| Method | Exp1 | Exp2 | Exp3 | Exp4 | Exp5 | Exp6 |
| Baseline | √ | √ | √ | √ | √ | √ |
| Propagate attention |
| √ | √ | √ | √ | √ |
| Channel attention |
|
| √ |
|
|
|
| Spatial attention |
|
|
| √ |
| √ |
| SCGL |
|
|
|
| √ |
|
| FRH |
|
|
|
|
| √ |
| mIoU (%) | 56.17 | 56.40 | 57.45 | 56.95 | 60.17 | 60.45 |
| Complexity (G) | 64.10 | 76.40 | 74.57 | 78.95 | 55.41 | 59.02 |
| Memory (MB) | 466.80 | 547.00 | 864.14 | 1009.78 | 742.23 | 1111.56 |
| Speed (fps) | 33.32 | 34.20 | 34.84 | 30.24 | 51.03 | 51.83 |