| 点云 | 点云数量 | 场景重叠度 |
| Home_AT_cloud_1 | 373,295 | 49.77% |
| Home_AT_cloud_2 | 347,060 | |
| Home_MD_cloud_1 | 272,130 | 36.47% |
| Home_MD_cloud_2 | 294,549 | |
| Hotel_UMD_cloud_1 | 382,960 | 35.35% |
| Hotel_UMD_cloud_2 | 509,120 | |
| Mit_Studyroom_cloud_1 | 684,922 | 25.73% |
| Mit_Studyroom_cloud_2 | 471,306 |