Method

Model Input (size)

Model Size/MB

Average Classification Accuracy/%

Overall Classification Accuracy/%

VoxNet [14]

Voxels (12)

—

82.8

85.7

MVCNN [15]

Views (80)

—

89.1

—

ECC [25]

Points (1024)

—

83.2

87.4

PointNet [17]

Points (1024)

41.6

85.8

88.7

PointNet++ [20]

Points + normal (1024)

24.2

—

90.5

DGCNN [26]

Points (1024)

21.0

89.1

91.3

Ours

Points (1024)

44.7

90.2

92.5