Projection Surfaces Detection and Image Correction for Mobile Robots in HRI

Table 2

Successful detections for the uncluttered and cluttered scenarios.

	Distance (m)	1	1,5	2	2,5	3	Average
Uncluttered scenario
27,5°	Success rate (%)	100	100	80	90	50	84
	Mean area error (m^2)	0	0	0,07	0,07	0,07	0,04
17,19°	Success rate (%)	90	100	50	40	50	66
	Mean area error (m^2)	0,05	0	0,07	0,07	0,7	0,17
Cluttered scenario
−26,01°	Success rate (%)	100	100	60	40	10	62
	Mean area error (m^2)	0	0	0,25	0,27	0,38	0,18
−16,62°	Success rate (%)	100	70	20	10	10	42
	Mean area error (m^2)	0	0,06	0,35	0,36	0,35	0,23