PointNet++

PointSIFT

Ours

Powerline

0.205

0.312

0.532

Low vegetation

0.820

0.800

0.888

Impervious surfaces

0.887

0.925

0.943

Car

0.475

0.521

0.813

Fence/Hedge

0.159

0.269

0.542

Roof

0.913

0.916

0.963

Facade

0.464

0.486

0.615

Shrub

0.439

0.484

0.545

Tree

0.769

0.775

0.851