Error statistics for the percentage of ‘bad’ matching pixels at six different thresholds. WangXiaofeng LiuYiguang 2015 <p>(a) “Tsukuba”, (b) “Teddy”, (c) “Venus”, and (d) “Cones”, including all pixels, pixels in non-occluded areas, pixels in textured areas, pixels in textureless areas and pixels in discontinuous areas. (e) Error statistics for the four methods in the occluded areas.</p>