Table 1 Features employed by the person/no-person classifier where magnitude ${\left[\mathcal{V}\right]}_{\left\{x,y,z\right\}}$ denotes the x, y, or z coordinates of voxel $\mathcal{V}$

Weight

$\left|{\mathcal{C}}_i\right|s_v^3\rho$   ρ = 1.1 [gr/cm³]

Centroid (z-axis)

${\left|{\mathcal{C}}_i\right|}^{-1}\sum _{v\in {\mathcal{C}}_i}{\left[\mathcal{V}\right]}_z$

Top

$\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_z$

Height

$\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_z-\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_z$

Bounding box

$\begin{array}{c}max\left\{\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_x-\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_x,\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_y-\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_y\right\}\\ min\left\{\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_x-\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_x,\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_y-\underset{\mathcal{V}\in {\mathcal{C}}_i}{max}{\left[\mathcal{V}\right]}_y\right\}\end{array}$