1 Introduction
The goal of 3D reconstruction is to recover geometry from partial measurements of a shape. In this work, we aim to map a sparse set of oriented points sampled from the surface of a shape to a 3D implicit surface for that shape. Surface reconstruction from point clouds is a well studied topic in computer vision and graphics, with applications in robotics, entertainment, and manufacturing. Techniques for surface reconstruction broadly fall into two types: implicit methods which aim to recover a volumetric function whose zero levelset encodes the surface, and explicit methods which directly recover a triangle mesh from the input points. While implicit approaches can adapt to arbitrary topologies, the requirement to store a dense volumetric field led many past works to favor explicit approaches
[44, 19]. More recently, implicit approaches have regained popularity due to a number of works demonstrating that neural networks are compact and effective at encoding signeddistance [45, 57] and occupancy fields [41, 48]. These works pair neural field^{1}^{1}1A neural field refers to the parameterization of a continuous function of spatial coordinates using a neural network. In this work we focus on scalar functions mapping coordinates to real numbers.^{*}Denotes equal contribution. representations with modern advances in point cloud processing architectures to produce powerful reconstruction techniques. Current stateoftheart shape reconstructions methods can be categorized along three axes (Fig. 2):
(1) Feedforward vs. testtime optimization: Feedforward methods leverage shape priors to directly predict a surface from input points. While these methods are fast, they are not strictly constrained by their input and thus may perform a task more akin to retrieval than reconstruction (see [59] and Fig. 1, top). This results in decreased generalization performance on outofdistribution shapes and input point densities. In contrast, testtime optimization via latent space traversal allows adaptation to the input, but is slow and can converge to poor local minima (See e.g. [16] and Fig. 1, bottom).
(2) Whether or not to leverage data priors: Datafree methods recover the surface by minimizing the residuals between the reconstructed surface and input points, leveraging a predetermined prior to control the behavior away from the input points (e.g. a smooth space of functions [35, 64] or, emergent regularization arising from neural architectures [63, 25]). Such fixed priors are, however, difficult to tailor to specific tasks, like completion of partial shapes (Fig. 1, middle). Datadriven approaches, on the other hand, can learn taskspecific priors to predict shapes that resemble a given dataset.
(3) Which scale to process and represent data. Localscale methods [33, 4] use the idea that complex structures can be reduced to a collection of simpler geometric primitives. These methods learn local models which are used to reconstruct a surface in patches. While this approach can generalize better, patchsize plays a critical role and must be carefully tuned per object (Fig. 1, bottom). Furthermore, without any notion of global context, these methods are unable to complete larger missing regions, leaving a fundamental gap in their generalization performance.
Based on these axes and the motivating examples in Fig. 1, we identify the need for a method that can learn good priors from a simple collection of shapes to drive 3D reconstruction of both indistribution and outof distribution shapes and scenes. In particular, the priors learned by this method should respect the input points, performing reconstruction rather than retrieval.
We thus propose a method using a novel representation of neural fields based on learned kernels, which we call Neural Kernel Fields (NKFs). In brief, NKFs work by learning a positive definite kernel conditioned on an input point cloud, and then using that kernel to predict an implicit shape by solving a simple linear system (Fig. 3). Our approach provides several key benefits: First, since predicted kernels are conditioned on the input and learned from data, they enjoy the versatility of learningbased methods. Second, since NKFs leverage a kernel for shape prediction, any reconstructed surfaces respect the input points by construction. Third, unlike gradient descentbased latent space optimization, at testtime NKF kernel weights are solved in closed form via a simple convex leastsquares problem, guaranteeing good minima. Finally, our kernel acts as a global aggregator of spatially local features, allowing our method to work at a wide variety of sampling densities without tuning any scale parameters. The result is a generalizable method that can be trained only on synthetic shapes to seamlessly reconstruct out of distribution shapes and large scale scenes, while being robust to changes in input point density. Compared with the baselines, our method achieves a marked improvement reconstruction detail on both in and outof distribution shapes. We summarize our contributions as follows:

We introduce Neural Kernel Fields, a novel representation of neural fields for 3D reconstruction, which outputs highly detailed surfaces that respect the input points.

