3D Instance Segmentation on ScanNet v2 (test)
63.6mAPPointGroup
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointGroup2020.04 | 63.6 | 50.5 | 76.5 | 79.7 | 75.6 | 55.6 | 44.1 | 51.3 | 62.4 | 47.6 | 11.6 | 38.4 | 69.6 | 59.6 | 100 | 99.7 | 66.6 | 100 | 55.9 | — | — | |
| Spherical MaskArchitecture=Non-transformer-based2025.02 | 61.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.2 | — | |
| BFLArchitecture=Transformer-based2025.02 | 60.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 81 | — | |
| MAFTVenue=ICCV 232024.11 | 59.6 | 82.9 | 99 | 94.9 | 84.8 | 83.7 | 90.4 | 82.8 | 81 | 79.6 | 80.9 | 83.6 | 68.8 | 74.1 | 100 | 100 | 86.4 | 100 | 75.1 | 78.6 | 86 | |
| SGIFormerVenue=TCSVT 25, Method Category=Query-based2026.02 | 58.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| QueryFormerVenue=ICCV 232024.11 | 58.3 | 87.6 | 97.8 | 93.6 | 91.6 | 89.2 | 87.5 | 76.7 | 80.9 | 77.2 | 70.2 | 92 | 71.6 | 81.8 | 100 | 100 | 99.5 | 100 | 76.6 | 78.7 | 87.4 | |
| QueryFormerArchitecture=Transformer-based2025.02 | 58.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.7 | — | |
| LaSSMDecoder Type=Hybrid Model, Method Category=Query-based2026.02 | 57.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MaftArchitecture=Transformer-based2025.02 | 57.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.4 | — | |
| PBNetVenue=ICCV 232024.11 | 57.3 | 84.3 | 96.3 | 86.5 | 87 | 82 | 73.3 | 74.4 | 83.7 | 68.3 | 82.2 | 87.8 | 64.7 | 65 | 100 | 100 | 85.3 | 100 | 63.9 | 74.7 | 82.5 | |
| PBNetVenue=ICCV 23, Method Category=Cluster-based2026.02 | 57.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSTA3DVenue=-2024.11 | 56.9 | 80.7 | 99.4 | 93.9 | 90.4 | 83.6 | 86.2 | 82.4 | 92.1 | 76.8 | 77.1 | 92.3 | 88.7 | 75.6 | 100 | 99.9 | 91 | 100 | 72.2 | 79.5 | 87.9 | |
| Mask3DRuntime (in ms)=3392022.10 | 56.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78 | — | |
| Mask3DArchitecture=Transformer-based2025.02 | 56.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 78 | — | |
| Mask3DVenue=ICRA 23, Method Category=Query-based2026.02 | 56.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OneFormer3DVenue=CVPR 24, Method Category=Query-based, Top Instances during inference=2002026.02 | 56.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ISBNetVenue=CVPR 232024.11 | 55.9 | 81.9 | 95 | 91.8 | 81.4 | 83.6 | 83.1 | 76.5 | 73.1 | 74.2 | 79 | 85.1 | 74 | 65 | 100 | 100 | 93.7 | 100 | 66.1 | 75.7 | 83.5 | |
| ISBNetArchitecture=Non-transformer-based2025.02 | 55.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.7 | — | |
