Table 1 Single-scale and multi-scale ablation experiments
Scale | Average IoU (\(\%\))\(\uparrow\) | Wall distance (mm)\(\downarrow\) | Center of mass distance (mm)\(\downarrow\) | Time (s)\(\downarrow\) |
|---|---|---|---|---|
Single-scale | 63.15 | 11.70±12.35 | 9.63±8.99 | 0.50 |
Two-scale | 75.64 | 6.87±6.53 | 6.45±6.32 | 0.41 |
Three-scale | 80.70 | 4.39 ± 3.50 | 4.36 ± 4.15 | 0.38 |
Four-scale | 80.15 | 4.94±4.76 | 4.67±5.07 | 0.43 |