Projection Surfaces Detection and Image Correction for Mobile Robots in HRI

Table 1

Detections performed successfully computing the concave and convex hull.

	Distance (m)	1	1,5	2	2,5	3	Average
Concave hull
27,5°	Success rate (%)	100	100	80	90	50	84
	Mean area error (m^2)	0	0	0,05	0,07	0,073	0,07
17,19°	Success rate (%)	90	100	50	40	50	66
	Mean area error (m^2)	0,05	0	0,07	0,07	0,7	0,15
Convex hull
27,5°	Success rate (%)	70	100	100	50	60	76
	Mean area error (m^2)	0,17	0	0	0,08	0,12	0,07
17,19°	Success rate (%)	100	90	60	80	50	76
	Mean area error (m^2)	0	0,06	0,06	0,08	0,12	0,06