- Good segmentation of museum floor.
- Regular Corridor.
- Similar corridor with shadows cast by dinosaur bones.
- Corridor with highlights and other reflections.
- Another corridor with bimodal intensity mode.
- Nasty color effects do not show up as obstacles.
- Detection of thin black pole.
- Leg with same color as floor does not show up as an obstacle.
- Person with black pants.
- Person with pants that have similar color as floor.
- Same person, hands show up as obstacles as well.
- Moving person.
- Carpet.
- Deep area.