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

Table 3

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

Dataset	Pre-trained Model	Without Z-Score	With Z-Score
Scene 15	1	0.9411	0.9438
	2	0.9601	0.9649
	3	0.9522	0.9596
MIT 67	1	0.7630	0.7726
	2	0.7963	0.8169
	3	0.7762	0.7842