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73.28% mIoU and 40.01% mB-Fscore were achieved by an improved PIDNet model on a custom Thangka dataset, while maintaining 109.03 FPS. The model was also evaluated on the Cityscapes benchmark to confirm generalization capability. The dataset, shared by Jiao Wu on figshare under CC-BY-4.0, was last updated in May 2026.
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