## 3 Experimental Results
Test image 5 photographed by the self-made image capture system is an outdoor test image. The experimental results of Test image 5 are shown in Figure 21. Figure 21a is the image pair of Test image 5. The baseline is set to 300 mm. The rest of the hardware specifications are described in the previous paragraph. Regarding relevant parameters, the maximum detection distance is 40 m, the separation distance is 30 cm, and the minimum reserved area is 600 cm\({}^{2}\). Figure 21b shows the detection result of each object contour. The object segmentation result is shown in Figure 21c. The background image is shown in Figure 21d. A total of 16 different foreground objects are segmented from Test image 5. The distance and size of the foreground objects are estimated by the proposed algorithm and are listed in the sequence in Table 5. It can be observed from the experimental results that the complex overlapping objects in the image can be effectively detected and segmented. For example, objects 9 to 12 are complex overlapping objects. These objects, from closest to furthest, are Person A, Person B, streetlamp, and coconut tree. All foreground objects can be effectively detected and segmented. Because the ground contour is detected, part of the contour of the object in contact with the ground is removed and the estimated height of the object is slightly lower. Figure 21: The result of Test image 5. (**a**) Image pair; (**b**) Object edge contour; (**c**) Object segmentation; (**d**) Background image. Figure 20: Self-made image capture system. For the test image captured by the self-made camera system, we can measure the actual distance and size of the objects in the image using measuring tools. Considering that the plant size is affected by the wind and subjective judgment, we only measure the distance of the plant. The actual measurement of the objects and the object information estimated by the algorithm are listed in Table 6. It can be observed from Table 6 that although the self-made camera system did not perform stereo rectification, the distance and size of the object estimated by the algorithm could be used as effective references for determining the actual distance and size of the object. \begin{table}
\begin{tabular}{c c c c c c c c c c c c} \hline \hline \multirow{2}{*}{**No.**} & **Object** & **Object** & **Object** & **Object** & **Overall** & **No.** & **Object** & **Object** & **Object** & **Object** & **Overall** \\  & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** & **Acc.** & **Seg.** & **Range** & **Image** & **Info.** & **Acc.** \\ \hline \multirow{2}{*}{\(1\)} & & & & 1980 cm & & & & & & 3726 cm & \\  & & & 155 cm & & 0.802 & 9 & & & & 467 cm & 0.791 \\  & & & 225 cm & & & & & & 912 cm & \\ \hline \multirow{2}{*}{\(2\)} & & & & 3516 cm & & & & & & 870 cm & \\  & & & 375 cm & & 0.871 & 10 & & & & 95 cm & 0.895 \\  & & & 284 cm & & & & & 98 cm & & \\ \hline \multirow{2}{*}{\(3\)} & & & & 3726 cm & & & & & & 1470 cm & \\  & & & 422 cm & & 0.772 & 11 & & & & 78 cm & 0.867 \\  & & & 830 cm & & & & & & 172 cm & \\ \hline \multirow{2}{*}{\(4\)} & & & & 3162 cm & & & & & & 3516 cm & \\  & & & 488 cm & & 0.723 & 12 & & & 109 cm & 0.817 \\  & & & 109 cm & & & & & 706 cm & & \\ \hline \multirow{2}{*}{\(5\)} & & & & 1806 cm & & & & & 3726 cm & \\  & & & 433 cm & & 0.917 & 13 & & & & 448 cm & 0.893 \\  & & & 144 cm & & & & & 920 cm & & \\ \hline \multirow{2}{*}{\(6\)} & & & & 3726 cm & & & & & 3330 cm & \\  & & & 253 cm & & & & & 481 cm & 0.901 \\  & & & 732 cm & & & & & 138 cm & \\ \hline \multirow{2}{*}{\(7\)} & & & & 858 cm & & & & & 3516 cm & \\  & & & 98 cm & & 0.765 & 15 & & & 187 cm & 0.701 \\  & & & 26 cm & & & & 186 cm & & \\ \hline \multirow{2}{*}{\(8\)} & & & & 3516 cm & & & & 3726 cm & \\  & & & 313 cm & & & & 356 cm & 0.888 & \\  & & & 133 cm & & & & 968 cm & & \\ \hline \hline \end{tabular} (Object Info. in order of Distance, Width, and Height).  
\end{table} 
Table 5: Object segmentation results and 3D information of test image 5.