Our NKF representation achieves state of the art performance on ShapeNet reconstruction (Section 4.1).
2 Related Work
Figure 2 visualizes existing implicit 3D shape reconstruction methods along the three axes defined in Section 1. Our Neural Kernel Field approach lies at the center of the diagram since it (1) uses a simple convex test time optimization, (2) leverages priors learned from data, and (3) learns local features on a spatial grid, but aggregates these globally during fitting.
We now highlight several works that are particularly relevant to our approach: Learned kernels were investigated in [66, 32, 46]
and used for tasks such as fewshot transfer learning and classification of images. Neural Splines
[64]used a kernel method derived from infinitely wide ReLU networks to reconstruct 3D surfaces from points. Convolutional Occupancy Networks
[48] proposes a convolutional architecture that maps 3D points to features. We use a similar feature network for our Neural Kernel Field architecture. LIG [21] addresses the need for reconstruction methods that can generalize. MetaSDF [54] metalearns a network which can be rapidly trained to predict SDFs. Neural Kernel Fields can also be viewed as a form of metalearning since they predict a kernel machine from data. Shape as Points [47] is a concurrent work relevant to our method. It solves a linear system to reconstruct a surface after a learned upsampling phase. Unlike our method, however, Shape as Points relies on the inductive bias of Poisson reconstruction to output a surface rather than learning an inductive bias from data.Beyond methods based on implicit surfaces, other shape reconstruction techniques exist which leverage different output representations. These representations include dense point clouds [51, 40, 73, 49, 50, 72, 56, 69, 70, 17, 36], polygonal meshes [30, 6, 19, 29, 24, 62, 12, 38, 27, 53], manifold atlases [63, 15, 26, 18, 3], and voxel grids [10, 60, 28, 67, 61, 23]. While our method focuses on shape reconstruction from points, past work has used neural fields to perform a variety of 3D tasks such as shape compression [57, 64], shape prediction from images [41, 37], voxel grid upsampling [48, 41], reconstruction from rotated inputs [14] and articulated poses [13, 71], and video to 3D [68, 39].
3 Method
Our approach predicts an implicit surface from an oriented point cloud using a learned kernel. Neural Splines [64] also solves a 3D reconstruction problem using a fixed kernel (not learned from data), and is thus related to our approach. To introduce the reader to kernel methods for 3D reconstruction, we begin by giving an overview of Neural Splines. We then show how these kernel methods can be extended into Neural Kernel Fields capable of leveraging priors from data.
3.1 Review of Neural Splines
Given a point set with corresponding normals , [64] seeks an implicit field which represents the underlying surface from which and were sampled. Namely, it should zero out on the set of input points and its gradient should equal the normal direction. More formally, the implicit field should minimize
(1) 
The gradient part of (1) can be approximated with a finite difference method, by augmenting the points with and (see inset figure) and minimizing the simpler loss:
(2) 
Let denote the union of the augmented points. To minimize (2), we represent as a weighted sum of kernel basis functions centered at the points :
(3) 
which is linear in the coefficients . These coefficients can thus be recovered by solving the linear system
(4) 
where is the augmented Gram matrix over the points (i.e. ), is an optional regularizer which can be used to filter noise, and
is a vector such that
(5) 
The kernel function is the closed form expression for an infinitely wide shallow ReLU network. It depends on the inner product between the inputs expressed in homogeneous coordinates. i.e. . See the appendix for the exact equation and more details.
