Feature Selection for Intelligent Firefighting Robot Classification of Fire, Smoke, and Thermal Reflections Using Thermal Infrared Images

Table 4

Performance of each feature.

	Resubstitution error (%)	Cross-validation error (%)
MNI	23.7	23.8
VAR	24.3	24.3
NOP	72.1	72.0
STD	23.2	23.2
SKE	52.7	52.8
KUR	50.6	50.6
OFVN	39.5	40.0
OFVMM	58.6	58.6
DIS	29.0	29.0
ENT	44.6	44.6
CON	28.5	28.5
IND	30.1	30.1
COR	41.2	41.1
UNI	34.5	34.5
IDM	37.7	37.7