| ISBNetVenue=CVPR 23, Method Category=Cluster-based2026.02 | 55.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mask3DVenue=ICRA 232024.11 | 55.2 | 81.8 | 98.5 | 93.8 | 86.4 | 87.8 | 87.7 | 82.5 | 78.2 | 78.5 | 76 | 92.3 | 74.9 | 82 | 100 | 98.3 | 91.2 | 100 | 76 | 78 | 87 | |
| MTML2020.04 | 54.9 | 32.7 | 80.7 | 64.7 | 68.8 | 57.1 | 41.8 | 39.6 | 58.8 | 18.2 | 0.4 | 18 | 81.5 | 44.5 | 100 | 100 | 44.2 | 100 | 36.4 | — | — | |
| SPFormerVenue=AAAI 232024.11 | 54.9 | 77.4 | 99.4 | 94.2 | 86.8 | 87.3 | 88.9 | 79.6 | 80.6 | 73 | 63.7 | 85.9 | 84.9 | 66.5 | 100 | 100 | 91.1 | 100 | 72 | 77 | 85.1 | |
| SPFormerArchitecture=Transformer-based2025.02 | 54.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77 | — | |
| SPFormerVenue=AAAI 23, Method Category=Query-based2026.02 | 54.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DKNet2022.07 | 53.2 | 61.9 | 81.4 | 87.2 | 81.9 | 73.6 | 67.7 | 61.7 | 78.2 | 72.4 | — | 56.9 | 75.1 | 63.3 | — | — | — | — | 58.5 | 71.8 | — | |
| DKNetVenue=ECCV 222024.11 | 53.2 | 76.5 | 93 | 91.5 | 88.1 | 76.6 | 80.7 | 75.8 | 84.4 | 76.3 | 53.4 | 80.5 | 80.5 | 65 | 100 | 100 | 79.4 | 100 | 65.4 | 71.8 | 81.5 | |
| DKNetArchitecture=Non-transformer-based2025.02 | 53.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.8 | — | |
| SSTNet2022.07 | 50.6 | 55.6 | 69.7 | 80.3 | 72 | 69.2 | 55.6 | 50.9 | 88.8 | 70.2 | — | 41.7 | 62.6 | 60 | — | — | — | — | 58.5 | 69.8 | — | |
| SSTNetRuntime (in ms)=4282022.10 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.8 | — | |
| SSTNetVenue=ICCV 212024.11 | 50.6 | 71.7 | 84 | 83.5 | 82.2 | 75.7 | 72.4 | 69.1 | 88.8 | 72.7 | 71.7 | 62.7 | 68.4 | 60 | 100 | 100 | 91.2 | 100 | 65.2 | 78.9 | 69.8 | |
| SSTNetArchitecture=Non-transformer-based2025.02 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.8 | — | |
| SSTNetVenue=ICCV 21, Method Category=Cluster-based2026.02 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSTNet2021.08 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.8 | 78.9 | |
| SSTNet2021.08 | 50.6 | 31.6 | 54.9 | 69.3 | 63.7 | 45.7 | 33 | 29 | 49.7 | 57.6 | 17.8 | 19.8 | 37.7 | 51.5 | 85.7 | 94.3 | 49.4 | 73.8 | 46.3 | — | — | |
| SoftGroup2022.07 | 50.4 | 71.6 | 80.8 | 86.2 | 84.4 | 76.9 | 62 | 59.4 | 84.5 | 69.9 | — | 65.5 | 82.4 | 79.1 | — | — | — | — | 73.4 | 76.1 | — | |
| SoftGroupRuntime (in ms)=3452022.10 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.1 | — | |
| SoftGroupVenue=CVPR 222024.11 | 50.4 | 86 | 96.9 | 91.3 | 87.5 | 87.7 | 76 | 82 | 86 | 73.6 | 55.8 | 91.1 | 89.9 | 80.2 | 98.1 | 100 | 91.9 | 100 | 82.8 | 76.1 | 86.5 | |
| SoftGroupArchitecture=Non-transformer-based2025.02 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.1 | — | |
