Frenet-Serret Frame-based Decomposition for Part Segmentation of 3D Curvilinear Structures

Experiments on DenSpineEM Benchmark

Average Results (Mean ± Standard Deviation)

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.7784 ± 0.0553	0.7099 ± 0.0465	0.9713 ± 0.0088	0.9453 ± 0.0157	0.8464 ± 0.0649
PointNet++ w. FFD	M50	0.8651 ± 0.0275	0.8108 ± 0.0367	0.9853 ± 0.0099	0.9718 ± 0.0169	0.8880 ± 0.0601
PointNet++	M10	0.8132 ± 0.0166	0.7310 ± 0.0182	0.9347 ± 0.0056	0.8807 ± 0.0095	0.7720 ± 0.0429
PointNet++ w. FFD	M10	0.8737 ± 0.0133	0.8123 ± 0.0125	0.9705 ± 0.0043	0.9435 ± 0.0076	0.8560 ± 0.0260
PointNet++	H9	0.7465 ± 0.0232	0.6451 ± 0.0269	0.9383 ± 0.0100	0.8861 ± 0.0172	0.7048 ± 0.0561
PointNet++ w. FFD	H9	0.8224 ± 0.0178	0.7482 ± 0.0181	0.9711 ± 0.0032	0.9445 ± 0.0055	0.7680 ± 0.0618

Fold 0

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.8011	0.7209	0.9564	0.9189	0.8766
PointNet++ w. FFD	M50	0.8958	0.8488	0.9879	0.9763	0.9146
PointNet++	M10	0.8159	0.7343	0.9385	0.8863	0.8089
PointNet++ w. FFD	M10	0.8859	0.8233	0.9724	0.9466	0.8917
PointNet++	H9	0.7073	0.6006	0.9207	0.8552	0.7891
PointNet++ w. FFD	H9	0.8419	0.7655	0.9734	0.9485	0.8275

Fold 1

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.7755	0.7075	0.9744	0.9508	0.8857
PointNet++ w. FFD	M50	0.8622	0.8063	0.9895	0.9793	0.9132
PointNet++	M10	0.8064	0.7170	0.9257	0.8656	0.8153
PointNet++ w. FFD	M10	0.8751	0.8155	0.9736	0.9490	0.8694
PointNet++	H9	0.7550	0.6557	0.9462	0.8999	0.6901
PointNet++ w. FFD	H9	0.8373	0.7681	0.9760	0.9536	0.8051

Fold 2

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.6935	0.6369	0.9738	0.9498	0.7294
PointNet++ w. FFD	M50	0.8234	0.7515	0.9684	0.9418	0.7792
PointNet++	M10	0.8372	0.7624	0.9413	0.8923	0.7803
PointNet++ w. FFD	M10	0.8845	0.8221	0.9626	0.9297	0.8567
PointNet++	H9	0.7610	0.6618	0.9436	0.8944	0.7252
PointNet++ w. FFD	H9	0.8226	0.7475	0.9698	0.9424	0.7923

Fold 3

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.7928	0.7182	0.9711	0.9449	0.8486
PointNet++ w. FFD	M50	0.8698	0.8209	0.9920	0.9842	0.9167
PointNet++	M10	0.8036	0.7185	0.9341	0.8794	0.7325
PointNet++ w. FFD	M10	0.8641	0.8016	0.9719	0.9459	0.8312
PointNet++	H9	0.7407	0.6354	0.9385	0.8868	0.6486
PointNet++ w. FFD	H9	0.8024	0.7272	0.9674	0.9376	0.7412

Fold 4

Model	Dataset	Spine Dice	Spine IoU	Trunk Dice	Trunk IoU	Spine Accuracy
PointNet++	M50	0.8290	0.7660	0.9806	0.9623	0.8919
PointNet++ w. FFD	M50	0.8745	0.8264	0.9885	0.9776	0.9162
PointNet++	M10	0.8030	0.7227	0.9341	0.8799	0.7229
PointNet++ w. FFD	M10	0.8587	0.7989	0.9721	0.9463	0.8312
PointNet++	H9	0.7684	0.6718	0.9427	0.8943	0.6709
PointNet++ w. FFD	H9	0.8077	0.7328	0.9691	0.9406	0.6741