Table 3.

Oriented normal evaluation on PCPNet dataset.

Method	Source	PCPNet Dataset
		Noise				Density
		None	0,12%	0,60%	1,20%	Stripes	Gradient	Average
PCPNet37	35	33,34	34,22	40,54	44,46	37,95	35,44	37,66
Hsurf-Net + ODP43	35	26,91	24,85	35,87	51,75	26,91	20,16	31,07
SHSNet35	35	10,28	13,23	25,40	35,51	16,40	17,92	19,79
PCA	*	23,60	28,66	30,05	41,64	26,00	21,49	28,57

Reported are the RMSE results under different noise levels and different sampling strategies to simulate sensor noise. Lower is better. ODP refers to an orientation with dipol propagation⁴⁷. The source column declares the resource for the test results. * indicates our own validation results.