Keywords
hierarchical spatial aggregation
point-cloud sparsity
paired simulation
reproducibility
Abstract
We evaluated hierarchical spatial aggregation for three-dimensional perception under 30% point-cloud sparsity. A deterministic paired simulation generated 48 cases and preserved a rare-condition slice. Mean geometry recall changed from 0.480 to 0.516; the paired difference was +0.036 (95% interval +0.034 to +0.038). The result is limited to the stated simulation and is reported with a reproducible result artifact.
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