3D LiDAR Segmentation on SemanticKITTI, nuScenes, and SemanticPOSS
56.86mIoU (SemanticKITTI)DuNe
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| DuNeNoise Ratio=10%, Training Dataset=SemanticKITTI2025.10 | 56.86 | 42.28 | 52.58 | 49.57 | 48.5 | |
| DuNeNoise Ratio=20%, Training Dataset=SemanticKITTI2025.10 | 53.2 | 39.69 | 48.05 | 46.44 | 45.46 | |
| DuNeNoise Ratio=50%, Training Dataset=SemanticKITTI2025.10 | 52.37 | 37.18 | 43.07 | 44.78 | 43.49 | |
| NPNNoise Ratio=10%, Training Dataset=SemanticKITTI2025.10 | 52.05 | 38 | 42.88 | 45.02 | 43.93 | |
| NPNNoise Ratio=20%, Training Dataset=SemanticKITTI2025.10 | 48.72 | 31.84 | 36.63 | 40.28 | 38.53 | |
| NPNNoise Ratio=50%, Training Dataset=SemanticKITTI2025.10 | 41.78 | 30.59 | 31.07 | 36.19 | 35.32 | |
| DISCNoise Ratio=10%, Training Dataset=SemanticKITTI2025.10 | 41.42 | 36.79 | 31.03 | 36.23 | 35.48 | |
| DISCNoise Ratio=20%, Training Dataset=SemanticKITTI2025.10 | 36.68 | 34.44 | 25.85 | 31.26 | 30.33 | |
| DISCNoise Ratio=50%, Training Dataset=SemanticKITTI2025.10 | 33.64 | 28.22 | 24.98 | 29.31 | 28.67 | |
| TCLNoise Ratio=10%, Training Dataset=SemanticKITTI2025.10 | 19.59 | 18.98 | 22.11 | 19.28 | 19.28 | |
| TCLNoise Ratio=20%, Training Dataset=SemanticKITTI2025.10 | 14.14 | 10.33 | 8.86 | 10.82 | 10.8 | |
| TCLNoise Ratio=50%, Training Dataset=SemanticKITTI2025.10 | 10.37 | 11.28 | 10.19 | 10.82 | 10.82 |