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A methodology for evaluating range image segmentation algorithms is proposed. This methodology involves (1) a common set of 40 laser range finder images and 40 structured light scanner images that have manually specified ground truth and (2) a set of defined performance metrics for instances of correctly segmented, missed, and noise regions, over- and under-segmentation, and accuracy of the recovered geometry. A tool is used to objectively compare a machine generated segmentation against the specified ground truth. Four research groups have contributed to evaluate their own algorithm for segmenting a range image into planar patches.
Hoover et al. (Mon,) studied this question.