Table 2 Quantitative comparison of the semantic segmentation performance across five down-sampling strategies on PointNet +  + 
PointNet +  +  | Semantic Segmentation (%) | Score | AveDiff (%) | |||
|---|---|---|---|---|---|---|
Precision | Recall | F1 | IoU | |||
FPS | 85.38 | 84.62 | 84.96 | 75.77 | 0 | 1.10 |
RS | 85.29 | 84.81 | 85.01 | 76.00 | 2 | 1.01 |
UVS | 86.07 | 86.15 | 85.90 | 77.03 | 18 | 0.00 |
VFPS | 85.55 | 84.95 | 85.08 | 75.91 | 4 | 0.71 |
3DEPS | 85.64 | 86.05 | 85.74 | 76.80 | 12 | 0.50 |