Comment on VoxSeT statement about outdoor PCs?

[segments-tobias]

In their recent paper on a "Voxel Set Transformer", He et al. mention that 3DETR can only be applied to indoor datasets:

3DETR present a promising solution by computing self-attention on a reduced set of seed points, this solution is only applicable to indoor scenes, where the point clouds are relatively dense and concentrated.

I saw issues #2 #15 #20, where you seem to suggest 3DETR could work on outdoor data, so do you agree with the claim of the authors? Do you know of any successful applications of 3DETR outside of indoor datasets?