Table 5 Bucket fill factor estimation results of different methods

BM VE

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

1.525

0.9375

1.8555

1.0455

0.3635

2.025

0.3145

0.8515

Relative error (\(\%\))

4.15

−26.82

25.29

−21.38

−54.81

37.49

−61.42

−30.49

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

0.0469

0.1254

0.0949

0.2022

0.1578

0.2473

0.1738

0.2515

SGBM VE

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

1.242

1.814

1.150

1.487

1.880

0.982

1.148

0.614

Relative error (\(\%\))

−11.53

21.86

−13.90

3.17

29.44

−20.44

−15.12

−43.68

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

0.0123

0.2978

0.2736

0.2657

0.3344

0.2965

0.6463

0.2959

ORB–MAPM VE

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

1.381

1.417

0.954

1.323

0.772

1.959

1.492

1.287

Relative error (\(\%\))

−3.84

−0.17

−24.79

−5.96

−32.11

33.82

4.00

−6.27

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

0.0497

0.1681

0.2657

0.3118

0.4959

0.3889

0.3205

0.4381

QORB–MAPM VE

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

1.349

1.229

1.6719

1.302

1.5929

1.1419

1.539

1.5079

Relative error (\(\%\))

−5.63

−10.62

15.08

−7.11

13.45

−11.59

6.60

5.97

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

0.0589

0.0489

0.0712

0.0743

0.2385

0.2705

0.1122

0.1275