Table 7. Time required to down-sampling and training and validation for PointNet and PointNet++. Unit: minute

Content of analysis	Down-sampling by FPS				Training and validation
					PointNet				PointNet++
Down-sampling intensity	S1	S2	S3	S4	S1	S2	S3	S4	S1	S2	S3	S4
TLS	83	159	312	617	42	43	44	49	59	61	60	69
MLS	21	41	81	161	42	42	44	49	60	61	61	69