\begin{tabular}{c | c | c | c | c | c}
{\bf Method} & {\bf Accuracy} & {\bf Completeness} & {\bf F1} & {\bf mIoU Class} & {\bf Runtime}\\ \hline
ORB-SLAM2 + PSPNet \cite{Artal2017TR} & 81.77 \% & 74.89 \% & 78.15 \% & 32.48 \% & / \\
SUMA++ \cite{Chen2019IROS} & 90.98 \% & 64.19 \% & 75.27 \% & 19.40 \% & /
\end{tabular}