3.2 Inductive Bias of Neural Splines
The kernel formulation in Neural Splines makes explicit the notion of inductive bias, i.e. the behavior of solutions away from the input points. To see this, we observe that solutions to the linear system (4) are solutions to the following constrained optimization problem:
(6)  
(7) 
Here the norm being minimized defines the inductive bias of the kernel method, i.e. it governs the behavior of the function away from the constraints. The constraints
guarantee that any solution to the above optimization problem interpolates the input data up to a bound defined by the regularizer
.For Neural Splines, the kernel norm favors smooth functions: It is proportional to curvature () for 1D curves [65] and to the Radon transform of the Laplacian () for 3D implicit surfaces [43, 64]. While an inductive bias favoring smoothness is good for reconstructing shapes with dense samples, it is too weak a prior in more challenging cases such as when the input points are very sparse or only cover part of a shape. For example, Fig. 1 (top) shows that Neural Splines is incapable of completing a partial point cloud of a truck. To this end, NKFs use a data dependent kernel, which learns an appropriate inductive bias conditioned on the input. By solving a linear system such as (4) using this kernel, we guarantee that output shapes respect their input points. We now describe NKFs in detail.
3.3 Neural Kernel Fields
Our model accepts the same inputs as Neural Splines described above in Section 3.1: i.e. We are given a set of points and normals sampled from the surface of an unknown shape, which we subsequently expand into an augmented point cloud with points and corresponding labels . We remark that our method only uses the inside and outside augmented points, i.e. . For brevity, we denote the inputs to our model as . We now describe our architecture in four steps: (1) how to define our data dependent kernel, (2) how to use that kernel to predict an implicit function, (3) how to train our model, and (4) how to add filtering for noisy inputs. Figure 3 shows our NKF architecture pictorially.
Data Dependent Kernel
To learn a kernel from data, we first augment input points with a feature where is a neural network with parameters conditioned on the inputs . Using these learned perpoint features, we the define datadependent kernel as:
(8) 
where is the concatenation of the vectors and , and is the Neural Spline kernel function. The architecture of the network follows an approach similar to Convolutional Occupancy Networks [48]: We discretize the volume around the input point cloud into a grid, and use a PointNet within each grid cell containing input points to extract a feature in that cell (empty cells have a zero feature). We then feed these features into a fully convolutional 3D UNet, which produces an grid of output features. To extract features per point, we trilinearly interpolate the output grid using the sampled points.
Predicting an Implicit Function
To predict an implicit function, we find coefficients for each input point by solving the positive definite linear system
(9) 
where is the gram matrix , and is a user supplied regularization parameter. To evaluate the predicted function at a new point , we compute the following equation using the coefficients :
(10) 
Training the Model
To supervise our model during training, we use a dataset of shapes. Each shape consists of the augmented input points and labels , a dense set of points and occupancy labels () in the volume surrounding the shape, and a dense set of points on the surface of the shape. We remark that the dense points on the surface and in the volume are only needed as supervision during training. The occupancy labels denote whether a volume point lies inside or outside a shape and are defined as:
(11) 
We then train the network used to define the kernel (8) by first predicting an implicit function using the inputs and then evaluating it at the dense volume and surface points to compute the loss:
(12) 
The first term in (12
) encourages the predicted function to have the correct occupancy, while the second term encourages the surface to agree with the ground truth shape. We backpropagate gradients through this loss to update the weights of the network
, and thus learn the data dependent kernel.Learning to Denoise
We can optionally predict perinput point weights to make our solutions more robust to noise. We predict these via a fully connected network mapping perpoint input features to weights. Instead of Eq. 9, we then solve the weighted ridge regression problem:
(13) 
where is a diagonal matrix of perinputpoint weights. Figure 4 shows the effect of weighted versus unweighted ridge regression in the presence of noise on a toy example.
4 Experiments
We first evaluate the effectiveness of Neural Kernel Fields on the tasks of single object reconstruction (Section 4.1) and partial object completion (Section 4.2) using the ShapeNet [5] dataset. Next, we highlight NKF’s ability to generalize by evaluating the tasks of outofcategory shape generlization (Section 4.3), generlization to full scenes (Section 4.4), and generlization to different sampling densities (Section 4.5). Finally, in Section 4.6, we ablate the design choices for our backbone architecture.
