In a drop of 50cm off a table without containing a head there is no compression of the foam, and the foam is what really protects you by absorbing the energy of the impact by compressing - the shell is a mostly container, energy spreader, and protector for the foam, there is very little chance of damaging the shell to any degree from a drop such as that.
After a drop of 50cm off a table, I would pick the helmet up and check it visually, check the foam for fractures, and finding none not be concerned in the slightest.
If my head was in the helmet when it sustained the impact, then I'd likely replace it or have it inspected depending on it's value.
Major helmet manufacturers like Arai or Shoei will tell you the same, as will Snell for that matter
http://www.smf.org/helmetfaq#aDroppedHelmet
But this is very much a personal judgment decision, and somewhat religious argument surrounded by much hear say and tales from the days of yore when helmet technology was perhaps a little embryonic, so we must all make our own decisions on this.
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