SupplementaryMaterials

These parameters are inherited from SA layers. During inference, the pointsofthe entire scene are takenasthe input. The result shows that the optimal choice ofG grows in linear relationship withC. Inthis experiment, we choose "C 3,G = 12asthe default setting. On the benchmark ofSUN-RGBD, we found that the performance ofFP2 layer isless satisfying thanFP1layer.