Although not significant in these figures, there are several problems that this process may encounter or introduce. The more common problem is that different objects may be "glued" together. This especially happens with noise from the floor which can get associated with the door.
A more serious problem may occur if for some reason an object gets split into several smaller objects. In this case our treatment is risky, because further computation will not associate features of the different parts together (see experiment 203b). Nevertheless, the assumption that the door is a continuous surface that is not obscured to such a dangerous extent seems plausible and postprocessing may correct "broken" doors. Last, one may want to adjust the "mass" threshold to different values for different environments. It seems that for our environment the values of 250-1000 are good enough and clear some of the noise away yet keeps even distant doors. The experiments we show at the experiments section we produced using the mass threshold of 250.
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