Table 5.

Part segmentation results (%) on ShapeNet. Here we list the mean IoU for class and instance. (“*”: add normal vectors with points; “m”: use mesh as input).

Method	Class mIoU	Instance mIoU
PointNet [3]	80.4	83.7
PointNet++ * [4]	81.9	85.1
SpiderCNN [20]	82.4	85.3
SPLATNet [13]	82.0	84.6
SyncSpecCNN ${}^m$ [44]	82.0	84.7
DGCNN [16]	82.3	85.1
SO-Net * [41]	80.8	84.6
Ours	82.8	85.2