| Song et al. [15] | ResNet50 | 96.2 | 95.6 | RGB |
| Kumra et al. [6] | GR-ConvNet-RGB | 96.6 | 95.5 | RGB |
| Ours | Baseline-Avg-RGB | 89.2 | 88.1 | RGB |
| Baseline-Avg-Depth | 88.6 | 88.1 | Depth | |
| Baseline-Max-RGB | 90.9 | 90.3 | RGB | |
| Baseline-Max-Depth | 90.9 | 89.8 | Depth | |
| PPM-RGB | 97.2 | 96.6 | RGB | |
| PPM-Depth | 96.0 | 97.2 | Depth |