Dynamic Self-Occlusion Avoidance Approach Based on the Depth Image Sequence of Moving Visual Object

Table 4

The quantitative analysis results for 10 groups of experiments.

Group number	Visual object	Initial camera view	Motion mode	(mm)	(mm)	(mm)	(%)	(s)		(s)
1	Bunny	= 0.00, −1.00, 300.00; = 0.00, 1.00, −300.00	Translation along 1, 0, 0 with the speed of  mm/s	7289.26	3189.12	3025.58	94.87	15.8	17	0.93
2	Bunny	= 0.00, −1.00, 300.00; = 0.00, 1.00, −300.00	Translation along 2, 1, 0 with the speed of  mm/s and rotation around −4, 1, 2.5 with the speed of	7289.26	3189.12	2654.63	83.24	15.5	16	0.97
3	Duck	= 0.00, −1.00, 300.00; = 0.00, 1.00, −300.00	Translation along 2, 1, 0 with the speed of  mm/s and rotation around −4, 1, 2.5 with the speed of	1911.10	1025.27	733.58	71.55	13.3	13	1.02
4	Bunny	= 120.00, 100.00, −256.00; = −120.00, −100.00, −256.00	Rotation around 7, −3, 4 with the speed of	5028.92	3238.47	3017.48	93.18	13.6	15	0.91
5	Bunny	= 150.00, 170.00, 196.00; = −150.00, −170.00, −196.00	Translation along 1, 2, 1 with the speed of  mm/s and rotation around 2, −1, −2 with the speed of	4414.50	1758.18	1553.48	88.36	17.1	18	0.95
6	Duck	= 100.00, −150.00, 240.00; = −100.00, 150.00, −240.00	Translation along 3, 2, −1 with the speed of  mm/s	3307.46	2788.37	2748.35	98.56	19.5	21	0.93
7	Mole	= −210.00, 50.00, 210.00; = 210.00, −50.00, −210.00	Translation along 2, 0, 2 with the speed of  mm/s and rotation around 1, −1, −2 with the speed of	320.01	221.68	133.09	60.04	11.2	11	1.02
8	Rocker	= −196.00, 170.00, 150.00; = 196.00, −170.00, −150.00	Translation along 1, 1, 2 with the speed of  mm/s	1905.09	1440.92	1363.45	94.62	8.4	9	0.93
9	Rocker	= 190.00, −200.00, 118.00; = −190.00, 200.00, −118.00	Translation along 2, −1, −1 with the speed of  mm/s and rotation around −1, 2, −3 with the speed of	3433.54	2707.33	1947.98	71.95	9.8	10	0.98
10	Dragon	= 190.00, 200.00, 118.00; = −190.00, −200.00, −118.00	Translation along 2, 4, −1 with the speed of  mm/s and rotation around −1, 2, −2 with the speed of	5736.48	1948.61	1485.98	76.26	16.5	15	1.10
Average	—	—	—	4063.56	2150.71	1866.36	86.78	14.1	14.5	0.97