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Table 2 Specification of 3d environment models

From: Development of 3D viewer based teleoperation interface for Human Support Robot HSR

  (a) (b) (c)
Input points size (ave.) [kB] 12800 12800 12800
Face set size (ave.) [kB] 934 349 519
Texture image size (ave.) [kB] 83.3 81.8 79.7
Rest points size (ave.) [kB] 1697 1462 881
compression rate [%] 21.2 14.8 11.6
Input points num 307200 307200 307200
Rest points num (ave.) 26115 22381 13631
Rejected rate [%] 8.50 7.29 4.44