Table 4.

Comparison of part segmentation of point cloud (%).

Method	mcIoU	mIoU	cIoU
			Air Plane	Bag	Cap	Car	Chair	Ear Phone	Guitar	Knife	Lamp	Laptop	Motor Bike	Mug	Pistol	Rocket	Skate Ball	Table
Kd-Net [14]	77.4	82.3	80.1	74.6	74.3	70.3	88.6	73.5	90.2	87.2	81.0	94.9	57.4	86.7	78.1	51.8	69.9	80.3
PointNet [20]	80.4	83.7	83.4	78.7	82.5	74.9	89.6	73.0	91.5	85.9	80.8	95.3	65.2	93.0	81.2	57.9	72.8	80.6
SPLATNet [24]	82.0	84.6	81.9	83.9	88.6	79.5	90.1	73.5	91.3	84.7	84.5	96.3	69.7	95.0	81.7	59.2	70.4	81.3
KCNet [34]	82.2	84.7	82.8	81.5	86.4	77.6	90.3	76.8	91.0	87.2	84.5	95.5	69.2	94.4	81.6	60.1	75.2	81.3
GAPNet [17]	82.0	84.7	84.2	84.1	88.8	78.1	90.7	70.1	91.0	87.3	83.1	96.2	65.9	95.0	81.7	60.7	74.9	80.8
RSNet [26]	81.4	84.9	82.7	86.4	84.1	78.2	90.4	69.3	91.4	87.0	83.5	95.4	66.0	92.6	81.8	56.1	75.8	82.2
SpiderCNN [7]	82.4	85.3	83.5	81.0	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
AGCN [41]	82.6	85.4	83.3	79.3	87.5	78.5	90.7	76.5	91.7	87.8	84.7	95.7	72.4	93.2	84.0	63.7	76.4	82.5
SCN [39]	-	84.6	83.8	80.8	83.5	79.3	90.5	69.8	91.7	86.5	82.9	96.0	69.2	93.8	82.5	62.9	74.4	80.8
PointCNN [25]	84.6	86.1	84.1	86.5	86.0	80.8	90.6	79.7	92.3	88.4	85.3	96.1	77.2	95.3	84.2	64.2	80.0	83.0
PointNet++ [21]	81.9	85.1	82.4	79.0	87.7	77.3	90.8	71.8	91.0	85.9	83.7	95.3	71.6	94.1	81.3	58.7	76.4	82.6
DGCNN [35]	82.3	85.2	84.0	83.4	86.7	77.8	90.6	74.7	91.2	87.5	82.8	95.7	66.3	94.9	81.1	63.5	74.5	82.6
DNet	83.8	86.1	84.5	85.2	88.6	79.3	91.7	77.8	91.5	88.7	84.7	95.7	73.4	95.3	82.3	62.8	76.8	82.1