3D Semantic Segmentation on nuScenes (val)
81.5mIoUFlash3D
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Flash3DParams=129.4M, Memory=1.2G, Latency=24ms, Hardware=A100, Attention Scopes=40962024.12 | 81.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flash3DParams=46.2M, Memory=0.5G, Latency=20ms, Hardware=A100, Attention Scopes=40962024.12 | 81.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformer-V3Parameters=46.2 M, Attention=QUEST2026.03 | 80.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Params=46.2M, Memory=1.2G, Latency=45ms, Hardware=A100, Attention Scopes=40962024.12 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformer-V3Parameters=46.2 M, Attention=Standard2026.03 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformer-V3Parameters=46.2 M, Attention=QKNorm-DS2026.03 | 80.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PonderV2Backbone=Sparse CNN2023.10 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerBackbone=Transformer2023.10 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASSupervision=Supervised2025.06 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASAnnotation Requirement=annotation-required2026.05 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DMethod Type=Voxel-based2023.01 | 76.1 | 76.4 | 40.3 | 91.3 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | — | |
| Cylinder3DBackbone=Sparse CNN2023.10 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSupervision=Supervised2025.06 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DAnnotation Requirement=annotation-required2026.05 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViT-CSMethod Type=2D Projection-based, Pre-training=CS2023.01 | 75.2 | 75.5 | 40.7 | 88.3 | 90.1 | 49.3 | 79.3 | 77.2 | 66.3 | 65.2 | 80 | 96.4 | 71.4 | 73.8 | 73.8 | 89.9 | 87.2 | — | — | |
| RangeViT-IN21kMethod Type=2D Projection-based, Pre-training=IN21k2023.01 | 74.8 | 75.1 | 39 | 90.2 | 88.4 | 48 | 79.2 | 77.2 | 66.4 | 65.1 | 76.7 | 96.3 | 71.1 | 73.7 | 73.9 | 88.9 | 87.1 | — | — | |
| SparseUNetBackbone=Sparse CNN2023.10 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetSupervision=Supervised2025.06 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetAnnotation Requirement=annotation-required2026.05 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point-MoE-LParams=100M, Activated=59M, Joint indoor and outdoor training=true2025.05 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SalsaNextMethod Type=2D Projection-based2023.01 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | — | |
| CLIP2SceneFine-tuning Label Percentage=100%2023.01 | 71.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarNetMethod Type=2D Projection-based2023.01 | 71 | 74.7 | 28.2 | 85.3 | 90.9 | 35.1 | 77.5 | 71.3 | 58.8 | 57.4 | 76.1 | 96.5 | 71.1 | 74.7 | 74 | 87.3 | 85.7 | — | — | |
| PPT-L*Params=98M, Activated=98M, Joint indoor and outdoor training=true, use dataset labels during training=true2025.05 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRFine-tuning Label Percentage=100%2023.01 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTFine-tuning Label Percentage=100%2023.01 | 70.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3-LParams=97M, Activated=97M, Joint indoor and outdoor training=true2025.05 | 69.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastFine-tuning Label Percentage=100%2023.01 | 69.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomFine-tuning Label Percentage=100%2023.01 | 69.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeNet++Method Type=2D Projection-based2023.01 | 65.5 | 66 | 21.3 | 77.2 | 80.9 | 30.2 | 66.8 | 69.6 | 52.1 | 54.2 | 72.3 | 94.1 | 66.6 | 63.5 | 70.1 | 83.1 | 79.8 | — | — | |
| CLIP2SceneFine-tuning Label Percentage=1%2023.01 | 56.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLidRFine-tuning Label Percentage=1%2023.01 | 48.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPKTFine-tuning Label Percentage=1%2023.01 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointContrastFine-tuning Label Percentage=1%2023.01 | 47.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandomFine-tuning Label Percentage=1%2023.01 | 42.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-AVSUnknown Vocabulary=True, Label Set=I+L2024.06 | 36.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CNSUnknown Vocabulary=False, Label Set=Official2024.06 | 33.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AdaCoUnknown Vocabulary=False, Label Set=Official2024.06 | 31.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenSceneUnknown Vocabulary=False, Label Set=Official2024.06 | 30.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HICLUnknown Vocabulary=False, Label Set=Official2024.06 | 26.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DDSAnnotation Requirement=annotation-free2026.05 | 21.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DDSSetting=Annotation-free2026.05 | 21.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 60.7 | 31.2 | |
| CLIP2SceneAnnotation-free=true2023.01 | 20.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CLIP2SceneUnknown Vocabulary=False, Label Set=Official2024.06 | 20.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LogoSPSupervision=Unsupervised2025.06 | 20.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.8 | 29.2 | |
| LogoSPSetting=Annotation-free2026.05 | 20.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.8 | 29.2 | |
| PointDC-DINOV2Supervision=Unsupervised2025.06 | 18.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.8 | 28.6 | |
| PointDC-DINOv2Setting=Annotation-free2026.05 | 18.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 51.8 | 28.6 | |
| PointDCSupervision=Unsupervised2025.06 | 17.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.8 | 29.4 | |
| PointDCSetting=Annotation-free2026.05 | 17.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 56.8 | 29.4 | |
| GrowSPSupervision=Unsupervised2025.06 | 10.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.2 | 17.5 | |
| GrowSPSetting=Annotation-free2026.05 | 10.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.2 | 17.5 | |
| PiCIESetting=Annotation-free2026.05 | 8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 32.8 | 21 | |
| IICSetting=Annotation-free2026.05 | 4.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 22.7 | 11.5 | |
| K-meansSetting=Annotation-free2026.05 | 3.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 10.9 | 13.3 |