| SoftGroupVenue=CVPR 22, Method Category=Cluster-based2026.02 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TD3DVenue=WACV 242024.11 | 48.9 | 78.3 | 97.6 | 97 | 93.4 | 87.3 | 80.3 | 79.1 | 87.7 | 72 | 88.9 | 94.5 | 82.8 | 70.9 | 100 | 100 | 93.6 | 100 | 71.3 | 75.1 | 87.5 | |
| 3D-BoNet2020.04 | 48.8 | 30.1 | 67.2 | 48.4 | 49.9 | 51.3 | 34.1 | 43.9 | 59 | 12.5 | 9.8 | 30.6 | 62 | 43.4 | 79.6 | 90.9 | 40.2 | 100 | 25.9 | — | — | |
| OccuSeg2022.07 | 48.6 | 57.6 | 75.8 | 84.2 | 79.7 | 56.3 | 56.7 | 46.7 | 68.2 | 45.1 | — | 52.4 | 50.4 | 55.7 | — | — | — | — | 58.5 | 67.2 | — | |
| OccuSegRuntime (in ms)=19042022.10 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.2 | — | |
| OccuSegArchitecture=Non-transformer-based2025.02 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.2 | — | |
| OccuSeg2021.08 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.2 | 74.2 | |
| OccuSeg2021.08 | 48.6 | 36.9 | 53.6 | 70.2 | 60.1 | 39.4 | 37.9 | 27.3 | 42.8 | 32.7 | 20.5 | 30.1 | 33.1 | 43.7 | 86.2 | 84.6 | 48.5 | 80.2 | 47.4 | — | — | |
| PanopticFusion2020.04 | 47.8 | 25.9 | 71.2 | 55 | 59.1 | 26.7 | 25 | 35 | 59.5 | 43.7 | 0 | 17.5 | 61.3 | 41.1 | 85.7 | 94.4 | 48.5 | 66.7 | 43.4 | — | — | |
| TD3DVenue=WACV 24, Method Category=Proposal-based2026.02 | 47.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HAIS2022.07 | 45.7 | 67.5 | 84.9 | 80.8 | 76.7 | 67.6 | 51.7 | 56 | 82 | 55.9 | — | 46.5 | 75.7 | 60 | — | — | — | — | 59.6 | 69.9 | — | |
| HAISRuntime (in ms)=3392022.10 | 45.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.9 | — | |
| HAISVenue=ICCV 212024.11 | 45.7 | 75.9 | 99.4 | 85.5 | 79.7 | 76.7 | 61.5 | 72.6 | 82 | 63.8 | 55.4 | 82.7 | 88.2 | 64.6 | 100 | 99.4 | 91.2 | 100 | 67.6 | 69.9 | 80.3 | |
| HAISArchitecture=Non-transformer-based2025.02 | 45.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.9 | — | |
| HAISVenue=ICCV 21, Method Category=Cluster-based2026.02 | 45.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASC2020.04 | 44.7 | 38.2 | 55.5 | 63.3 | 63.9 | 38.6 | 36.1 | 27.6 | 38.1 | 32.7 | 0.2 | 26 | 50.9 | 45.1 | 57.1 | 98 | 36.7 | 52.8 | 43.2 | — | — | |
| OccuSeg2020.03 | 44.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.4 | 73.9 | |
| OccuSegPublication=CVPR'202022.03 | 44.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.4 | 73.9 | |
| DD-UNet+Group2021.07 | 43.6 | 31 | 50.8 | 62.4 | 57.4 | 40 | 25.6 | 29.1 | 48 | 19.4 | 6.5 | 17.4 | 63.8 | 42.8 | 75.9 | 84.9 | 28.9 | 63 | 38.4 | 63.5 | 76.4 | |
| MaskGroup2022.03 | 43.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.4 | 79.2 | |
| MaskGroup2022.10 | 43.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.4 | — | |
