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˚