3D Scene Completion on SemanticKITTI (val)
0.403JSD (BEV)LiDPM
Evaluation Results
| Method | Links | |||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LiDPMOutput=Points, Refinement=true2025.04 | 0.403 | 0.542 | 36.6 | 25.8 | 14.9 | 0.377 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDiffOutput=Points, Refinement=true2025.04 | 0.416 | 0.573 | 32.4 | 23 | 13.4 | 0.376 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDiffrefined=true2024.03 | 0.416 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.375 | |
| LMSCNetOutput=Voxel2025.04 | 0.431 | — | 30.8 | 12.1 | 3.7 | 0.641 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNet2024.03 | 0.431 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.641 | |
| LiDPMOutput=Points, Refinement=false2025.04 | 0.44 | 0.532 | 34.1 | 19.5 | 6.3 | 0.446 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDiffOutput=Points, Refinement=false2025.04 | 0.444 | 0.564 | 31.5 | 16.8 | 4.7 | 0.434 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LiDiffrefined=false2024.03 | 0.444 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.434 | |
| LODEOutput=Surface2025.04 | 0.451 | — | 33.8 | 16.4 | 5 | 1.029 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LODE2024.03 | 0.451 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.029 | |
| MIDOutput=Surface2025.04 | 0.47 | — | 31.6 | 22.7 | 13.1 | 0.503 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MID2024.03 | 0.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.503 | |
| PVDOutput=Points2025.04 | 0.498 | — | 15.9 | 4 | 0.6 | 1.256 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVD2024.03 | 0.498 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.256 | |
| 3DSketchSSC Input=RGB & TSDF2023.09 | — | — | — | — | — | — | — | 33.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DSketch*SSC Input=rgb, TSDF2023.04 | — | — | — | — | — | — | 7.5 | — | 33.3 | 41.32 | 21.63 | 0 | 0 | 14.81 | 18.59 | 0 | 0 | 0 | 0 | 19.09 | 0 | 26.4 | 0 | 0 | 0 | 0.73 | 0 | 0 | — | |
| AICNetSSC Input=RGB & Depth2023.09 | — | — | — | — | — | — | — | 29.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AICNet*SSC Input=rgb, depth2023.04 | — | — | — | — | — | — | 8.31 | — | 29.59 | 43.55 | 20.55 | 11.97 | 0.07 | 12.94 | 14.71 | 4.53 | 0 | 0 | 0 | 15.37 | 2.9 | 28.71 | 0 | 0 | 0 | 2.52 | 0.06 | 0 | — | |
| JS3C-Net*SSC Input=pts2023.04 | — | — | — | — | — | — | 10.31 | — | 38.98 | 50.49 | 23.74 | 11.94 | 0.07 | 15.03 | 24.65 | 4.41 | 0 | 0 | 6.15 | 18.11 | 4.33 | 26.86 | 0.67 | 0.27 | 0 | 3.94 | 3.77 | 1.45 | — | |
| LMSCNetParams (M)=0.35, FLOPs (G)=72.6, FPS=21.282020.08 | — | — | — | — | — | — | 16.78 | 54.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNetSSC Input=Occ2023.09 | — | — | — | — | — | — | — | 28.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNet w/o ASPPablation=ablating ASPP blocks from decoder2020.08 | — | — | — | — | — | — | 16.21 | 53.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNet w/o Deconvablation=remove parameters-greedy deconv layers2020.08 | — | — | — | — | — | — | 15.64 | 52.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNet w/o Multiscale UNetablation=remove multiscale UNet structure2020.08 | — | — | — | — | — | — | 16.22 | 53.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMSCNet*SSC Input=X3D2023.04 | — | — | — | — | — | — | 6.7 | — | 28.61 | 40.68 | 18.22 | 4.38 | 0 | 10.31 | 18.33 | 0 | 0 | 0 | 0 | 13.66 | 0.02 | 20.54 | 0 | 0 | 0 | 1.21 | 0 | 0 | — | |
| MonoSceneSSC Input=RGB2023.09 | — | — | — | — | — | — | — | 37.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MonoScene†SSC Input=rgb2023.04 | — | — | — | — | — | — | 11.08 | — | 36.86 | 56.52 | 26.72 | 14.27 | 0.46 | 14.09 | 23.26 | 6.98 | 0.61 | 0.45 | 1.48 | 17.89 | 2.81 | 29.64 | 1.86 | 1.2 | 0 | 5.84 | 4.14 | 2.25 | — | |
| NDC-SceneSSC Input=RGB2023.09 | — | — | — | — | — | — | — | 37.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccFormerSSC Input=rgb2023.04 | — | — | — | — | — | — | 13.46 | — | 36.5 | 58.85 | 26.88 | 19.61 | 0.31 | 14.4 | 25.09 | 25.53 | 0.81 | 1.19 | 8.52 | 19.63 | 3.93 | 32.62 | 2.78 | 2.82 | 0 | 5.61 | 4.26 | 2.86 | — | |
| TPVFormerSSC Input=rgb2023.04 | — | — | — | — | — | — | 11.36 | — | 35.61 | 56.5 | 25.87 | 20.6 | 0.85 | 13.88 | 23.81 | 8.08 | 0.36 | 0.05 | 4.35 | 16.92 | 2.26 | 30.38 | 0.51 | 0.89 | 0 | 5.94 | 3.14 | 1.52 | — |