Face_1

RG (5˚)

RG (10˚)

RANSAC

Before

optimization

ODSFD

Manual

304

304

304

304

304

Number of segmented planes

243

102

210

378

302

over-segmentation

14

7

3

76

0

under-segmentation

11

1

25

0

0

missed-segmentation

66

178

41

2

2

Precision

0.897

0.922

0.867

0.799

1

Recall

0.717

0.309

0.599

0.993

0.993

F1-score

0.797

0.463

0.709

0.885

0.996

Face_2

Manual

163

163

163

163

163

Number of segmented planes

157

59

124

219

162

over-segmentation

22

4

0

57

0

under-segmentation

19

2

1

0

0

missed-segmentation

16

16

47

1

1

Precision

0.739

0.898

0.992

0.740

1

Recall

0.712

0.325

0.755

0.994

0.994

F1-score

0.725

0.477

0.857

0.848

0.997