3D Object Part Segmentation on ShapeNet Part (test)
86.8mIoUΨ-CNN
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||
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| Ψ-CNNNO.=112019.02 | 86.8 | — | 82.1 | 83.8 | 80.5 | 91 | 78.3 | 91.6 | 86.7 | 84.7 | 95.6 | — | 94.5 | 83.4 | 61.3 | — | 85.9 | 74.8 | 75.9 | 84.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DRNet2020.05 | 86.4 | — | 85 | 88.3 | 79.5 | 91.2 | 79.3 | 91.8 | 89 | 85.2 | 95.7 | — | 94.2 | 82 | 60.6 | — | 84.2 | 72.2 | 76.8 | 84.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RS-CNN2020.05 | 86.2 | — | 84.8 | 88.8 | 79.6 | 91.2 | 81.1 | 91.6 | 88.4 | 86 | 96 | — | 94.1 | 83.4 | 60.5 | — | 83.6 | 73.7 | 77.7 | 83.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNL2020.05 | 86.1 | — | 84.7 | 87.9 | 79.7 | 92.2 | 73.7 | 91 | 87.2 | 84.2 | 95.8 | — | 95.2 | 81 | 63 | — | 83.2 | 74.4 | 76.3 | 84.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNL2019.11 | 86.1 | — | 84.7 | 87.9 | 79.7 | 92.2 | 73.7 | 91 | 87.2 | 84.2 | 95.8 | — | 95.2 | 81 | 63 | — | 83.2 | 74.4 | 76.3 | 84.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCConv2019.04 | 85.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GBNet2019.11 | 85.9 | — | 82.2 | 86.8 | 78.9 | 91.1 | 74.5 | 91.4 | 89 | 84.5 | 95.5 | — | 94.2 | 83.4 | 57.8 | — | 83.5 | 69.6 | 75.5 | 84.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpecGCN2019.04 | 85.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpiderCNNInput=points + normal vectors, Layers=4, Batch size=162018.03 | 85.3 | 83.5 | 81 | 87.2 | 77.5 | 90.7 | 76.8 | 91.1 | 87.3 | 83.3 | 95.8 | 70.2 | 93.5 | 82.7 | 59.7 | — | 82.8 | — | 75.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpiderCNN2019.12 | 85.3 | 83.5 | 81 | 87.2 | 77.5 | 90.7 | 76.8 | 91.1 | 87.3 | 83.3 | 95.8 | 70.2 | 93.5 | 82.7 | 59.7 | 75.8 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GS-NetInput=Coordinates and normals2019.12 | 85.3 | 82.9 | 84.3 | 88.6 | 78.4 | 89.7 | 78.3 | 91.7 | 86.7 | 81.2 | 95.6 | 72.8 | 94.7 | 83.1 | 62.3 | 81.5 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpiderCNN2020.05 | 85.3 | — | 81 | 87.2 | 77.5 | 90.7 | 76.8 | 91.1 | 87.3 | 83.3 | 95.8 | — | 93.5 | 82.7 | 59.7 | — | 82.8 | 70.2 | 75.8 | 83.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpiderCNN2019.11 | 85.3 | — | 81 | 87.2 | 77.5 | 90.7 | 76.8 | 91.1 | 87.3 | 83.3 | 95.8 | — | 93.5 | 82.7 | 59.7 | — | 82.8 | 70.2 | 75.8 | 83.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point2Sequence2018.11 | 85.2 | 82.6 | 81.8 | 87.5 | 77.3 | 90.8 | 77.1 | 91.1 | 86.9 | 83.9 | 95.7 | 70.8 | 94.6 | 79.3 | 58.1 | 75.2 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2020.05 | 85.2 | — | 83.4 | 86.7 | 77.8 | 90.6 | 74.7 | 91.2 | 87.5 | 82.8 | 95.7 | — | 94.9 | 81.1 | 63.5 | — | 82.6 | 66.3 | 74.5 | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2Sequence2020.05 | 85.2 | — | 81.8 | 87.5 | 77.3 | 90.8 | 77.1 | 91.1 | 86.9 | 83.9 | 95.7 | — | 94.6 | 79.3 | 58.1 | — | 82.8 | 70.8 | 75.2 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2019.11 | 85.2 | — | 83.4 | 86.7 | 77.8 | 90.6 | 74.7 | 91.2 | 87.5 | 82.8 | 95.7 | — | 94.9 | 81.1 | 63.5 | — | 82.6 | 66.3 | 74.5 | 84 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNext-Swidth (C)=160, Params.=22.5 M, FLOPs=110.2 G, Throughput=76 ins./sec.2022.06 | 85.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87 | — | |
| KPConvKernel Type=deformable2019.04 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Point features=xyz + normals2017.06 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | 76.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Extra normal information=true2018.02 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | — | 82.6 | — | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PN++2018.08 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | — | 82.6 | — | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Input=points + normal vectors2018.03 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | — | 82.6 | — | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2018.11 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | 76.