Noise free  Noise std. = 0.0025  Noise std. = 0.005  
IoU  Chamfer  Normal C.  IoU  Chamfer  Normal C.  IoU  Chamfer  Normal C.  
mean  std.  mean  std.  mean  std.  mean  std.  mean  std.  mean  std.  mean  std.  mean  std.  mean  std.  
SPSR [35]  0.772  0.162  0.122  0.069  0.847  0.061  0.759  0.163  0.125  0.066  0.847  0.060  0.735  0.169  0.133  0.067  0.843  0.060 
OccNet [41]  0.773  0.162  0.068  0.048  0.902  0.073  0.771  0.164  0.069  0.051  0.903  0.072  0.699  0.172  0.192  0.137  0.888  0.074 
COccNet [48]  0.810  0.116  0.051  0.018  0.922  0.052  0.820  0.112  0.049  0.019  0.924  0.051  0.866  0.089  0.080  0.040  0.937  0.044 
COccNet* [48]  0.823  0.105  0.048  0.016  0.928  0.048  0.847  0.094  0.043  0.015  0.932  0.046  0.863  0.088  0.078  0.031  0.937  0.045 
NS [64]  0.864  0.151  0.051  0.071  0.926  0.059  0.831  0.147  0.054  0.064  0.919  0.057  0.791  0.155  0.121  0.167  0.900  0.055 
Ours  0.949  0.053  0.024  0.010  0.954  0.042  0.914  0.061  0.028  0.010  0.947  0.043  0.883  0.074  0.066  0.018  0.939  0.041 
Baselines: For ShapeNet reconstruction, we compare our method to OccNet [41], ConvOccNet [48], SPSR [35], and Neural Splines [64]. On the task of completion, we compare against ConvOccNet [48]. For outofdistribution shape reconstruction, we compare with OccNet [41], ConvOccNet [48], LIG [33], and Neural Splines [64], while on the task of full scene reconstruction we use ConvOccNet [48], SPSR [35], and NS [64] as baselines. Combined, these methods cover a broad spectrum of 3D shape reconstruction approaches and represent SoTA in their respective categories depicted in Fig. 2.
Metrics: We use 3 metrics for quantitative evaluation: Intersection over Union (IoU) is computed by sampling a set of 100k points in the volume around a watertight shape and computing the IoU of the set of inside points for the predicted and ground truth shapes. IoU indicates how well the predicted shape agrees with the ground truth both near and away from the surface. L2 Chamfer Distance is evaluated by sampling 100k points on the predicted and ground truth surfaces (extracted as meshes using marching cubes), then computing the average shortest distance between all pairs of points. Chamfer distance measures how accurately each method reconstructs the surface of the input shape. Normal Correlation is computed as the average dot product between the normals at pairs of nearest points on the ground truth and predicted shapes and evaluates how well each method does at preserving the surface direction. We use the same 100k samples as for Chamfer distance to compute this metric.
4.1 Single Object Reconstruction on ShapeNet
We evaluate NKF’s performance against strong baselines in reconstructing objects from 13 categories of the ShapeNet dataset. As input to all methods we use 1000 randomly sampled surface points to which we add Gaussian noise of different magnitudes. For learning based methods (ConvOccnet, OccNet, Ours), we train a single model across all 13 categories per noise level. Since both NKF and Neural Splines utilize pairs of points spread along the normals, we train a version of ConvOccNet with (COccNet*) and without (COccNet) these points. Table 1 shows that NKF achieves large improvements across all metrics, reaching near 95% IoU on noisefree reconstruction. Figure 5, which shows reconstructions at the middle noise level, clearly demonstrates how NKF recovers fine details like the cars’ sideview mirror, the cord on the lamp, and the bulges on the chair legs. In the supplemental, we provide percategory results, additional figures, and ablations on different numbers of input points.
