Table 1.

Ablation experiment results. Bold values indicate the best performance. A “√” denotes that the module is included, while a “-” indicates it is not.

Case	VGG16	Dice Loss	PSA	IoU(%)	MIoU(%)	MPA(%)	F1-score(%)	FPS
1	-	-	-	47.12	65.62	73.19	50.29	33.56
2	√	-	-	48.38	73.82	78.43	65.21	30.42
3	√	√	-	50.35	74.79	81.84	66.98	31.07
4	√	-	√	48.84	74.06	78.01	65.63	28.78
5	√	√	√	51.99	75.63	82.66	68.41	42.13