46
Improvements(%)
                    Algorithms
•SI = Spin Images
•SI + RP = Spin Images + Random Projections
•SI+ PCA = Spin Images + Principal Component Analysis
•SS = Spherical Signatures
•SS + RP = Spherical Signatures + Random Projections
•Signature dimension: n=400
•Reduced dimension: k=400,80,60,40,20.
Algorithm                      RO       RC        LO         LC         T
SS vs SI                       3.36      4.24      4.74       6.68      76.11
SS+RP vs SI+RP       13.55    25.82      4.12         -          -
SS+RP vs SI+PCA    26.18    27.73     21.13     13.81     16.12
SI+RP  vs SI+PCA     12.67      -          17.01      29.30    15.71
R=recognition; O=occlusion; C=clutter; L=localization; T=time