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

Table 5

Result comparison between fine-tuned CNN models and the proposed method.

Dataset	Pre-trained Model	Fine-tuned CNN Models	Our Method
Scene 15	1	0.8551	0.9438
	2	0.8674	0.9649
	3	0.8476	0.9596
MIT 67	1	0.7522	0.7726
	2	0.7653	0.8169
	3	0.7301	0.7842