Table 4.

Quantitative results for the in-domain OOD shift scenario based on two evaluation settings using the WHU-Railway3D dataset. Results are reported for $N=1$. The highest performance metrics and the lowest predictive uncertainty for each setting are highlighted in bold.

	{pole, vegetation}				{cable, support device}
Metric	$\mathit{K}=\mathit{5}$	$\mathit{K}=\mathit{10}$	$\mathit{K}=\mathit{20}$		$\mathit{K}=\mathit{5}$	$\mathit{K}=\mathit{10}$	$\mathit{K}=\mathit{20}$
mIoU ↑	75.31	75.41	76.03		56.46	56.61	59.12
OA ↑	77.91	77.63	78.46		82.26	82.38	83.87
MCC ↑	0.3828	0.3520	0.3841		0.6441	0.6449	0.6673
mH ↓	0.3315	0.4803	0.6312		0.4809	0.4716	0.5321