| MaskGroupArchitecture=Non-transformer-based2025.02 | 43.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.4 | — | |
| PointGroup2021.07 | 40.7 | 24.3 | 49.6 | 64.5 | 56.2 | 34.1 | 21.1 | 29.1 | 41.5 | 21.7 | 2.1 | 11.4 | 57 | 42.8 | 66 | 86 | 25.6 | 63.9 | 35.9 | 63.6 | 77.8 | |
| PointGroup2022.07 | 40.7 | 50.5 | 76.5 | 79.7 | 75.6 | 55.6 | 44.1 | 51.3 | 62.4 | 47.6 | — | 38.4 | 69.6 | 59.6 | — | — | — | — | 55.9 | 63.6 | — | |
| PointGroupPublication=CVPR'202022.03 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.6 | 77.8 | |
| PointGroupRuntime (in ms)=4522022.10 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.6 | — | |
| PointGroupArchitecture=Non-transformer-based2025.02 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.6 | — | |
| PointGroupVenue=CVPR 20, Method Category=Cluster-based2026.02 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointGroup2021.08 | 40.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.6 | 77.8 | |
| PointGroup2021.08 | 40.7 | 24.3 | 49.6 | 64.5 | 56.2 | 34.1 | 21.1 | 29.1 | 41.5 | 21.7 | 2.1 | 11.4 | 57 | 42.8 | 66 | 86 | 25.6 | 63.9 | 35.9 | — | — | |
| PE2021.07 | 39.6 | 24.3 | 46.7 | 62.4 | 54.1 | 35 | 21.9 | 27.3 | 44.6 | 23.9 | 2.2 | 10.6 | 57.7 | 48.7 | 47.5 | 81.8 | 22.5 | 66.7 | 34 | 64.5 | 77.6 | |
| PE2022.07 | 39.6 | 53.8 | 77.3 | 78.6 | 76.1 | 55.6 | 43.5 | 50.1 | 79.8 | 54.5 | — | 35 | 79.9 | 64.6 | — | — | — | — | 54.7 | 64.5 | — | |
| PEPublication=CVPR'212022.03 | 39.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.5 | 77.6 | |
| PE2021.08 | 39.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.5 | 77.6 | |
| PE2021.08 | 39.6 | 24.3 | 46.7 | 62.4 | 54.1 | 35 | 21.9 | 27.3 | 44.6 | 23.9 | 2.2 | 10.6 | 57.7 | 48.7 | 47.5 | 81.8 | 22.5 | 66.7 | 34 | — | — | |
| DyCo3D2021.07 | 39.5 | 25.9 | 51.8 | 66.6 | 58.7 | 43.8 | 23.1 | 31.7 | 44.7 | 23.2 | 5 | 16.6 | 25.1 | 33.1 | 53.5 | 85 | 22.9 | 64.2 | 36.2 | 64.1 | 76.1 | |
| DyCo3D2022.07 | 39.5 | 53.1 | 84.1 | 80.2 | 76.4 | 65.7 | 43.8 | 56.8 | 89.3 | 43 | — | 44.8 | 58.8 | 55 | — | — | — | — | 53.7 | 64.1 | — | |
| DyCo3DPublication=CVPR'212022.03 | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.1 | 76.1 | |
| DyCo3D2022.10 | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.1 | — | |
| DyCo3DVenue=CVPR 212024.11 | 39.5 | 75.2 | 93.5 | 86.3 | 85.3 | 76.2 | 64.1 | 69.9 | 89.3 | 54.6 | 60 | 74.2 | 58.8 | 55 | 85.7 | 98.7 | 78.9 | 100 | 63.3 | 64.1 | 76.1 | |
| DyCo3DArchitecture=Non-transformer-based2025.02 | 39.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.1 | — | |
| SSEN2021.07 | 38.4 | 22.6 | 49.4 | 64.8 | 58.6 | 44.4 | 27.7 | 18.4 | 19.2 | 23.1 | 2.2 | 29.9 | 39.8 | 19.4 | 51.4 | 84.3 | 19.6 | 85.2 | 31.7 | 57.5 | 72.4 | |
