\begin{tabular}{c | c | c | c | c | c | c}
{\bf Method} & {\bf Setting} & {\bf Accuracy} & {\bf Completeness} & {\bf F1} & {\bf mIoU Class} & {\bf Runtime}\\ \hline
S-DSP & & 79.15 \% & 72.45 \% & 75.64 \% & 37.59 \% & 3s s / 1 core \\
ORB-SLAM2 + PSPNet & & 81.77 \% & 74.89 \% & 78.15 \% & 32.48 \% & / \\
SUMA++ & & 90.98 \% & 64.19 \% & 75.27 \% & 19.40 \% & /
\end{tabular}