Table 3.

Results of ablation experiments with the C-CFF module.

Module	mIoU (%)	Parameters (M)	FLOPs (G)	FPS
CFF	84.06	2.71	14.83	44.01
CFF+CAM	85.19	2.77	15.04	43.36
CFF+SAM	84.71	2.81	15.16	43.27
CFF+CBAM	85.57	2.89	15.326	42.89