| Category | PointNet | Ours | Category | PointNet | Ours |
| Airplane | 1.000 | 1.000 | Laptop | 1.000 | 1.000 |
| Bathtub | 0.870 | 0.920 | Mantel | 0.930 | 0.950 |
| Bed | 0.960 | 0.970 | Monitor | 0.950 | 0.980 |
| Bench | 0.700 | 0.750 | Night stand | 0.742 | 0.776 |
| Bookshelf | 0.910 | 0.930 | Person | 0.920 | 0.950 |
| Bottle | 0.940 | 0.960 | Piano | 0.900 | 0.930 |
| Bow | 0.900 | 0.940 | Range hood | 0.920 | 0.952 |
| Car | 0.960 | 0.980 | Sink | 0.780 | 0.850 |
| Chair | 0.970 | 0.980 | Sofa | 0.960 | 0.970 |
| Cone | 0.950 | 1.000 | Stairs | 0.800 | 0.900 |
| Cup | 0.780 | 0.800 | Stool | 0.850 | 0.800 |
| Curtain | 0.900 | 0.920 | Table | 0.800 | 0.870 |
| Desk | 0.800 | 0.900 | Tent | 0.950 | 0.953 |
| Door | 0.800 | 0.920 | Toilet | 0.980 | 0.970 |
| Dresser | 0.696 | 0.726 | Television stand | 0.800 | 0.860 |
| Flower pot | 0.220 | 0.250 | Vase | 0.820 | 0.830 |
| Glass box | 0.950 | 0.970 | Wardrobe | 0.750 | 0.790 |
| Guitar | 1.000 | 0.980 | Xbox | 0.650 | 0.750 |
| Keyboard | 1.000 | 1.000 | Plant | 0.760 | 0.780 |
| Lamp | 0.950 | 0.963 | Radio | 0.750 | 0.800 |