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Table 4 Evaluation results under different threshold values

From: Discovering forest height changes based on spaceborne lidar data of ICESat-1 in 2005 and ICESat-2 in 2019: a case study in the Beijing-Tianjin-Hebei region of China

Threshold Pixels/Maximums 2019 2005 Bias RMSE
1 897 23.0 23.7 −0.7 11.3
2 832 23.1 23.6 −0.5 11.2
3 769 23.0 23.4 −0.4 11.2
4 699 22.8 23.4 −0.6 11.3
5 642 22.6 23.3 −0.7 11.5
6 577 22.6 23.4 −0.8 11.4
7 509 22.5 23.6 −1.1 11.4
8 435 22.2 23.7 −1.5 11.6
9 339 22.0 24.3 −2.3 11.8
10 173 24.2 24.5 −0.3 11.2