Table 1 The comparison of precision, recall, and F₁-score between the proposed method (ISM) and efficient RANSAC (RSM)

From: Incremental structural modeling on sparse visual SLAM

		Precision	Recall	F₁-Score
Case1	RSM	0.822	0.819	0.820
	ISM	0.993	0.832	0.906
Case2	RSM	0.756	0.756	0.756
	ISM	1.000	0.963	0.981
Case3	RSM	0.795	0.795	0.795
	ISM	1.000	0.900	0.947
Case4	RSM	0.500	0.489	0.494
	ISM	0.647	0.440	0.524
Case5	RSM	0.761	0.750	0.755
	ISM	0.942	0.645	0.766

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