Scene | Volume | NN-Net [19] | NC-EssNet [20] | FeatLoc [18] | Ours |
apt1_kitchen | 33 m3 | 0.22 m, 6.76˚ | 0.15 m, 11.53˚ | 0.32 m, 5.19˚ | 0.14 m, 7.58˚ |
apt1_living | 30 m3 | 0.25 m, 5.45˚ | 0.19 m, 6.57˚ | 0.26 m, 0.14˚ | 0.18 m, 5.89˚ |
apt2_bed | 14 m3 | 0.46 m, 6.13˚ | 0.21 m, 6.70˚ | 0.37 m, 5.39˚ | 0.08 m, 4.32˚ |
apt2_kitchen | 21 m3 | 0.83 m, 36.03˚ | 0.18 m, 9.39˚ | 0.73 m, 6.37˚ | 0.09 m, 8.61˚ |
apt2_living | 42 m3 | 0.23 m, 5.24˚ | 0.17 m, 8.18˚ | 0.40 m, 5.71˚ | 0.13 m, 5.73˚ |
apt2_luke | 53 m3 | 0.54 m, 6.26˚ | 0.23 m, 8.03˚ | 0.33 m, 4.85˚ | 0.17 m, 7.83˚ |
office1_gates362 | 29 m3 | 0.27 m, 5.27˚ | 0.16 m, 5.47˚ | 0.52 m, 5.22˚ | 0.14 m, 4.73˚ |
office1_gates381 | 44 m3 | 0.44 m, 7.27˚ | 0.28 m, 12.00˚ | 0.42 m, 6.23˚ | 0.24 m, 7.93˚ |
office1_lounge | 38 m3 | 0.53 m, 5.72˚ | 0.31 m, 7.01˚ | 0.39 m, 4.50˚ | 0.26 m, 6.26˚ |
office1_manolis | 50 m3 | 0.27 m, 5.66˚ | 0.19 m, 6.81˚ | 0.30 m, 4.67˚ | 0.15 m, 6.82˚ |
office2_5a | 38 m3 | 0.29 m, 5.50˚ | 0.20 m, 5.09˚ | 0.31 m, 4.32˚ | 0.11 m, 5.03˚ |
office2_5b | 79 m3 | 0.29 m, 5.07˚ | 0.21 m, 5.78˚ | 0.23 m, 4.14˚ | 0.15 m, 5.74˚ |
Average | 39 m3 | 0.35 m, 8.28˚ | 0.21 m, 8.04˚ | 0.38 m, 5.04˚ | 0.15 m, 6.37˚ |