采样层

SA₁

SA₂

SA₃

SA₄

采样点数

4096

1024

512

256

PointNet ++

27.46%

26.73%

28.66%

27.97%

PointNet (++) with cls-aware

27.46%

26.73%

87.62%

82.43%

Proposed method

27.46%

26.73%

94.36%

86.43%