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Point Cloud Completion on PCN (test)

85WatercraftCRA-PCN
2.247223.731145.21566.6989Aug 19, 2021May 7, 2022Jan 24, 2023Oct 12, 2023Jun 30, 2024Mar 18, 2025Dec 5, 2025

Evaluation results

MethodLinks
CRA-PCN2024.048579.5—68.272.174.585.6—86.1——————————96.1————68.3
AnchorFormer2024.0484.979—67.671.774.384.9—85.4——————————95.2————67.8
MMDR2024.0484.178.4—66.169.77485.1—85.4——————————94.9————67.7
3DMambaComplete2024.0484.180.5—69.475.977.886.7—85.9——————————95.1————68.9
Snowflake2024.0478.774.3—64.869.770.579—82——————————89.7————60.4
ECG2024.0475.968.4—60.567.563.569.8—73——————————87————50.2
ProxyFormer2024.0465.561.5—56.66552.254.4—66.9——————————84.7————46.7
ASFM2024.0464.791.8—1.15859.71.031.187—1.212——————————33.4————1.18
PCN2024.0464.458.9—50.864.950.652.2—62.1——————————83.1————43.3
CRN2024.0460.754.9—43.948.650.553.3—60.6——————————80.4————40.9
GRNet2024.0460.354.1—44.750.748.360.9—55.6——————————71.1————41.5
PoinTr2024.045752.7—43.554.944.752.8—60.2——————————70.4————38.4
ASFM2024.0455.645.9—3340.939.949.6—41.1——————————73.8————33.1
GRNet2024.0452.566.2—0.78646.20.8080.689—0.672——————————40.5————0.95
FoldingNet2024.0451.457—0.66535.50.7190.733—0.624——————————26.4————0.687
TopNet2024.0450.459.9—0.71240.40.8560.71—0.595——————————24————0.771
CRN2024.044862.8—0.70452.60.6530.842—0.57——————————35.1————0.896
TopNet2024.0446.144.3—32.149.634.234.5—50.4——————————76————31.3
FoldingNet2024.0444.941.8—3148.830.733.2—45.7——————————72.3————28
PCN2024.0443.354.2—0.63331.30.6380.75—0.573——————————21.3————0.784
ProxyFormer2024.0442.756.5—0.56230.70.6610.857—0.651——————————19————0.864
PoinTr2024.0441.556.4—0.68241.50.7040.616—0.526——————————34.2————0.815
ECG2024.0429.940.8—0.50225.30.4590.57—0.38——————————16.9————0.632
MMDR2024.0420.724.2—0.36722.10.2550.193—0.256——————————7.6————0.358
CRA-PCN2024.0419.922.3—0.32820.40.2590.21—0.208——————————6.3————0.31
Snowflake2024.0419.631.1—0.43924.60.3430.343—0.294——————————13.1————0.493
3DMambaComplete2024.0415.321.6—0.32520.30.2540.182—0.188——————————6.7————0.357
FoldingNet2022.0214.9914.319.4915.812.6115.5516.4115.9713.65————————————————
FoldingNet2023.0114.99——15.812.6115.5516.4115.9713.65—14.31————————9.4932.2————
FoldingNetPoint resolution=163842023.0214.99—————————14.31—15.812.6115.5516.4115.9713.65—9.49—————
FoldingNet2025.1214.99—————————14.319.4915.812.6115.5516.4115.9713.65———————
FoldingNetMetric=CD-l1 (x1000)2021.0814.9914.31—15.812.6115.5516.4115.9713.65——————————9.49—————
AnchorFormer2024.0413.522.4—0.34822.30.2860.213—0.211——————————6.4————0.315
TopNet2022.0211.1212.157.6113.3110.913.8214.4414.7811.22————————————————
TopNet2023.0111.12——13.3110.913.8214.4414.7811.22—12.15————————7.6150.3————
TopNetPoint resolution=163842023.0211.12—————————12.15—13.3110.913.8214.4414.7811.22—7.61—————
TopNet2025.1211.12—————————12.157.6113.3110.913.8214.4414.7811.22———————
TopNetMetric=CD-l1 (x1000)2021.0811.1212.15—13.3110.913.8214.4414.7811.22——————————7.61—————
AtlasNet2022.0210.6110.856.3711.9410.112.0612.3712.9910.33————————————————
AtlasNet2023.0110.61——11.9410.112.0612.3712.9910.33—10.85————————6.3761.6————
AtlasNetPoint resolution=163842023.0210.61—————————10.85—11.9410.112.0612.3712.9910.33—6.37—————
AtlasNet2025.1210.61—————————10.856.3711.9410.112.0612.3712.9910.33———————
AtlasNetMetric=CD-l1 (x1000)2021.0810.6110.85—11.9410.112.0612.3712.9910.33——————————6.37—————
MSN2023.019.9——11.910.310.210.711.69.6—10————————5.670.5————
MSNMetric=CD-l1 (x1000)2021.089.910—11.910.310.210.711.69.6——————————5.6—————
PCN2022.028.599.645.522.710.638.71111.3411.68————————————————
PCN2023.018.59——22.710.638.71111.3411.68—9.64————————5.569.5————
PCNPoint resolution=163842023.028.59—————————9.64—22.710.638.71111.3411.68—5.5—————
