\begin{tabular}{c | c | c | c | c}
{\bf Method} & {\bf Setting} & {\bf AP} & {\bf AP 50} & {\bf Runtime}\\ \hline
PointGroup & & 34.76 \% & 53.61 \% & / \\
PointNet++ w. clustering & & 23.37 \% & 38.53 \% & /
\end{tabular}