\begin{tabular}{c | c | c | c}
{\bf Method} & {\bf Translation} & {\bf Rotation} & {\bf Runtime}\\ \hline
PointGroup \cite{JiangCVPR2020} & 34.76 \% & 53.61 \% & / \\
PointNet++ w. clustering \cite{Qi2017NeurIPS} & 23.37 \% & 38.53 \% & /
\end{tabular}