# Detection of Household Furniture Storage Space in Depth Images
## 4 Evaluation
### RGB-D Images of Real Scenes  
To test the proposed storage volume detector in a real life scenario, scenes from two homes and two offices were captured with the Asus Xtion Pro Live RGB-D camera. The camera was placed at a height between 1.2 and 1.5 m and at a distance of 1 to 3 m from the storage furniture. In total, 151 RGB-D images were captured. The dataset was captured in rooms and offices containing furniture of the same type as the models used for storage volume detector training. This included a living room, family room, bedroom, pantry, kitchen, dining room, office, and library. In post-processing, the captured scenes were aligned with a dominant horizontal plane in the image.  
A detailed overview of the dataset acquired with the RGB-D camera by number of captured scenes and number of annotated storage volumes is shown in Table 3. The scenes in this dataset are grouped by room type in which they were taken. Table 4 shows the minimal, maximal, and median bounding boxes (according to the volume) for each furniture class in the synthetic dataset together with the corresponding size (length (\(x\)), height (\(y\)), and width (\(z\))) of a particular bounding box. This table also shows the median length (\(x\)), height (\(y\)), and width (\(z\)) of all bounding boxes.  
\begin{table}
\begin{tabular}{|l|l|c|c|c|c|c|c|c|c|c|c|} \hline \multicolumn{2}{|c|}{**Real Dataset**} & \multicolumn{4}{c|}{**Hounding Box**} \\ \hline
**Environment** & \multicolumn{4}{c|}{**Miniimum**} & \multicolumn{4}{c|}{**Maximum**} & \multicolumn{4}{c|}{**Midian**} \\
**Environment** & **Room** & **Size [m]** & **Volume** & **Size [m]** & **Volume** & **Size [m]** & **Volume** & **Size [m]** & **Volume** & **Size [m]** \\ \hline \multirow{3}{*}{Home 1} & Family room & 0.374 & 0.365 & 0.220 & 0.004 & 1.18 & 0.65 & 0.52 & 0.05 & 0.673 & 0.381 & 0.279 & 0.098 & 0.38 & 0.31 \\  & Kachsen & 0.088 & 0.370 & 0.289 & 0.008 & 1.60 & 0.48 & 0.52 & 0.07 & 0.700 & 0.404 & 0.280 & 0.011 & 0.78 & 0.39 \\  & Library & 0.693 & 0.161 & 0.281 & 0.004 & 0.41 & 0.43 & 0.531 & 0.01 & 0.729 & 0.267 & 0.000 & 0.71 & 0.28 & 0.29 \\ \hline \multirow{3}{*}{Home 2} & Endroom & 0.550 & 0.051 & 0.277 & 0.001 & 1.506 & 0.471 & 0.553 & 0.049 & 0.516 & 0.390 & 0.270 & 0.070 & 0.534 & 0.294 \\  & Gammeron & 0.470 & 0.222 & 0.189 & 0.002 & 1.135 & 0.034 & 0.047 & 0.075 & 0.513 & 0.274 & 0.080 & 0.048 & 0.315 & 0.197 \\  & Kachsen & 0.892 & 1.261 & 0.500 & 0.009 & 1.190 & 1.107 & 0.629 & 0.159 & 1.105 & 1.025 & 0.005 & 0.073 & 1.082 & 0.550 \\  & Pantry & 0.257 & 0.078 & 0.128 & 0.000 & 1.169 & 0.302 & 0.271 & 0.013 & 0.270 & 0.262 & 0.260 & 0.060 & 0.760 & 0.271 & 0.299 \\ \hline \multirow{3}{*}{Ohicon 1} & Roadholt cluster & 0.778 & 0.574 & 0.202 & 0.011 & 1.145 & 0.573 & 0.000 & 0.041 & 0.726 & 0.591 & 0.522 & 0.018 & 0.758 & 0.322 \\  & bookshelf empty & 0.800 & 0.452 & 0.210 & 0.010 & 1.548 & 0.500 & 0.500 & 0.058 & 0.775 & 0.334 & 0.017 & 0.761 & 0.578 & 0.336 \\  & Dash & 0.240 & 0.266 & 0.006 & 0.002 & 1.328 & 0.670 & 0.335 & 0.000 & 0.218 & 0.564 & 0.641 & 0.031 & 0.644 & 0.657 & 0.502 \\ \hline \multirow{3}{*}{Ohicon 2} & Calbnet & 0.251 & 0.394 & 0.324 & 0.045 & 0.689 & 0.458 & 0.358 & 0.014 & 0.690 & 0.417 & 0.315 & 0.011 & 0.641 & 0.440 & 0.351 \\ \cline{1-1} \cline{2-12}