Table 4 Volume estimation test results of different methods

BM VE

Average volume estimation (\({\mathrm{m}}^{3}\))

1.525

2.462

4.317

5.362

5.726

7.751

8.065

8.916

Relative error (\(\%\))

5.15

−14.22

11.07

−5.92

−18.78

−7.73

−17.87

−20.53

Standard deviation (\({\mathrm{m}}^{3}\))

0.0469

0.0942

0.1742

0.1234

0.2511

0.0851

0.2352

0.0676

SGBM VE

Average volume estimation (\({\mathrm{m}}^{3}\))

1.242

3.056

4.206

5.693

7.573

8.555

9.703

10.125

Relative error (\(\%\))

−14.31

6.48

−1.50

-0.13

7.41

1.84

−1.19

−9.76

Standard deviation (\({\mathrm{m}}^{3}\))

0.0124

0.3087

0.1579

0.2127

0.2909

0.0853

0.6526

0.3202

ORB–MAPM VE

Average volume estimation (\({\mathrm{m}}^{3}\))

1.381

2.798

3.752

5.075

5.847

7.805

9.297

10.584

Relative error (\(\%\))

−4.76

−2.51

−12.14

−10.97

−17.07

−7.08

−5.32

−5.66

Standard deviation (\({\mathrm{m}}^{3}\))

0.0497

0.1400

0.1802

0.4768

0.2833

0.2030

0.2752

0.3475

QORB–MAPM VE

Average volume estimation (\({\mathrm{m}}^{3}\))

1.349

2.578

4.249

5.551

7.143

8.285

9.823

11.331

Relative error (\(\%\))

−6.99

−10.19

−0.49

−2.61

1.32

−1.37

0.04

0.99

Standard deviation (\({\mathrm{m}}^{3}\))

0.0589

0.0703

0.0254

0.0866

0.2395

0.0770

0.0886

0.1133