Table 3 Success rates (%) across different forest maps.

Method	Sensor modality	Map-A	Map-B	Map-C
²¹	Vision (RGB)	73.3	68.3	70.0
⁴⁶	Vision (RGB)	85.0	78.3	80.0
²⁴	Vision (RGB)	80.0	75.0	76.7
²⁵	Vision (RGB)	83.3	80.0	81.7
⁵³	Vision + LiDAR	81.7	88.3	76.7
⁵⁴	LiDAR-only	83.3	86.7	78.3
Our	Vision (RGB) Only	90.0	86.7	83.3

Bold numbers represent the highest success rates (%) for each forest map. For Maps A and C (columns 3 and 5), our proposed method achieved the best success rate. For Map B (column 4), the method cited in [53] (row 6) achieved the best success rate. The last column shows the average success rate across the three maps, with the best value highlighted in bold.

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