PCN2025.128.59—————————9.645.522.710.638.71111.3411.68———————
PCNMetric=CD-l1 (x1000)2021.088.599.64—22.710.638.71111.3411.68——————————5.5—————
CRN2022.028.058.514.799.978.319.498.9410.697.81————————————————
CRN2023.018.05——9.978.319.498.9410.697.81—8.51————————4.79—————
CRNPoint resolution=163842023.028.05—————————8.51—9.978.319.498.9410.697.81—4.79—————
CRNMetric=CD-l1 (x1000)2021.088.058.51—9.978.319.498.9410.697.81——————————4.79—————
GRNet2022.028.048.836.4510.379.459.417.9610.58.44————————————————
GRNet2023.018.04——10.379.459.417.9610.518.44—8.83————————6.4570.8————
GRNetPoint resolution=163842023.028.04—————————8.83—10.379.459.417.9610.518.44—6.45—————
GR-Net2025.128.04—————————8.836.4510.379.459.417.9610.518.44———————
GRNetMetric=CD-l1 (x1000)2021.088.048.83—10.379.459.417.9610.518.44——————————6.45—————
NSFA2022.027.488.064.7610.188.638.537.0310.537.35————————————————
NSFA2023.017.48——10.188.638.537.0310.537.35—8.06————————4.76—————
NSFAPoint resolution=163842023.027.48—————————8.06—10.188.638.537.0310.537.35—4.76—————
PoinTr2023.017.29——10.478.689.397.7510.937.78—8.38————————4.7574.5————
PoinTrPoint resolution=163842023.027.29—————————8.38—10.478.689.397.7510.937.78—4.75—————
PoinTrMetric=CD-l1 (x1000)2021.087.298.38—10.478.689.397.7510.937.78——————————4.75—————
PMP-Net2023.017.25——11.249.649.516.9510.838.72—8.73————————5.65—————
PMP-NetPoint resolution=163842023.027.25—————————8.73—11.249.649.516.9510.838.72—5.65—————
PMP-NetMetric=CD-l1 (x1000)2021.087.258.73—11.249.649.516.9510.838.72——————————5.65—————
PMP-Net2022.027.198.665.511.19.629.476.8910.748.77————————————————
PMP-Net++PMD=false2022.026.617.744.6910.158.788.36.0810.287.23————————————————
PMP-Net++PMD=true2022.026.527.564.399.968.538.096.069.827.17————————————————
PMP-Net++Point resolution=163842023.026.52—————————7.56—9.968.538.096.069.827.17—4.39—————
SnowFlake2023.016.4——9.168.087.896.079.236.55—7.21————————4.29—————
SnowflakeNetPoint resolution=163842023.026.4—————————7.21—9.168.087.896.079.236.55—4.29—————
SnowFlake2025.126.37—————————7.194.249.278.27.755.969.256.45———————
PointAttN2025.126.09—————————6.863.8797.637.435.98.686.32———————
LAKeNet2023.015.98——9.788.567.455.889.396.43—7.23————————4.17—————
ProxyFormerPoint resolution=163842023.025.98—————————6.77—9.017.887.115.358.776.03—4.01—————
SeedFormer2023.015.85——9.058.067.065.218.856.05—6.74————————3.85—————
SeedFormerPoint resolution=163842023.025.85—————————6.74—9.058.067.065.218.856.05—3.85—————
SeedFormer2025.125.85—————————6.743.859.058.067.065.218.856.05———————
AdaPoinTr2023.015.76——8.827.476.855.478.355.8—6.53————————3.6884.5————
AdaPoinTr2025.125.76—————————6.533.688.827.476.855.478.355.8———————
PointCFormer2025.125.74—————————6.413.538.737.326.685.128.345.86———————
ODGNet2025.125.66—————————6.53.778.777.566.845.098.475.84———————
CRA-PCN2025.125.64—————————6.393.598.77.56.75.068.245.72———————
PointSea2025.125.62—————————6.353.618.547.336.585.218.245.75———————
Ours2025.125.43—————————6.323.588.597.456.564.928.275.76———————
AdaPoinTr2026.03——————————6.53—————————84.553.624.12——
AnchorFormerFLOPs (G)=14.54, #Params (M)=30.46, Time (ms)=23.712025.03———————————————————————6.59—
AtlasNet2022.07—10.856.3711.9410.112.0612.3712.9910.3310.61———————————————
AtlasNet2022.02——————————10.856.3711.9410.112.0612.3712.9910.3310.61——————
AtlasNet2026.03——————————10.85—————————61.6————
CDN2022.02——————————8.514.799.978.319.498.9410.697.818.05——————
CRN2022.07—8.514.799.978.319.498.9410.697.818.05———————————————
CRN2026.03——————————8.51—————————65.2————
Folding2022.02——————————14.319.4915.812.6115.5516.4115.9713.6514.99——————
FoldingNet2022.07—14.319.4915.812.6115.5516.4115.9713.6514.99———————————————
FoldingNet2026.03——————————14.31——————————————
GRNet2022.07—8.836.4510.379.459.417.9610.518.448.04———————————————