Table 5.

Face guard segmentation under different input feature configurations.

Input Feature Configuration	Raw Input Dimension	Precision (%)	Recall (%)	IoU (%)
$(x,y,z)$	3	97.102	94.846	92.235
$(x,y,z,\mathrm{RCS}$, $\mathrm{Intensity},\mathrm{Velocity})$	6	98.354	96.809	95.266
Radar feature augmentation module	6 raw channels	99.126	97.477	96.608