| 方法 | mIoU (%) | Ceil | Floor | Wall | Beam | Col. | Wind. | Door | Table | Chair | Sofa | Book. | Board | Clut. |
| PointNet [13] | 47.6 | 88.0 | 88.7 | 69.3 | 0.0 | 23.1 | 47.5 | 51.6 | 54.1 | 42.0 | 9.6 | 38.2 | 29.4 | 35.2 |
| PointNet++ [14] | 53.2 | 89.6 | 98.0 | 75.5 | 0.0 | 7.5 | 61.1 | 18.7 | 69.7 | 78.5 | 35.6 | 64.1 | 49.7 | 43.9 |
| RandLA-Net [15] | 63.4 | 91.6 | 97.2 | 80.9 | 0.0 | 21.9 | 59.5 | 47.9 | 77.4 | 86.1 | 73.6 | 67.7 | 69.6 | 51.1 |
| SCF-Net [16] | 63.6 | 90.1 | 96.1 | 79.5 | 0.0 | 29.2 | 61.6 | 28.8 | 76.6 | 87.6 | 78.4 | 72.5 | 73.0 | 50.3 |
| CGA-Net [17] | 63.1 | 92.1 | 96.7 | 80.7 | 0.0 | 18.8 | 62.8 | 40.9 | 76.8 | 87.6 | 68.0 | 69.7 | 73.4 | 53.3 |
| Ours | 65.2 | 91.5 | 96.8 | 80.8 | 2.1 | 30.5 | 61.1 | 46.2 | 74.9 | 87.2 | 77.6 | 72.1 | 75.1 | 51.8 |