PPANet: Point-Wise Pyramid Attention Network for Semantic Segmentation

Table 2

Ablation study results on the KITTI dataset.

Method	AP (%)	Precision (%)	Recall
PPANet-baseline	96.20	97.1	95.6	96.3
PPANet, , 6, 13	91.95	86.44	94.01	89.98
PPANet, , 4, 8	78.90	90.37	88.35	89.36
PPANet,	92.15	92.68	91.41	92.06
Decoder
PPANet+upsampling unit	91.50	91.89	94.33	93.01
PPANet+PPA	93.54	95.77	95.48	95.16