4.2 Shape Completion on ShapeNet
Albeit using input points as anchors, thanks to the global support of the kernel, NKF can learn to recover an entire shape from partial input. To demonstrate that, we sample a point cloud from up to 50 % of a shape surface along one of the principal axes, and supervise NKF to predict the full shape. We train a separate model per shape category for each of 13 ShapeNet categories. Table 2 presents quantitative results across all categories for this task. NKF achieves onpar Chamfer and Normal correlation as COccNet with substantially better IoU. The top row of Fig. 1 shows an example of completing a truck shape from very partial input. Note how NKF learned to leverage shape symmetry to faithfully recover unobserved regions like the wheels. The appendix shows percategory quantitative and qualitative results.
IoU  Chamfer  Normal C.  

mean  std.  mean  std.  mean  std.  
COccNet [48]  0.770  0.152  0.075  0.068  0.909  0.059 
Ours  0.819  0.171  0.077  0.091  0.907  0.067 
4.3 Out of Category Generalization
Generalization to categories beyond the train set is key to making learnable methods useful in the wild. To evaluate NKF on this task we train all methods on 6 of the ShapeNet categories (airplane, lamp, display, rifle, chair, cabinet) and evaluate on the other 7 (bench, car, loudspeaker, sofa, table, telephone, watercraft). Table 3
presents quantitative statistics for this task using the standard metrics. NKF greatly outperforms both learned and nonlearned baselines. Furthermore, we note in brackets the decrease in performance compared to the model trained on all categories. NKF, with a minimal
drop in IoU, aligns with datafree methods thanks to its testtime adaptation ability. We point out that LIG only provides models pretrained on all categories, which sets an upper bound on its generalization performance. The distinct differences between NKF and baselines are readily apparent in Figure 6.IoU  Chamfer  Normal C.  
OccNet [41]  0.603 (20.4%)  0.134 (0.070)  0.829 (8.3%) 
COccNet [48]  0.734 (9.5%)  0.074 (0.023)  0.895 (2.9%) 
COccNet* [48]  0.785 (4.9%)  0.064 (0.013)  0.911 (1.7%) 
LIG [33]  0.518 (N.A.)  0.112 (N.A.)  0.536 (N.A.) 
NS [64]  0.869 (0.0%)  0.049 (0.000)  0.924 (0.0%) 
Ours  0.938 (1.1%)  0.028 (0.003)  0.939 (1.0%) 
4.4 Scene Reconstruction on ScanNet
Next, we extend beyond single objects and evaluate NKFs on ScanNet scenes. For this experiment, we followed the setup in [48] and trained our model on synthetic scenes consisting of random ShapeNet object placements. We found the synthetic floors and walls, added by [48] to the training set, harmed performance and, hence, trained our method without them. We report COccNet’s results with and without walls for completeness. According to Table 4, for 10K input points, NKF achieves an average Chamfer distance of about half of the next best method. Figure 7 shows a comparison to baselines on 2 reconstructed rooms. Now how our method better captures small details such as the stepladder and shelf.
4.5 Point Density Generalization
In realworld applications, point density may differ between train and test times. A good datadriven prior should compensate for lack of data (i.e. sparse inputs) without hindering datarich settings (i.e. dense inputs). Therefore, we evaluate the response of NKF and various baseline methods to changes in input sampling density. We trained each method on 1000 input points and evaluated it on varying numbers of input samples (between 250 and 3000). To report the upperbound performance of each method, we train additional models on each density value. Figure 8 shows the mean IoU of each method versus the number of input points. Curves with labels ending in ”1k” were trained on 1000 points, and otherwise, were trained and tested on the same number of points. OccNet shows no response to increased sampling density (even at train time). Although COccNet marginally improves when trained on denser data, it does not improve when evaluated with more points than it was trained on. The performance of Neural Splines improves for denser inputs, but is poor on sparse inputs as expected from datafree methods. Finally, our method works well in sparse settings and improves with increasing density. Moreover, it does not degrade if trained and tested on different sampling densities (the gray and green curves are nearly identical).
