normalization.

DatasetPre-trained ModelWithout Z-ScoreWith Z-Score

Scene 1510.94110.9438
20.96010.9649
30.95220.9596

MIT 6710.76300.7726
20.79630.8169
30.77620.7842

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