Ground

High vegetation

Buildings

Water

Elevated roads

PointNet++

0.9695

0.9268

0.8675

0.6714

0.6941

PointSIFT

0.9666

0.9447

0.8420

0.8918

0.5556

Ours

0.9910

0.9826

0.9235

0.9236

0.8578