Table 4 Results of five ablation experiments designed on Massachusetts road dataset.
D + C | MDW | FC | MCSA | FDA | Massachusetts | |||
|---|---|---|---|---|---|---|---|---|
P (%) | R (%) | IoU (%) | F1 (%) | |||||
√ |  |  |  |  | 86.65 | 77.53 | 74.64 | 81.88 |
√ | √ | √ |  |  | 86.81 | 78.21 | 64.93 | 82.22 |
√ | √ | √ | √ |  | 88.52 | 84.67 | 75.82 | 86.54 |
√ |  |  | √ | √ | 87.91 | 82.78 | 65.26 | 85.22 |
√ | √ | √ | √ | √ | 90.04 | 86.03 | 82.01 | 87.98 |