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(a) original image; (b) ground truth manually segmented; (c) segmentation result based on the original spectral reflectance data; (d) segmentation result based on the proposed invariant representation.

Method and representation Similarity measure Quality rate Segmentation result based on the original spectral reflectance data 86.02 91.51 Segmentation result based on the proposed invariant representation 98.77 99.18.

Bottom row is output semantic segmentation result (on points) displayed in the same camera viewpoint as input.

(b) CICA segmentation result.

(d) Segmentation result.

Fig. 11 Fine segmentation result.

(c) Segmentation result via RFC.

g Segmentation result of U component.

h Segmentation result of C2 component.

Left image shows a poor segmentation result.

Figure 13 The reference segmentation result.

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