## 3 Experimental Results and Evaluations
### Segments Extracted and Evaluations
Also, the centroids of the fitted planes and angles of the normal position vectors are calculated. Afterwards, the differences between the automatically derived planes and the corresponding manual ones are computed in terms of the plane fitting precisions, the centroids of the fitted planes, and the angles of the normal position vectors. For the case of the adaptive cylindrical approach, Tables 6-9 show the values of these measures for buildings #1 to #4, respectively. Tables 10-13 also show the evaluation results for the spherical approach. It needs to be noted that the bottom of building #4, because it is not planar, was not considered in the evaluation process. As Figure 16 illustrates, the bottom of the building consists of several patches, not a single patch. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Patch** & **Precision-Manual** & **Precision-Auto** & **Precision** & **Centroid** & **Angle Difference** \\  & **(m)** & **(m)** & **Difference (m)** & **Difference (m)** & **(Degree)** \\ \hline P1 & 0.025 & 0.051 & 0.026 & 0.304 & 0.685 \\ P2 & 0.027 & 0.030 & 0.003 & 0.381 & 0.052 \\ P3 & 0.032 & 0.033 & 0.002 & 0.140 & 0.173 \\ P4 & 0.032 & 0.031 & \( \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**Patch**} & \multirow{2}{*}{\begin{tabular}{c} **Precision-Manual** \\ **(m)** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Precision-Auto** \\ **(m)** \\ \end{tabular} } & \multirow{2}{*}{\begin{tabular}{c} **Precision** \\ **Difference (m)** \\ \end{tabular} } & \multirow{2}{*}{\
\begin{tabular}{c} **Centroid** \\ **Difference (m)** \\ \end{tabular} } & \multirow{2}{*}{
\begin{tabular}{c} **Angle Difference** \\ **(Degree)** \\ \end{tabular} } \\ \hline P1 & 0.020 & 0.027 & 0.007 & 0.017 & 0.020 \\ P2 & 0.023 & 0.032 & 0.009 & 0.025 & 0.016 \\ P3 & 0.052 & 0.053 & 0.001 & 0.015 & 0.002 \\ P4 & 0.019 & 0.037 & 0.019 & 0.038 & 0.069 \\ P5 & 0.016 & 0.068 & 0.052 & 0.169 & 1.973 \\ P6 & 0.016 & 0.031 & 0.015 & 0.196 & 0.847 \\ P7 & 0.021 & 0.012 & \(-\)0.009 & 0.415 & 0.285 \\ P8 & 0.017 & 0.046 & 0.028 & 0.148 & 1.575 \\ P9 & 0.015 & 0.073 & 0.058 & 0.885 & 7.901 \\ Mean & 0.022 & 0.042 & 0.020 & 0.212 & 1.410 \\ \hline \hline \end{tabular}
\end{table} 
Table 7: Plane fitting precision, plane fitting precision difference, centroid difference, and angle difference values for building #2 (Adaptive cylindrical approach). \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**Patch**} & \multirow{2}{*}{ \begin{tabular}{c} **Precision-Manual** \\ **(m)** \\ \end{tabular}  } & \multirow{2}{*}{ \begin{tabular}{c} **Precision-Auto** \\ **(m)** \\ \end{tabular}  } & \multirow{2}{*}{ \begin{tabular}{c} **Precision** \\ **Difference (m)** \\ \end{tabular}  } & \multirow{2}{*}{\ \begin{tabular}{c} **Centroid** \\ **Difference (m)** \\ \end{tabular}  } & \multirow{2}{*}{ \begin{tabular}{c} **Angle Difference** \\ **(Degree)** \\ \end{tabular}  } \\ \hline P1 & 0.027 & 0.049 & 0.022 & 0.072 & 0.086 \\ P2 & 0.034 & 0.035 & 0.002 & 0.227 & 0.029 \\ P3 & 0.035 & 0.042 & 0.007 & 0.436 & 0.025 \\ P4 & 0.025 & 0.02 \begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Patch** & **Precision-Manual** & **Precision-Auto** & **Precision** & **Centroid** & **Angle Difference** \\  & **(m)** & **(m)** & **Difference (m)** & **Difference (m)** & **(Degree)** \\ \hline P1 & 0.025 & 0.049 & 0.024 & 0.366 & 0.690 \\ P2 & 0.027 & 0.027 & 0.000 & 0.358 & 0.021 \\ P3 & 0.032 & 0.034 & 0.003 & 0.047 & 0.122 \\ P4 & 0.032 & 0.029 & \(-\)0.002 & 0.107 & 0.085 \\ P5 & 0.026 & 0.018 & \(-\)0.008 & 0.182 & 0.168 \\ P6 & 0.022 & 0.041 & 0.019 & 0.541 & 0.676 \\ P7 & 0.037 & 0.031 & \(-\)0.006 & 0.220 & 2.225 \\ P8 & 0.031 & 0.027 & \(-\)0.004 & 0.578 & 2.594 \\ Mean & 0.029 & 0.032 & 0.003 & 0.300 & 0.823 \\ \hline \hline \end{tabular}
\end{table} 
Table 10: Plane fitting precision, plane fitting precision difference, centroid difference, and angle difference values for building #1 (Spherical approach).