Table 2. Ablation experiments of CSF... | Emerald Publishing

Table 2.

Ablation experiments of CSF filtering and detection heads on three types of data sets

CSF filtering	Sensor head	Foreign object category	0.5@bev	0.5@3d	0.5@aos
√	√	Box	88.93	78.46	78.12
		Person	79.92	79.18	57.36
		Stone	52.39	42.49	60.36
	√	Box	87.85	77.98	72.61
		Person	80.23	78.05	58.69
		Stone	46.19	40.93	62.56
√		Box	86.48	76.48	71.28
		Person	79.84	70.25	56.22
		Stone	43.25	39.33	58.47

CSF filtering	Sensor head	Foreign object category	0.5@bev	0.5@3d	0.5@aos
√	√	Box	88.93	78.46	78.12
		Person	79.92	79.18	57.36
		Stone	52.39	42.49	60.36
	√	Box	87.85	77.98	72.61
		Person	80.23	78.05	58.69
		Stone	46.19	40.93	62.56
√		Box	86.48	76.48	71.28
		Person	79.84	70.25	56.22
		Stone	43.25	39.33	58.47

Source(s): Authors’ own work