| Method | Exp1 | Exp2 | Exp3 | Exp4 | Exp5 | Exp6 |
| Baseline | √ | √ | √ | √ | √ |
|
| Propagate attention |
| √ | √ | √ | √ |
|
| Channel attention |
|
| √ |
|
|
|
| Spatial attention |
|
|
| √ |
|
|
| SCGL |
|
|
|
| √ | √ |
| FRH |
|
|
|
|
| √ |
| mIoU (%) | 58.90 | 59.07 | 59.95 | 59.34 | 61.3 | 61.45 |
| Complexity (G) | 54.67 | 59.74 | 74.57 | 78.95 | 55.57 | 43.605 |
| Memory (MB) | 460.76 | 540.28 | 858.14 | 1003.78 | 736.46 | 1105.79 |
| Speed (fps) | 32.80 | 33.32 | 33.32 | 29.65 | 52.53 | 53.26 |