Performance of Our Methods on Large-Scale Public Benchmarks:

Feature-Geometric-Net-FG-Net

FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Comparisons of Running Time of Our Method with SOTA methods RandLA and KPConv:
Comparisons on Sequence 12:

Comparisons on Sequence 13:

Comparisons on Sequence 14:

Comparisons on Sequence 15:

Comparisons on Sequence 16:

Semantic Semgmentation Results on Lille_1_1 of NPM3D Benchmark:

Semantic Semgmentation Results on Lille_1_2 of NPM3D Benchmark:

Semantic Semgmentation Results on Lille_2 of NPM3D Benchmark:

Semantic Semgmentation Results on Paris of NPM3D Benchmark:

Semantic Semgmentation Results on Area 1 of S3DIS Benchmark:

Semantic Semgmentation Results on Area 2 of S3DIS Benchmark:

Semantic Semgmentation Results on Area 3 of S3DIS Benchmark:

Semantic Semgmentation Results on Area 4 of S3DIS Benchmark:

Semantic Semgmentation Results on Area 5 of S3DIS Benchmark:

Semantic Semgmentation Results on Area 6 of S3DIS Benchmark:

Semantic Semgmentation Results on Semantic3D Benchmark:

Results on Birdfountain_station1_xyz_intensity_rgb

Results on Castleblatten_station_1_intensity_rgb

Results on Marketplacefeldkirch_station1_intensity_rgb

Results on Marketplacefeldkirch_station4_intensity_rgb

Results on Marketplacefeldkirch_station7_intensity_rgb

Results on Sg27_Station10_rgb_intensity

Results on Sg28_Station2_rgb_intensity

Results on StGallenCathedral_station1_rgb_intensity

Results on StGallenCathedral_station3_rgb_intensity

Results on StGallenCathedral_station6_rgb_intensity

Semantic Semgmentation Results on SemanticKITTI Benchmark:

Results on Sequence 11-14 of SemanticKITTI Benchmark

Results on Sequence 15-18 of SemanticKITTI Benchmark

Results on Sequence 08 (Validation Set) of SemanticKITTI Benchmark

Comparisons of Our Proposed FG-Net on S3DIS with Current SOTA Methods

Comparisons of Our Proposed FG-Net on SemanticKITTI with Current SOTA Methods

Comparisons of Our Proposed FG-Net on Semantic3D with Current SOTA Methods

Semantic Semgmentation Results on S3DIS Benchmark Whole Areas

Detailed Semantic Semgmentation Results on S3DIS Benchmark

Semantic Semgmentation Results on NPM3D Benchmark

Detailed Semantic Semgmentation Results on NPM3D Benchmark

Detailed Semantic Semgmentation Results on S3DIS Benchmark

Detailed Semantic Semgmentation Results on SemanticKITTI Benchmark

Detailed Semantic Semgmentation Results on Semantic3D Benchmark

Detailed Semantic Semgmentation Results on PartNet Benchmark

Detailed Semantic Semgmentation Results on SemanticKITTI Benchmark