Table 5.

Quantitative comparison of semantic segmentation performances of six networks including PSegNet.

	Methods	Tobacco		Tomato		Sorghum		Mean
		Stem	Leaf	Stem	Leaf	Stem	Leaf
Prec (%)	PointNet	77.15	94.02	93.99	96.71	77.87	95.37	89.19
	PointNet++	87.78	95.62	93.65	96.80	78.01	98.33	91.70
	ASIS	91.65	91.94	93.55	97.14	85.47	95.17	92.49
	PlantNet	89.45	96.80	95.90	96.30	89.07	97.43	94.16
	DGCNN	90.55	96.42	95.24	97.86	83.95	97.37	93.57
	PSegNet (ours)	92.71	96.76	96.36	97.98	89.54	98.04	95.23
Rec (%)	PointNet	79.20	93.31	91.85	97.61	61.45	97.85	86.88
	PointNet++	90.83	94.05	92.45	97.33	78.66	98.27	91.93
	ASIS	83.85	96.11	92.87	95.51	81.65	97.88	91.31
	PlantNet	86.12	92.97	95.24	98.23	86.06	98.07	92.78
	DGCNN	85.55	97.76	94.15	98.27	78.05	98.20	92.00
	PSegNet (ours)	87.42	97.73	95.02	98.59	85.69	98.63	93.85
F1 (%)	PointNet	78.16	93.66	92.91	97.16	68.69	96.59	87.86
	PointNet++	89.28	94.83	93.05	97.07	78.33	98.30	91.81
	ASIS	87.58	93.98	93.21	96.32	83.52	96.51	91.85
	PlantNet	87.75	94.85	95.56	97.26	87.54	97.75	93.45
	DGCNN	87.98	97.09	94.69	98.07	80.89	97.78	92.75
	PSegNet (ours)	89.99	97.24	95.68	98.29	87.57	98.33	94.52
IoU (%)	PointNet	64.15	88.08	86.76	94.48	52.31	93.41	79.87
	PointNet++	80.63	90.17	87.00	94.30	64.38	96.65	85.52
	ASIS	77.91	88.64	87.29	92.90	71.70	93.25	85.28
	PlantNet	78.17	90.20	91.51	94.66	77.84	95.59	88.00
	DGCNN	78.54	94.34	89.92	96.20	76.92	95.65	88.60
	PSegNet (ours)	81.79	94.63	91.73	96.63	77.89	96.72	89.90

The best values are in boldface.