3D Semantic Segmentation on Matterport3D (test)
51.9mIoUGeoGuide(SAS*)
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GeoGuide(SAS*)2D feature extractor=SAS [42] features, setting=zero-shot2026.03 | 51.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.3 | — | — | — | — | — | |
| GeoGuide (SAS*)Training dataset=ScanNet v2, 2D features source=same as SAS [42]2026.03 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 65.1 | — | — | — | — | — | |
| Point-MoE-LTraining Setup=Indoor and Outdoor joint training, Evaluation Protocol=Zero-shot, Use of domain labels=false2025.05 | 49.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAS†reproduction=official weights, setting=zero-shot2026.03 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 59 | — | — | — | — | — | |
| GeoGuide(LS)2D feature extractor=LSeg, setting=zero-shot2026.03 | 47.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60.5 | — | — | — | — | — | |
| GeoGuide(OS)2D feature extractor=OpenSeg, setting=zero-shot2026.03 | 47.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.1 | — | — | — | — | — | |
| GeoGuide (LS)Training dataset=ScanNet v2, Variant=LS2026.03 | 47.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.6 | — | — | — | — | — | |
| Point-MoE-LTraining strategy=Indoor-only joint training, Evaluation setting=Zero-shot2025.05 | 46.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3-LTraining Setup=Indoor and Outdoor joint training, Evaluation Protocol=Zero-shot, Use of domain labels=false2025.05 | 45.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3-LTraining strategy=Indoor-only joint training, Evaluation setting=Zero-shot2025.05 | 45.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DMA(OS)2D feature extractor=OpenSeg, setting=zero-shot2026.03 | 45.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.6 | — | — | — | — | — | |
| GeoGuide (OS)Training dataset=ScanNet v2, Variant=OS2026.03 | 43.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.4 | — | — | — | — | — | |
| OpenScene(LS)‡†2D feature extractor=LSeg, 2D-3D ensemble strategy=true, reproduction=official weights, setting=zero-shot2026.03 | 43.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 53.5 | — | — | — | — | — | |
| SASTraining dataset=ScanNet v2, Model reproduction source=reproduced by us using officially provided weights2026.03 | 43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.5 | — | — | — | — | — | |
| OpenScene(OS)‡†2D feature extractor=OpenSeg, 2D-3D ensemble strategy=true, reproduction=official weights, setting=zero-shot2026.03 | 42.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 58.7 | — | — | — | — | — | |
| OpenScene(LS)†2D feature extractor=LSeg, reproduction=official weights, setting=zero-shot2026.03 | 41.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.1 | — | — | — | — | — | |
| OpenScene(OS)†2D feature extractor=OpenSeg, reproduction=official weights, setting=zero-shot2026.03 | 41.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 55.2 | — | — | — | — | — | |
| GGSDTraining dataset=ScanNet v22026.03 | 40.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.4 | — | — | — | — | — | |
| CUA-O3DTraining dataset=ScanNet v2, 2D-3D ensemble strategy=true2026.03 | 37.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 49.2 | — | — | — | — | — | |
| OpenScene(LS)Training dataset=ScanNet v2, Model reproduction source=reproduced by us using officially provided weights2026.03 | 36.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 48.1 | — | — | — | — | — | |
| OURSModal=RGB-D2023.08 | 35.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OURSModal=RGB-N2023.08 | 35.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OURSModal=RGB-D-N2023.08 | 35.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenScene(OS)Training dataset=ScanNet v2, Model reproduction source=reproduced by us using officially provided weights2026.03 | 34.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50.8 | — | — | — | — | — | |