4.6 Ablations
We conduct an ablation study of our design choices on the task of shape reconstruction on ShapeNet. We experiment with using different perpoint feature dimensions and whether to include the surface loss, . Table 5 summarizes the results.
feature dimension  

8  16  32  64  
without  0.939  0.941  0.942  0.942 
with  0.945  0.947  0.949  0.949 
5 Conclusion and Limitations
We presented a novel method for reconstructing and completing 3D shapes from sparse point clouds. Our method outperforms the stateoftheart on object reconstruction and completion as well as scene reconstruction, while demonstrating strong generalization capability (both with respect to shape categories and input sampling density). While our method pushes the boundary on many fronts, it still has several limitations which we plan to address in future work: First, our current kernel implementation requires a dense linear solve, which limits the number of evaluation points to around 12k on a V100 GPU. Stateoftheart Kernel solvers in the literature (e.g. [52]) have scaled up to millions of points by leveraging techniques such as Nyström sampling. We plan to investigate how to leverage these approaches to handle larger inputs. Furthermore, we would like to investigate kernels with spatial decay to sparsify our linear system and scale our method to very large inputs. A second limitation is the requirement of oriented points. While these are usually available from sensors, they can be noisy. Thus, in the future we would like to incorporate normal prediction into our method so it can operate on unoriented point clouds.
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Appendix A Neural Spline Kernel Equation
The Neural Spline [64] kernel is defined as the limiting kernel for an infinitely wide ReLU network with either Gaussian or Uniform initialization (using KaimingHe [31] initialization). In our implementation we use the Gaussian initialized version which has the following closed form solution:
(14) 
where are the vectors and expressed in homogeneous coordinates and is the angle between the input vectors in homogeneous coordinates. In practice we compute the angle using the formula from Kahan [34]:
(15) 
which is numerically stable, especially with small angles.
Appendix B The Effect of Noise Filtering in 3D
Figure 9 shows the effect of weighting (Section 3.3) to filter noise in the input points. The left column shows our reconstruction without these learned weights, the middle column shows the effect of adding weighting, while the right column shows the ground truth surface. Notice how the weighted model is smoother and does not interpolate the input noise.
Appendix C More Extreme Generalization
Table 6 and Figure 10 compare our reconstruction results using a model trained only on chairs to reconstruct the other 12 ShapeNet categories (airplane, bench, cabinet, car, display, lamp, loudspeaker, rifle, sofa, table, telephone, watercraft) against a model trained on all categories. The experimental setup is identical to Section 4.3 (1000 input points) except the model is trained only on chairs. Note how the performance of model trained only on chairs only drops slightly compared to the model trained on all categories.
Pretrain on Chairs  Pretrain on All  

IoU  Chamfer  Normal C.  IoU  Chamfer  Normal C.  
airplane  0.922  0.021  0.945  0.951  0.016  0.962 
bench  0.898  0.024  0.936  0.908  0.022  0.940 
cabinet  0.938  0.043  0.947  0.968  0.028  0.962 
car  0.913  0.037  0.882  0.937  0.030  0.913 
chair  0.946  0.026  0.962  0.943  0.027  0.960 
display  0.967  0.028  0.971  0.976  0.023  0.978 
lamp  0.895  0.040  0.928  0.920  0.024  0.940 
loudspeaker  0.931  0.059  0.935  0.965  0.033  0.952 
rifle  0.889  0.115  0.937  0.957  0.012  0.970 
sofa  0.971  0.025  0.967  0.974  0.024  0.969 
table  0.939  0.028  0.964  0.951  0.025  0.969 
telephone  0.985  0.018  0.986  0.988  0.017  0.988 
watercraft  0.936  0.039  0.934  0.955  0.019  0.950 
mean  0.929  0.036  0.939  0.949  0.024  0.954 
Appendix D Inference Timings
Our method uses a convex testtime optimization to perform inference of 3D shapes. We report the timing of each part of our method for the ShapeNet reconstruction (Section 4.1) and ScanNet reconstruction (Section 4.4) experiments in Table 7. With input points for ShapeNet, we evaluated on a grid of size (M points), and with input points for ScanNet, we evaluated on a grid of size (M points. We implemented the kernel evaluation as a single monolithic CUDA kernel and report the timings on a Quadro GV100 GPU.
