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| Algorithm | Feature set | Percentage Error Rate | ||||
| tree | bush | grass | foliage | bgsky | ||
| PCA | rgb+ent | 47.8 | 52.8 | 47.2 | 46.5 | 55.3 |
| PCA | rgb+ll+ent | 48.4 | 51.6 | 46.5 | 49.1 | 57.2 |
| PCA | blue+brn | 45.9 | 54.7 | 42.1 | 45.3 | 56.6 |
| PCA | blue | -- | -- | -- | -- | 54.7 |