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2018.11 | 85.1 | 84.2 | 83.7 | 84.4 | 77.1 | 90.9 | 78.5 | 91.5 | 87.3 | 82.9 | 96 | 67.8 | 93.3 | 82.6 | 59.7 | 75.5 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++NO.=02019.02 | 85.1 | — | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | — | 94.1 | 81.3 | 58.7 | — | 82.6 | 71.6 | 76.4 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2019.12 | 85.1 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | 76.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2019.12 | 85.1 | 84.2 | 83.7 | 84.4 | 77.1 | 90.9 | 78.5 | 91.5 | 87.3 | 82.9 | 96 | 67.8 | 93.3 | 82.6 | 59.7 | 75.5 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2020.05 | 85.1 | — | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | — | 94.1 | 81.3 | 58.7 | — | 82.6 | 71.6 | 76.4 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCNN2020.05 | 85.1 | — | 80.1 | 85.5 | 79.5 | 90.8 | 73.2 | 91.3 | 86 | 85 | 95.7 | — | 94.8 | 83.3 | 51 | — | 81.8 | 73.2 | 75 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2019.11 | 85.1 | — | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | — | 94.1 | 81.3 | 58.7 | — | 82.6 | 71.6 | 76.4 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCNN2019.11 | 85.1 | — | 80.1 | 85.5 | 79.5 | 90.8 | 73.2 | 91.3 | 86 | 85 | 95.7 | — | 94.8 | 83.3 | 51 | — | 81.8 | 73.2 | 75 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvThroughput=44 ins./sec.2022.06 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.4 | — | |
| StratifiedformerThroughput=398 ins./sec.2022.06 | 85.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.6 | — | |
| KPConvKernel Type=rigid2019.04 | 85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2019.04 | 85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNet2018.02 | 84.9 | 82.7 | 86.4 | 84.1 | 78.2 | 90.4 | 69.3 | 91.4 | 87 | 83.5 | 95.4 | 66 | 92.6 | 81.8 | 56.1 | — | 82.2 | — | 75.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-Net2018.11 | 84.9 | 82.8 | 77.8 | 88 | 77.3 | 90.6 | 73.5 | 90.7 | 83.9 | 82.8 | 94.8 | 69.1 | 94.2 | 80.9 | 53.1 | 72.9 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-NetNO.=12019.02 | 84.9 | — | 77.8 | 88 | 77.3 | 90.6 | 73.5 | 90.7 | 83.9 | 82.8 | 94.8 | — | 94.2 | 80.9 | 53.1 | — | 83 | 69.1 | 72.9 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RS-Net2019.12 | 84.9 | 82.7 | 86.4 | 84.1 | 78.2 | 90.4 | 69.3 | 91.4 | 87 | 83.5 | 95.4 | 66 | 92.6 | 81.8 | 56.1 | 75.8 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNext-Swidth (C)=64, Params.=3.7 M, FLOPs=17.8 G, Throughput=331 ins./sec.2022.06 | 84.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.9 | — | |
| FlexConv2019.04 | 84.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SyncSpecCNN2017.06 | 84.7 | 81.6 | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | 66.7 | 92.7 | 81.6 | 60.6 | 82.9 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSCNN2018.02 | 84.7 | 81.6 | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | 66.7 | 92.7 | 81.6 | 60.6 | — | 82.1 | — | 82.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSCNN2018.08 | 84.7 | 81.6 | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | 66.7 | 92.7 | 81.6 | 60.6 | — | 82.1 | — | 82.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSCNNInput=points + normal vectors2018.03 | 84.7 | 81.6 | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | 66.7 | 92.7 | 81.6 | 60.6 | — | 82.1 | — | 82.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KCNet2018.11 | 84.7 | 82.8 | 81.5 | 86.4 | 77.6 | 90.3 | 76.8 | 91 | 87.2 | 84.5 | 95.5 | 69.2 | 94.4 | 81.6 | 60.1 | 75.2 | 81.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SyncSpecCNNNO.=22019.02 | 84.7 | — | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | — | 92.7 | 81.6 | 60.6 | — | 82.1 | 66.7 | 82.9 | 81.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KCNetNO.