ShapeNet  ScanNet  

Encoder  12.9ms  229.8ms 
Decoder  0.3ms  0.42ms 
Solve  30.3ms  3142ms 
Eval  193.5ms  13254ms 
Appendix E Additional ShapeNet Reconstruction Figures
Appendix F Additional ShapeNet Generalization Figures
Appendix G Additional Completion Figures
Appendix H PerCategory ShapeNet Results
Tables 8 and 9 report the percategory reconstruction and completion results respectively for the experiments described in Sections 4.1 and 4.2.
NoiseFree  

IoU  Chamfer  Normal C.  
OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  
airplane  0.752  0.811  0.775  0.951  0.054  0.036  0.103  0.016  0.900  0.927  0.898  0.962 
bench  0.713  0.723  0.768  0.908  0.052  0.045  0.065  0.022  0.889  0.900  0.901  0.940 
cabinet  0.869  0.898  0.921  0.968  0.060  0.049  0.041  0.028  0.931  0.950  0.939  0.962 
car  0.841  0.873  0.911  0.937  0.069  0.051  0.037  0.030  0.896  0.898  0.903  0.913 
chair  0.740  0.811  0.858  0.943  0.076  0.051  0.045  0.027  0.896  0.933  0.933  0.960 
display  0.825  0.854  0.938  0.976  0.062  0.048  0.030  0.023  0.932  0.960  0.964  0.978 
lamp  0.550  0.751  0.834  0.920  0.144  0.058  0.047  0.024  0.819  0.902  0.915  0.940 
loudspeaker  0.833  0.892  0.938  0.965  0.090  0.059  0.041  0.033  0.910  0.938  0.945  0.952 
rifle  0.678  0.757  0.936  0.957  0.057  0.038  0.021  0.012  0.860  0.915  0.960  0.970 
sofa  0.876  0.893  0.927  0.974  0.055  0.047  0.041  0.024  0.939  0.952  0.949  0.969 
table  0.768  0.785  0.801  0.951  0.059  0.048  0.065  0.025  0.923  0.948  0.926  0.969 
telephone  0.915  0.904  0.969  0.988  0.035  0.035  0.021  0.017  0.973  0.979  0.983  0.988 
watercraft  0.737  0.825  0.894  0.955  0.083  0.046  0.044  0.019  0.870  0.909  0.930  0.950 
mean  0.773  0.823  0.864  0.949  0.068  0.048  0.051  0.024  0.902  0.928  0.926  0.954 
0.0025 Noise  
IoU  Chamfer  Normal C.  
OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  
airplane  0.739  0.825  0.729  0.905  0.057  0.034  0.103  0.020  0.904  0.928  0.888  0.953 
bench  0.713  0.758  0.723  0.867  0.053  0.040  0.068  0.025  0.889  0.906  0.892  0.935 
cabinet  0.871  0.916  0.905  0.952  0.061  0.044  0.045  0.031  0.933  0.953  0.934  0.959 
car  0.839  0.877  0.892  0.921  0.068  0.052  0.041  0.033  0.895  0.902  0.896  0.911 
chair  0.740  0.837  0.825  0.912  0.077  0.045  0.050  0.030  0.896  0.937  0.926  0.956 
display  0.818  0.890  0.902  0.953  0.063  0.039  0.036  0.026  0.932  0.963  0.958  0.975 
lamp  0.547  0.774  0.784  0.880  0.153  0.050  0.053  0.026  0.824  0.907  0.906  0.936 
loudspeaker  0.829  0.910  0.922  0.952  0.091  0.052  0.046  0.035  0.912  0.943  0.940  0.952 
rifle  0.678  0.783  0.860  0.904  0.058  0.033  0.023  0.016  0.865  0.919  0.947  0.960 
sofa  0.879  0.913  0.905  0.956  0.055  0.041  0.047  0.028  0.937  0.956  0.942  0.966 
table  0.768  0.832  0.772  0.917  0.059  0.040  0.065  0.028  0.924  0.953  0.922  0.966 
telephone  0.909  0.931  0.932  0.969  0.036  0.029  0.027  0.020  0.973  0.980  0.975  0.986 
watercraft  0.732  0.843  0.857  0.926  0.086  0.041  0.050  0.022  0.874  0.913  0.918  0.945 
mean  0.771  0.847  0.831  0.919  0.069  0.043  0.054  0.027  0.903  0.932  0.919  0.945 
0.005 Noise  
IoU  Chamfer  Normal C.  
OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  OccNet  COccNet*  NS  Ours  
airplane  0.675  0.839  0.758  0.852  0.155  0.062  0.098  0.053  0.890  0.933  0.886  0.937 
bench  0.589  0.779  0.673  0.813  0.160  0.073  0.161  0.062  0.860  0.911  0.876  0.922 
cabinet  0.802  0.928  0.881  0.936  0.181  0.078  0.105  0.070  0.914  0.958  0.920  0.952 
car  0.804  0.888  0.869  0.899  0.182  0.095  0.095  0.077  0.891  0.905  0.879  0.902 
chair  0.652  0.859  0.779  0.876  0.217  0.081  0.119  0.071  0.884  0.944  0.910  0.946 
display  0.742  0.914  0.858  0.924  0.170  0.067  0.091  0.061  0.922  0.968  0.940  0.967 
lamp  0.478  0.796  0.701  0.827  0.421  0.099  0.171  0.065  0.802  0.914  0.868  0.921 
loudspeaker  0.785  0.924  0.900  0.937  0.236  0.091  0.108  0.080  0.899  0.947  0.925  0.946 
rifle  0.600  0.807  0.774  0.850  0.151  0.060  0.068  0.045  0.832  0.925  0.906  0.943 
sofa  0.818  0.929  0.889  0.936  0.159  0.072  0.095  0.065  0.925  0.961  0.931  0.957 
table  0.663  0.859  0.704  0.873  0.168  0.072  0.167  0.066  0.906  0.957  0.898  0.956 
telephone  0.847  0.944  0.892  0.945  0.107  0.050  0.072  0.049  0.966  0.982  0.958  0.980 
watercraft  0.695  0.863  0.808  0.890  0.216  0.074  0.147  0.056  0.861  0.921  0.890  0.931 
mean  0.699  0.863  0.791  0.883  0.192  0.078  0.121  0.066  0.888  0.937  0.900  0.939 
IoU  Chamfer  Normal C.  FScore  

COccNet*  Ours  COccNet*  Ours  COccNet  Ours  COccNet*  Ours  
airplane  0.800  0.844  0.048  0.054  0.926  0.919  0.921  0.916 
bench  0.615  0.705  0.082  0.086  0.868  0.872  0.808  0.853 
cabinet  0.834  0.881  0.079  0.067  0.924  0.918  0.784  0.872 
car  0.862  0.891  0.059  0.047  0.899  0.899  0.859  0.912 
chair  0.731  0.790  0.092  0.091  0.906  0.910  0.805  0.854 
display  0.768  0.850  0.088  0.079  0.921  0.925  0.774  0.876 
lamp  0.620  0.685  0.138  0.159  0.864  0.866  0.751  0.797 
loudspeaker  0.808  0.851  0.101  0.105  0.904  0.902  0.701  0.814 
rifle  0.746  0.809  0.045  0.051  0.899  0.904  0.915  0.907 
sofa  0.837  0.864  0.073  0.075  0.923  0.916  0.823  0.866 
table  0.730  0.777  0.075  0.089  0.925  0.911  0.851  0.863 
telephone  0.886  0.906  0.046  0.048  0.964  0.958  0.920  0.922 
watercraft  0.761  0.830  0.067  0.061  0.887  0.912  0.829  0.884 
mean  0.770  0.819  0.075  0.077  0.909  0.907  0.837  0.875 