Keywords
hierarchical spatial aggregation
point-cloud sparsity
paired simulation
reproducibility
Abstract
We evaluated hierarchical spatial aggregation for three-dimensional perception under 48% point-cloud sparsity. A deterministic paired simulation generated 64 cases and preserved a late-arriving block. Mean geometry recall changed from 0.521 to 0.570; the paired difference was +0.048 (95% interval +0.046 to +0.051). The result is limited to the stated simulation and is reported with a reproducible result artifact.
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