settings	methods	mIoU	ceiling	floor	wall	beam	column	window	door	table	chair	sofa	bookcase	board	clutter
Fully	PointNet [56]	41.1	88.8	97.3	69.8	0.1	3.9	46.3	10.8	59.0	52.6	5.9	40.3	26.4	33.2
MinkowskiNet [15]	65.4	91.8	98.7	86.2	0.0	34.1	48.9	62.4	81.6	89.8	47.2	74.9	74.4	58.6
KPConv [68]	65.4	92.6	97.3	81.4	0.0	16.5	54.5	69.5	90.1	80.2	74.6	66.4	63.7	58.1
SQN [32]	63.7	92.8	96.9	81.8	0.0	25.9	50.5	65.9	79.5	85.3	55.7	72.5	65.8	55.9
HybridCR [47]	65.8	93.6	98.1	82.3	0.0	24.4	59.5	66.9	79.6	87.9	67.1	73.0	66.8	55.7
RandLA-Net [34]	64.6	92.4	96.8	80.8	0.0	18.6	57.2	54.1	87.9	79.8	74.5	70.2	66.2	59.3
+ ERDA	68.3	93.9	98.5	83.4	0.0	28.9	62.6	70.0	89.4	82.7	75.5	69.5	75.3	58.7
CloserLook3D [51]	66.2	94.2	98.1	82.7	0.0	22.2	57.6	70.4	91.2	81.2	75.3	61.7	65.8	60.4
+ ERDA	69.6	94.5	98.5	85.2	0.0	31.1	57.3	72.2	91.7	83.6	77.6	74.8	75.8	62.1
PT [97]	70.4	94.0	98.5	86.3	0.0	38.0	63.4	74.3	89.1	82.4	74.3	80.2	76.0	59.3
+ ERDA	72.6	95.8	98.6	86.4	0.0	43.9	61.2	81.3	93.0	84.5	77.7	81.5	74.5	64.9
0.02% (1pt)	zhang et al. [94]	45.8	-	-	-	-	-	-	-	-	-	-	-	-	-
PSD [95]	48.2	87.9	96.0	62.1	0.0	20.6	49.3	40.9	55.1	61.9	43.9	50.7	27.3	31.1
MIL-Trans [87]	51.4	86.6	93.2	75.0	0.0	29.3	45.3	46.7	60.5	62.3	56.5	47.5	33.7	32.2
HybridCR [47]	51.5	85.4	91.9	65.9	0.0	18.0	51.4	34.2	63.8	78.3	52.4	59.6	29.9	39.0
RandLA-Net [34]	40.6	84.0	94.2	59.0	0.0	5.4	40.4	16.9	52.8	51.4	52.2	16.9	27.8	27.0
+ ERDA	48.4	87.3	96.3	61.9	0.0	11.3	45.9	31.7	73.1	65.1	57.8	26.1	36.0	36.4
CloserLook3D [51]	34.6	33.6	40.5	52.4	0.0	21.1	25.4	35.5	48.9	48.9	53.9	23.8	35.3	30.1
+ ERDA	52.0	90.0	96.7	70.2	0.0	21.5	45.8	41.9	76.0	65.5	56.1	51.5	30.6	30.9
PT [97]	2.2	0.0	0.0	29.2	0.0	0.0	0.0	0.0	0.0	0.0	0.0	0.0	0.0	0.0
+ ERDA	26.2	86.8	96.9	63.2	0.0	0.0	0.0	15.1	29.6	26.3	0.0	0.0	0.0	22.8
1%	zhang et al. [94]	61.8	91.5	96.9	80.6	0.0	18.2	58.1	47.2	75.8	85.7	65.2	68.9	65.0	50.2
PSD [95]	63.5	92.3	97.7	80.7	0.0	27.8	56.2	62.5	78.7	84.1	63.1	70.4	58.9	53.2
SQN [32]	63.6	92.0	96.4	81.3	0.0	21.4	53.7	73.2	77.8	86.0	56.7	69.9	66.6	52.5
HybridCR [47]	65.3	92.5	93.9	82.6	0.0	24.2	64.4	63.2	78.3	81.7	69.0	74.4	68.2	56.5
RandLA-Net [34]	59.8	92.3	97.5	77.0	0.1	15.9	48.7	38.0	83.2	78.0	68.4	62.4	64.9	50.6
+ ERDA	67.2	94.2	97.5	82.3	0.0	27.3	60.7	68.8	88.0	80.6	76.0	70.5	68.7	58.4
CloserLook3D [51]	59.9	95.3	98.4	78.7	0.0	14.5	44.4	38.1	84.9	79.0	69.5	67.8	53.9	54.1
+ ERDA	68.2	94.0	98.2	83.8	0.0	30.2	56.7	62.7	91.0	80.8	75.4	80.2	74.5	58.3
PT [97]	65.8	94.2	98.2	83.0	0.0	44.2	50.4	68.8	88.1	83.0	75.2	47.4	64.3	59.0
+ ERDA	70.4	95.5	98.1	85.5	0.0	30.5	61.7	73.3	90.1	82.6	77.6	80.6	76.0	63.1
10%	Xu and Lee [85]	48.0	90.9	97.3	74.8	0.0	8.4	49.3	27.3	69.0	71.7	16.5	53.2	23.3	42.8
Semi-sup [37]	57.7	-	-	-	-	-	-	-	-	-	-	-	-	-
zhang et al. [94]	64.0	-	-	-	-	-	-	-	-	-	-	-	-	-
SQN [32]	64.7	93.0	97.5	81.5	0.0	28.0	55.8	68.7	80.1	87.7	55.2	72.3	63.9	57.0
RandLA-Net [34]	61.7	91.7	97.8	79.4	0.0	28.4	50.8	45.5	85.2	81.3	70.3	57.1	63.8	51.8
+ ERDA	67.9	94.3	98.4	83.2	0.0	30.5	60.7	67.4	88.8	83.2	74.5	68.8	72.4	60.4
CloserLook3D [51]	55.5	93.0	98.2	73.6	0.0	12.6	25.6	33.3	87.5	72.9	65.1	73.1	36.0	51.1
+ ERDA	69.1	94.7	98.5	83.2	0.0	28.8	53.8	70.9	91.5	82.5	75.8	82.1	75.3	61.6
PT [97]	66.0	93.7	98.3	83.7	0.0	35.0	48.1	70.9	88.3	81.9	73.2	60.3	67.3	57.2
+ ERDA	71.7	94.6	98.5	86.5	0.0	49.7	61.3	82.4	89.8	84.3	78.0	70.5	74.1	62.4