=12019.02 | 84.7 | — | 81.5 | 86.4 | 77.6 | 90.3 | 76.8 | 91 | 87.2 | 84.5 | 95.5 | — | 94.4 | 81.6 | 60.1 | — | 81.3 | 69.2 | 75.2 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KCNet2019.12 | 84.7 | 82.8 | 81.5 | 86.4 | 77.6 | 90.3 | 76.8 | 91 | 87 | 84.5 | 95.5 | 69.2 | 94.4 | 81.6 | 60.1 | 75.2 | 81.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2019.04 | 84.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++*Extra normal information=false2018.02 | 84.6 | 80.4 | 80.9 | 60 | 76.8 | 88.1 | 83.7 | 90.2 | 82.6 | 76.9 | 94.7 | 68 | 91.2 | 82.1 | 59.9 | — | 87.5 | — | 78.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ShapeContextNet2018.11 | 84.6 | 83.8 | 80.8 | 83.5 | 79.3 | 90.5 | 69.8 | 91.7 | 86.5 | 82.9 | 96 | 69.2 | 93.8 | 82.5 | 62.9 | 74.4 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SCN2019.12 | 84.6 | 83.8 | 80.8 | 83.5 | 79.3 | 90.5 | 69.8 | 91.7 | 86.5 | 82.9 | 96 | 69.2 | 93.8 | 82.5 | 62.9 | 74.4 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-Net2019.12 | 84.6 | 81.9 | 83.5 | 84.8 | 78.1 | 90.8 | 72.2 | 90.1 | 83.6 | 82.3 | 95.2 | 69.3 | 94.2 | 80 | 51.6 | 72.1 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| A-SCN2020.05 | 84.6 | — | 80.8 | 83.5 | 79.3 | 90.5 | 69.8 | 91.7 | 86.5 | 82.9 | 96 | — | 93.8 | 82.5 | 62.9 | — | 80.8 | 69.2 | 74.4 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-Net2020.05 | 84.6 | — | 83.5 | 84.8 | 78.1 | 90.8 | 72.2 | 90.1 | 83.6 | 82.3 | 95.2 | — | 94.2 | 80 | 51.6 | — | 82.6 | 69.3 | 72.1 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| A-SCN2019.11 | 84.6 | — | 80.8 | 83.5 | 79.3 | 90.5 | 69.8 | 91.7 | 86.5 | 82.9 | 96 | — | 93.8 | 82.5 | 62.9 | — | 80.8 | 69.2 | 74.4 | 83.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SO-Net2019.11 | 84.6 | — | 83.5 | 84.8 | 78.1 | 90.8 | 72.2 | 90.1 | 83.6 | 82.3 | 95.2 | — | 94.2 | 80 | 51.6 | — | 82.6 | 69.3 | 72.1 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMLPThroughput=270 ins./sec.2022.06 | 84.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.1 | — | |
| PointNext-Swidth (C)=32, Params.=1.0 M, FLOPs=4.5 G, Throughput=782 ins./sec.2022.06 | 84.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.7 | — | |
| 3DmFV-Net2017.11 | 84.3 | 82 | 84.3 | 86 | 76.9 | 89.9 | 73.9 | 90.8 | 85.7 | 82.6 | 95.2 | — | 94 | 82.6 | 51.5 | — | 81.8 | 66 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RGCNN2019.11 | 84.3 | — | 82.8 | 92.6 | 75.3 | 89.2 | 73.7 | 91.3 | 88.4 | 83.3 | 96 | — | 95.7 | 60.9 | 44.6 | — | 80.4 | 63.9 | 72.9 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPN2018.08 | 84 | 84 | 82.8 | 86.4 | 88.3 | 83.3 | 73.6 | 93.4 | 87.4 | 77.4 | 97.7 | 81.4 | 95.8 | 87.7 | 68.4 | — | 73.4 | — | 83.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNet2D-3DInput=2D images and 3D point cloud2018.02 | 83.7 | 83.2 | 84.3 | 89.1 | 80.3 | 90.7 | 75.5 | 92.1 | 87.1 | 83.9 | 96.3 | 75.6 | 95.8 | 83.8 | 64 | 75.5 | 81.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNet2019.04 | 83.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2016.12 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | 72.8 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2017.06 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | 72.8 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2017.11 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | — | 93 | 81.2 | 57.9 | — | 80.6 | 65.2 | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2018.02 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | — | 80.6 | — | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PN2018.08 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | — | 80.6 | — | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNetInput=points + normal vectors2018.03 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | — | 80.6 | — | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2018.11 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | 72.8 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNetNO.=02019.02 | 83.7 | — | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | — | 93 | 81.2 | 57.9 | — | 80.6 | 65.2 | 72.8 | 83.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2019.12 | 83.7 | 83.4 | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | 65.2 | 93 | 81.2 | 57.9 | 72.8 | 80.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2020.05 | 83.7 | — | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | — | 93 | 81.2 | 57.9 | — | 80.6 | 65.2 | 72.8 | 83.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2019.11 | 83.7 | — | 78.7 | 82.5 | 74.9 | 89.6 | 73 | 91.5 | 85.9 | 80.8 | 95.3 | — | 93 | 81.2 | 57.9 | — | 80.6 | 65.2 | 72.8 | 83.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point TransformerParams.=7.8 M, Throughput=297 ins./sec.2022.06 | 83.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.6 | — | |
| SubSparseCNN2019.04 | 83.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGPN2019.04 | 82.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpiderCNN2019.04 | 82.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KD-net2018.02 | 82.3 | 80.1 | 74.6 | 74.3 | 70.3 | 88.6 | 73.5 | 90.2 | 87.2 | 81 | 94.9 | 57.4 | 86.7 | 78.1 | 51.8 | — | 80.3 | — | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kd-NetInput=points + normal vectors2018.03 | 82.3 | 80.1 | 74.6 | 74.3 | 70.3 | 88.6 | 73.5 | 90.2 | 87.2 | 81 | 94.9 | 57.4 | 86.7 | 78.1 | 51.8 | — | 80.3 | — | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kd-Net2018.11 | 82.3 | 80.1 | 74.6 | 74.3 | 70.3 | 88.6 | 73.5 | 90.2 | 87.2 | 81 | 94.9 | 57.4 | 86.7 | 78.1 | 51.8 | 69.9 | 80.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kd-netNO.=02019.02 | 82.3 | — | 74.6 | 74.3 | 70.3 | 88.6 | 73.5 | 90.2 | 87.2 | 81 | 94.9 | — | 86.7 | 78.1 | 51.8 | — | 80.3 | 57.4 | 69.9 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kd-Net2019.12 | 82.3 | 80.1 | 74.6 | 74.3 | 70.3 | 88.6 | 73.5 | 90.2 | 87.2 | 81 | 94.9 | 57.4 | 86.7 | 78.1 | 51.8 | 69.9 | 80.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNNParams.=1.3 M, FLOPs=12.4 G, Throughput=147 ins./sec.2022.06 | 82.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.2 | — | |
| SyncSpecCNN2018.02 | 82 | 81.6 | 81.7 | 81.9 | 75.2 | 90.2 | 74.9 | 93 | 86.1 | 84.7 | 95.6 | 66.7 | 92.7 | 81.6 | 60.6 | 82.9 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SynSpecCNN2019.04 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNet3DInput=3D point cloud2018.02 | 82 | 81.9 | 83.9 | 88.6 | 79.5 | 90.1 | 73.5 | 91.3 | 84.7 | 84.5 | 96.3 | 69.7 | 95 | 81.7 | 59.2 | 70.4 | 81.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2018.02 | 81.9 | 82.4 | 79 | 87.7 | 77.3 | 90.8 | 71.8 | 91 | 85.9 | 83.7 | 95.3 | 71.6 | 94.1 | 81.3 | 58.7 | 76.4 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2019.04 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Params.=1.0 M, FLOPs=4.9 G, Throughput=708 ins./sec.2022.06 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.1 | — | |
| PCNN by Ext2019.04 | 81.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNet2019.04 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Yi2016.12 | 81.4 | 81 | 78.4 | 77.7 | 75.7 | 87.6 | 61.9 | 92 | 85.4 | 82.5 | 95.7 | 70.6 | 91.9 | 85.9 | 53.1 | 69.8 | 75.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Yi2017.06 | 81.4 | 81 | 78.4 | 77.7 | 75.7 | 87.6 | 61.9 | 92 | 85.4 | 82.5 | 95.7 | 70.6 | 91.9 | 85.9 | 53.1 | 69.8 | 75.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Yi2017.11 | 81.4 | 81 | 78.4 | 77.7 | 75.7 | 87.6 | 61.9 | 92 | 85.4 | 82.5 | 95.7 | — | 91.9 | 85.9 | 53.1 | — | 75.3 | 70.6 | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Yi2018.02 | 81.4 | 81 | 78.4 | 77.7 | 75.7 | 87.9 | 61.9 | 92 | 85.4 | 82.5 | 95.7 | 70.6 | 91.9 | 85.9 | 53.1 | — | 75.3 | — | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Yi2018.08 | 81.4 | 81 | 78.4 | 77.7 | 75.7 | 87.6 | 61.9 | 92 | 85.4 | 82.5 | 95.7 | 70.6 | 91.9 | 85.9 | 53.1 | — | 75.3 | — | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |