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Component ablation results of the modified PointNet++ segmentation model.
| Ablation Setting | Precision (%) | Recall (%) | IoU (%) | IoU Drop (pp) |
|---|---|---|---|---|
| Full modified PointNet++ | 99.126 | 97.477 | 96.608 | – |
| Coordinate input only | 97.102 | 94.846 | 92.235 | 4.373 |
| Raw radar attributes without MLP augmentation | 98.354 | 96.809 | 95.266 | 1.342 |
| Random point sampling | 98.641 | 95.692 | 94.447 | 2.161 |
| Cross-entropy loss | 98.886 | 96.184 | 95.153 | 1.455 |
