\begin{tabular}{c | c | c | c}
{\bf Method} & {\bf mIoU Class} & {\bf mIoU Category} & {\bf Runtime}\\ \hline
DeepViewAggregation \cite{robert2022dva} & 58.25 \% & 73.66 \% & - / \\
MinkowskiNet \cite{choy20194d} & 53.92 \% & 74.08 \% & - / \\
PointNet++ \cite{Qi2017NeurIPS} & 35.66 \% & 58.28 \% & / \\
PointNet \cite{Qi2017CVPR} & 13.07 \% & 30.42 \% & /
\end{tabular}