| HoHoNetModal=RGB-D2023.08 | 32.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OURSModal=RGB2023.08 | 31.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PanoFormerModal=RGB-D2023.08 | 31.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HoHoNetModal=RGB2023.08 | 29.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trans4PASS+Modal=RGB2023.08 | 29.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PanoFormerModal=RGB2023.08 | 26.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPT-L*Training strategy=Indoor-only joint training, Evaluation setting=Zero-shot, Note=Uses dataset labels during training2025.05 | 26.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPT-L*Training Setup=Indoor and Outdoor joint training, Evaluation Protocol=Zero-shot, Use of domain labels=true2025.05 | 23.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMVnumber of views=5, training mode=end-to-end2018.03 | — | 79.6 | 95.5 | 59.7 | 82.3 | 70.5 | 73.3 | 48.5 | 64.3 | 55.7 | 8.3 | 55.4 | 34.8 | 2.4 | 80.1 | 94.8 | 4.7 | 54 | 71.1 | 47.5 | 76.7 | 19.9 | 56.1 | — | — | — | — | — | |
| 3DMV2023.01 | — | 79.6 | 95.5 | 59.7 | 82.3 | 70.5 | 73.3 | 48.5 | 64.3 | 55.7 | 8.3 | 55.4 | — | 2.4 | 80.1 | 94.8 | 4.7 | 54 | 71.1 | 47.5 | 76.7 | 19.9 | 56.1 | 34.8 | — | — | — | — | |
| DCM-Net2023.01 | — | 78.4 | 93.6 | 64.5 | 89.5 | 70 | 85.3 | 46.1 | 81.3 | 63.4 | 43.7 | 73.2 | — | 47.9 | 60.3 | 89.3 | 65.8 | 43.7 | 86 | 49.6 | 87.5 | 31.1 | 66.2 | 39.9 | — | — | — | — | |
| DCM-NetInput=Mesh Sampled Point Cloud2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.2 | — | — | — | |
| LRPNet2023.01 | — | 83.7 | 95 | 58 | 88.2 | 81.3 | 79 | 54.3 | 78.5 | 60 | 63.4 | 70.7 | — | 52 | 70 | 93.7 | 66.1 | 87.4 | 89 | 47.2 | 88.1 | 30.5 | 70.7 | 48.7 | — | — | — | — | |
| MinkowskiNetInput=Mesh Sampled Point Cloud2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.2 | 64.6 | — | 18.4 | |
| ODIN-ResNet50Input=Sensor RGBD Point Cloud2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.5 | 65.8 | 22.4 | 28.5 | |
| ODIN-Swin-BInput=Sensor RGBD Point Cloud2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 57.3 | 69.4 | 28.6 | 38.2 | |
| OpenSceneInput=Zero-Shot2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 42.6 | 59.2 | — | 23.1 | |
| PointNet++2023.01 | — | 80.1 | 81.3 | 34.1 | 71.8 | 59.7 | 63.5 | 58.1 | 49.6 | 28.7 | 1.1 | 34.3 | — | 0 | 68.8 | 79.3 | 0 | 29 | 70.4 | 29.4 | 62.1 | 8.5 | 43.8 | 10.1 | — | — | — | — | |
| ScanComplete2018.03 | — | 79 | 95.9 | 31.9 | 70.4 | 68.7 | 41.4 | 35.1 | 32 | 37.5 | 17.5 | 27 | 37.2 | 11.8 | 50.4 | 97.6 | 0.1 | 15.7 | 74.9 | 44.4 | 53.5 | 21.8 | 44.9 | — | — | — | — | — | |
| ScanComplete2023.01 | — | 79 | 95.9 | 31.9 | 70.4 | 68.7 | 41.4 | 35.1 | 32 | 37.5 | 17.5 | 27 | — | 11.8 | 50.4 | 97.6 | 0.1 | 15.7 | 74.9 | 44.4 | 53.5 | 21.8 | 44.9 | 37.2 | — | — | — | — | |
| ScanNet2018.03 | — | 80.1 | 97.3 | 46.5 | 75.6 | 67.7 | 34.2 | 35.7 | 45.6 | 15.6 | 4.6 | 4.2 | 36 | 9.2 | 3.3 | 96.5 | 0 | 0 | 53.4 | 24.5 | 40.4 | 8.5 | 37.1 | — | — | — | — | — | |
| SplatNet2023.01 | — | 90.8 | 95.7 | 30.3 | 19.9 | 77.6 | 36.9 | 19.8 | 33.6 | 15.8 | 15.7 | 0 | — | 0 | 12.3 | 75.7 | 0 | 0 | 10.6 | 4.1 | 20.3 | 1.7 | 26.7 | 0 | — | — | — | — | |
| TangentConv2023.01 | — | 56 | 87.7 | 41.5 | 73.6 | 60.7 | 69.3 | 38.1 | 55 | 30.7 | 33.9 | 50.6 | — | 19.7 | 48 | 45.1 | 22.6 | 35.9 | 50.7 | 49.3 | 56.4 | 16.6 | 46.8 | 38.5 | — | — | — | — | |
| TextureNet2023.01 | — | 63.6 | 91.3 | 47.6 | 82.4 | 66.5 | 64.5 | 45.5 | 69.4 | 60.9 | 30.5 | 77 | — | 44.3 | 75.2 | 92.3 | 49.1 | 66 | 80.1 | 60.6 | 86.4 | 27.5 | 63 | 42.3 | — | — | — | — | |
| TextureNetInput=Mesh Sampled Point Cloud2024.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 63 | — | — | — | |
| VMNet2023.01 | — | 85.9 | 94.4 | 56.2 | 89.5 | 83.7 | 70 | 54 | 76.7 | 63.2 | 44.6 | 72.1 | — | 38.4 | 79.7 | 94.5 | 47.6 | 80.1 | 85 | 49.2 | 88 | 29 | 67.2 | 29.1 | — | — | — | — |