PSegNet: Simultaneous Semantic and Instance Segmentation for Point Clouds of Plants

Table 7

The ablation analysis of PSegNet on semantic segmentation. The check mark stands for the use of a module. The best quantitative values are shown in bold. The sign “○” means the partial ablation of DNFEB.


	Ver	VFPS	DNFEB	DGFFM	MA		Tobacco		Tomato		Sorghum		Mean
	Ver	VFPS	DNFEB	DGFFM	SA	CA	Stem	Leaf	Stem	Leaf	Stem	Leaf	Mean

Prec (%)	A1	√	√	√	√		92.47	97.09	95.82	96.78	86.38	97.56	94.35
	A2	√	√	√		√	91.01	95.68	96.12	97.80	87.63	96.89	94.19
	A3	√	√	√			91.39	96.65	95.90	96.89	90.31	96.77	94.65
	A4	√	√		√	√	89.48	97.29	95.95	97.54	86.63	95.79	93.78
	A5	√		√	√	√	59.58	76.59	84.63	90.35	62.95	84.87	76.50
	A6		√	√	√	√	89.46	97.12	96.17	95.82	85.82	96.49	93.48
	A7	√	○	√	√	√	86.43	97.07	94.65	97.47	88.44	97.18	93.54
	C	√	√	√	√	√	92.71	96.76	96.36	97.98	89.54	98.04	95.23

Rec (%)	A1	√	√	√	√		88.00	94.46	95.41	98.24	87.59	97.58	93.55
	A2	√	√	√		√	86.68	96.24	94.79	98.04	84.26	98.28	93.05
	A3	√	√	√			87.54	92.69	95.20	98.11	87.36	98.90	93.30
	A4	√	√		√	√	85.88	94.23	94.49	98.60	85.22	97.90	92.72
	A5	√		√	√	√	59.18	77.13	81.02	90.59	52.10	88.49	74.75
	A6		√	√	√	√	87.49	90.02	94.95	98.59	84.56	97.69	92.22
	A7	√	○	√	√	√	82.86	95.26	94.21	98.47	85.48	97.98	92.38
	C	√	√	√	√	√	87.42	97.73	95.02	98.59	85.69	98.63	93.85

F1 (%)	A1	√	√	√	√		90.18	95.75	95.61	97.51	86.98	97.57	93.93
	A2	√	√	√		√	88.79	95.96	95.45	97.92	85.91	97.58	93.60
	A3	√	√	√			89.42	94.63	95.55	97.50	88.81	97.82	93.96
	A4	√	√		√	√	87.64	95.74	95.22	98.07	85.92	96.84	93.24
	A5	√		√	√	√	59.38	76.86	82.79	90.47	57.01	86.64	75.53
	A6		√	√	√	√	88.46	93.44	95.55	97.18	85.19	97.09	92.82
	A7	√	○	√	√	√	84.61	96.16	94.43	97.97	86.94	97.58	92.95
	C	√	√	√	√	√	89.99	97.24	95.68	98.29	87.57	98.33	94.52

IoU (%)	A1	√	√	√	√		82.11	91.85	91.60	95.13	76.96	95.25	88.82
	A2	√	√	√		√	79.84	92.23	91.30	95.92	75.30	95.27	88.31
	A3	√	√	√			80.87	89.81	91.47	95.12	79.87	95.74	88.81
	A4	√	√		√	√	78.01	91.82	90.87	96.21	75.32	93.87	87.68
	A5	√		√	√	√	42.22	62.42	70.63	82.60	39.87	76.43	62.36
	A6		√	√	√	√	79.31	87.68	91.48	94.52	74.20	94.34	86.92
	A7	√	○	√	√	√	73.32	92.60	89.44	96.02	76.89	95.27	87.26
	C	√	√	√	√	√	81.79	94.63	91.73	96.63	77.89	96.72	89.90