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Point Cloud Denoising research benchmarks – Page 2 · SOTA2 Research

Point Cloud Denoising

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Microsoft Voxelized Sarah9 sigma=40

41.392PSNR

10

Jun 5, 2026

Microsoft Voxelized dataset Sarah9 sigma=30

43.911PSNR

10

Jun 5, 2026

Microsoft Voxelized sigma=20 (Sarah9)

46.721PSNR

10

Jun 5, 2026

PUNet 10K points 2% Gaussian noise 2018 (test)

0.14Inference Time (s)

8

May 27, 2026

ScanObjectNN In-Context

5Chamfer Distance (x1000)

7

Apr 6, 2026

ModelNet40 In-Context

3.9Chamfer Distance (x1000)

7

Apr 6, 2026

KITTI-360 (test)

0.327DCD

7

Feb 26, 2026

TartanAir (test)

0.298DCD

7

Feb 26, 2026

PUNet Uniform noise, 50K Points, 3% noise level

5.34Chamfer Distance (CD)

6

May 27, 2026

PUNet Uniform noise 50K Points 2% noise level

4.54Chamfer Distance (CD)

6

May 27, 2026

PUNet Uniform noise, 50K Points, 1% noise level

3.63Chamfer Distance (CD)

6

May 27, 2026

PUNet Uniform noise, 10K Points, 3% noise level

21.65Chamfer Distance (CD)

6

May 27, 2026

PUNet Uniform noise, 10K Points, 2% noise level

17.11Chamfer Distance (CD)

6

May 27, 2026

PUNet Uniform noise 10K Points 1% noise level

6.12Chamfer Distance (CD)

6

May 27, 2026

PUNet Anisotropic noise, 50K Points, 3% noise level

18.2Chamfer Distance (CD)

6

May 27, 2026

PUNet Anisotropic noise, 50K Points, 2% noise level

6.97Chamfer Distance (CD)

6

May 27, 2026

PUNet Anisotropic noise 50K Points 1% noise level

4.66Chamfer Distance (CD)

6

May 27, 2026

PUNet Anisotropic noise, 10K Points, 3% noise level

33.43Chamfer Distance

6

May 27, 2026

PUNet Anisotropic noise, 10K Points, 2% noise level

24.7Chamfer Distance (CD)

6

May 27, 2026

PUNet Anisotropic noise, 10K Points, 1% noise level

17.41Chamfer Distance (CD)

6

May 27, 2026

Bunny point cloud 10% random and 3% dense noise conditions

Adaptive Dual-Weighted Gravitational Point Cloud Denoising Method

98.88Precision

4

Feb 26, 2026

Bunny Point Cloud 5% random noise

Adaptive Dual-Weighted Gravitational Point Cloud Denoising Method

99.47Precision

4

Feb 26, 2026

Stanford Bunny 10% random noise

Gravitational function

99.73Precision

4

Feb 26, 2026

ShapeNet In-Context

49.95F-score@τ

3

Apr 6, 2026

Laboratory-acquired RUBY PLUS LiDAR dataset 100m range

Adaptive Dual-Weighted Gravitational Point Cloud Denoising Method

99.89Precision

2

Feb 26, 2026

Page 2 of 3

Popular datasets

PUNet Microsoft Voxelized PCNet Microsoft Voxelized dataset ScanObjectNN

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