| SSEN2021.08 | 38.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.5 | 72.4 | |
| SSEN2021.08 | 38.4 | 22.6 | 49.4 | 64.8 | 58.6 | 44.4 | 27.7 | 18.4 | 19.2 | 23.1 | 2.2 | 23.9 | 39.8 | 19.4 | 51.4 | 84.3 | 19.6 | 85.2 | 31.7 | — | — | |
| 3D-SIS2020.04 | 38.2 | 19 | 43.2 | 57.7 | 69.9 | 27.1 | 32 | 23.5 | 24.5 | 7.5 | 1.3 | 3.3 | 26.3 | 42.2 | 85.7 | 88.3 | 11.7 | 100 | 24 | — | — | |
| DPC2020.04 | 35.5 | 22.8 | 51.7 | 42.2 | 43.9 | 45.7 | 20.5 | 23 | 46.7 | 7.5 | 13.3 | 11.1 | 40.5 | 23.3 | 30.6 | 97.4 | 44.5 | 50 | 24.1 | — | — | |
| 3D-MPA2021.07 | 35.5 | 59.1 | 29.9 | 4.7 | 35.2 | 35.2 | 27.8 | 21.3 | 27.7 | 41.3 | 33.2 | 21.7 | 21.2 | 41 | 19.5 | 84.9 | 57.4 | 48.4 | 19.3 | 67.2 | 74.2 | |
| 3D-MPA2022.07 | 35.5 | 52.6 | 83.3 | 75.6 | 76.5 | 55.7 | 43.8 | 43 | 76.5 | 35.8 | — | 47 | 58.8 | 65 | — | — | — | — | 43.2 | 61.1 | — | |
| 3D-MPAPublication=CVPR'202022.03 | 35.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.1 | 73.7 | |
| 3D-MPA2022.10 | 35.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.1 | — | |
| 3D-MPAArchitecture=Non-transformer-based2025.02 | 35.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.1 | — | |
| 3D-MPA2021.08 | 35.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.1 | 73.7 | |
| 3D-MPA2021.08 | 35.5 | 27.7 | 48.4 | 59.1 | 57.4 | 35.2 | 21.7 | 21.3 | 29.9 | 19.3 | 4.7 | 21.2 | 33.2 | 41.3 | 41 | 84.9 | 19.5 | 45.7 | 27.8 | — | — | |
| GICN2022.07 | 34.1 | 48 | 89.5 | 67.6 | 83.6 | 59.9 | 44.7 | 47.3 | 80 | 36.5 | — | 35.4 | 73.7 | 70 | — | — | — | — | 40 | 63.8 | — | |
| GICNPublication=arXiv'202022.03 | 34.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63.8 | 78.8 | |
| Occipital-SCS2020.03 | 32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.2 | 68.8 | |
| GSPNmodality=3D point cloud, proposal_type=generative2018.12 | 30.6 | 34.8 | 40.5 | 58.9 | 39.6 | 27.5 | 28.3 | 24.5 | 31.1 | 2.8 | 5.4 | 12.6 | 6.8 | 21.9 | 21.4 | 82.1 | 33.1 | 50 | 29 | — | — | |
| R-PointNet2020.04 | 30.6 | 34.8 | 40.5 | 58.9 | 39.6 | 27.5 | 28.3 | 24.5 | 31.1 | 2.8 | 5.4 | 12.6 | 6.8 | 21.9 | 21.4 | 82.1 | 33.1 | 50 | 29 | — | — | |
| MTML2020.03 | 28.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.9 | 73.1 | |
| MTML2021.07 | 28.2 | 10.7 | 38 | 43 | 49.1 | 31.3 | 17.9 | 16.2 | 18.2 | 7 | 0.1 | 5.7 | 42.2 | 22.9 | 51.1 | 65 | 16.1 | 57.7 | 16.2 | 54.9 | 73.1 | |
| MTML2022.07 | 28.2 | 32.7 | 80.7 | 64.7 | 68.8 | 57.1 | 41.8 | 39.6 | 58.8 | 18.2 | — | 18 | 81.5 | 44.5 | — | — | — | — | 36.4 | 54.9 | — | |
| MTML2022.10 | 28.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.9 | — |