\begin{tabular}{c | c | c | c | c | c | c | c}
{\bf Method} & {\bf MaxF} & {\bf AP} & {\bf PRE} & {\bf REC} & {\bf FPR} & {\bf FNR} & {\bf Runtime}\\ \hline
Up-Conv-Poly \cite{Oliveira2016IROS} & 89.88 \% & 87.52 \% & 92.01 \% & 87.84 \% & 1.34 \% & 12.16 \% & 0.08 s / GPU \\
SPRAY \cite{Kuehnl2012ITSC} & 83.42 \% & 86.84 \% & 84.76 \% & 82.12 \% & 2.60 \% & 17.88 \% & 45 ms / \\
YhY \cite{ERROR: Wrong syntax in BIBTEX file.} & 75.85 \% & 79.27 \% & 71.49 \% & 80.77 \% & 5.67 \% & 19.23 \% & 0.4 s / 1 core \\
SPlane + BL \cite{Einecke2014IV} & 69.63 \% & 73.78 \% & 80.01 \% & 61.63 \% & 2.71 \% & 38.37 \% & 2 s / 1 core \\
SCRFFPFHGSP \cite{Gheorghe2015} & 57.22 \% & 39.34 \% & 41.78 \% & 90.79 \% & 22.28 \% & 9.21 \% & 5 s / 8 cores
\end{tabular}