Fig. 15
From: Low-power depth-based descending stair detection for smart assistive devices
Indoor stairs detection performance: receiver operating curves (top row), precision-recall curves (middle row) and accuracy versus the threshold (bottom row). Binary classification of dangerous situations versus the others (a) and of dangers versus safe scenes (b) in four indoor places. The blue and green curves represent the best and worst performance of the Bumblebee2 obtained at, respectively, 512×384 and 51×38 resolution. The red curve is the evaluation of the RGDB camera. One of the four scenes has no dangerous cases, which explains the precision and recall with the RGBD camera