# 3D Semantic Segmentation on S3DIS Area 5 (test)

Source: [3D Semantic Segmentation on S3DIS Area 5 (test)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-27T06:49:38.463Z

Evaluation of 3D Semantic Segmentation performance on the test split of Area 5 of the Stanford Indoor Dataset (S3DIS).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D semantic segmentation |
| Dataset (including any stated split) | S3DIS Area 5 (test) |
| Metric | mIoU (%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 32 of 32 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mIoU (%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=mIoU%20(%25)>): Higher is better; unit: PERCENT.

- [mAcc (%)](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=mAcc%20(%25)>): Higher is better; unit: PERCENT.

- [Ceiling Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Ceiling%20Accuracy>): Higher is better; unit: PERCENT.

- [Floor Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Floor%20Accuracy>): Higher is better; unit: PERCENT.

- [Wall Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Wall%20Accuracy>): Higher is better; unit: PERCENT.

- [Column Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Column%20Accuracy>): Higher is better; unit: PERCENT.

- [Window Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Window%20Accuracy>): Higher is better; unit: PERCENT.

- [Door Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Door%20Accuracy>): Higher is better; unit: PERCENT.

- [Table Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Table%20Accuracy>): Higher is better; unit: PERCENT.

- [Chair Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Chair%20Accuracy>): Higher is better; unit: PERCENT.

- [Sofa Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Sofa%20Accuracy>): Higher is better; unit: PERCENT.

- [Book Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Book%20Accuracy>): Higher is better; unit: PERCENT.

- [Board Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Board%20Accuracy>): Higher is better; unit: PERCENT.

- [Clutter Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Clutter%20Accuracy>): Higher is better; unit: PERCENT.

- [Beam Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Beam%20Accuracy>): Higher is better; unit: PERCENT.

- [Bookcase Accuracy](<https://www.sota2.com/research/sota/3d-semantic-segmentation-on-s3dis-area-5-test.md?metric=Bookcase%20Accuracy>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU (%) | Result date | Report paper |
| --- | --- | --- | --- |
| Contrastive Scene Contexts | 72.2 | Not recorded | 68fa6a3b1e209131cea26d0b |
| StratifiedFormer | 72 | Not recorded | 68fa72ad1e209131cea57cf0 |
| PointMixer | 71.4 | Not recorded | 68fa6d181e209131cea37abf |
| PointNeXt | 70.5 | Not recorded | 68fa72ad1e209131cea57cf0 |
| PointTransformer | 70.4 | Not recorded | 68fa6c341e209131cea32c85 |
| PointTrans | 70.4 | Not recorded | 68fa6d181e209131cea37abf |
| PointTransformer | 70.4 | Not recorded | 68fa72ad1e209131cea57cf0 |
| FastPoint Trans | 70.3 | Not recorded | 68fa6d181e209131cea37abf |
| PointContrast | 70.3 | Not recorded | 68fa6a3b1e209131cea26d0b |
| FastPointTransformer | 70.1 | Not recorded | 68fa6c341e209131cea32c85 |
| GeoAuxNet | 69.5 | Not recorded | 68fa72ad1e209131cea57cf0 |
| FastPointTransformer | 68.5 | Not recorded | 68fa6c341e209131cea32c85 |
| MinkowskiNet42 | 68.4 | Not recorded | 68fa6c341e209131cea32c85 |
| Scratch | 68.2 | Not recorded | 68fa6a3b1e209131cea26d0b |
| PPT† | 67.9 | Not recorded | 68fa72ad1e209131cea57cf0 |
| KPConv deform | 67.1 | Not recorded | 68fa6c341e209131cea32c85 |
| MinkowskiNet42 | 67.1 | Not recorded | 68fa6c341e209131cea32c85 |
| KPConv deform | 67.1 | Not recorded | 68fa6d181e209131cea37abf |
| PAConv | 66.6 | Not recorded | 68fa6c341e209131cea32c85 |
| PAConv | 66.6 | Not recorded | 68fa6d181e209131cea37abf |
| MinkowskiNet32 | 65.4 | Not recorded | 68fa6c341e209131cea32c85 |
| MinkowskiNet | 65.4 | Not recorded | 68fa6d181e209131cea37abf |
| PointWeb | 60.3 | Not recorded | 68fa6c341e209131cea32c85 |
| SPVCNN | 58.6 | Not recorded | 68fa72ad1e209131cea57cf0 |
| SPGraph | 58 | Not recorded | 68fa6c341e209131cea32c85 |
| LocoTrans | 56 | Not recorded | 68fa72971e209131cea575ad |
| LocoTrans | 54.2 | Not recorded | 68fa72971e209131cea575ad |
| DGCNN | 42.8 | Not recorded | 68fa72971e209131cea575ad |
| PointNet | 41.1 | Not recorded | 68fa6c341e209131cea32c85 |
| PPT | 30.4 | Not recorded | 68fa72ad1e209131cea57cf0 |
| MinkowskiNet | 18.8 | Not recorded | 68fa72ad1e209131cea57cf0 |
| DGCNN | 3 | Not recorded | 68fa72971e209131cea575ad |

### Contrastive Scene Contexts

mIoU (%): 72.2. Result ID: 69a13e6635dfcabb00e5bb65.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a3b1e209131cea26d0b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a3b1e209131cea26d0b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### StratifiedFormer

mIoU (%): 72. Result ID: 69926a473a6c3148490eccbb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c1c1e209131cea3246b.md>)

[Implementation](<https://github.com/dvlab-research/Stratified-Transformer>)

Recorded evaluation configuration: {"Type":"p","Params.":"18.8M","Training strategy":"Expert"}. This record does not assert independent reproduction.

### PointMixer

mIoU (%): 71.4. Result ID: 698f8d573a6c314849fa0915.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Implementation](<https://github.com/LifeBeyondExpectations/ECCV22-PointMixer>)

Recorded evaluation configuration: {"Param.":"6.5M"}. This record does not assert independent reproduction.

### PointNeXt

mIoU (%): 70.5. Result ID: 69926a473a6c3148490eccbc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d9f1e209131cea3aee1.md>)

[Implementation](<https://github.com/guochengqian/pointnext>)

Recorded evaluation configuration: {"Type":"p","Params.":"41.6M","Training strategy":"Expert"}. This record does not assert independent reproduction.

### PointTransformer

mIoU (%): 70.4. Result ID: 698ef4b83a6c314849f3d9ce.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ade1e209131cea2aea1.md>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"O(1)","Neighbor Search Inference":"O(MN log K)","Large-scale Inference":"Multi-shot","Latency (Seconds)":"18.07","Latency (Normalized)":"129.07"}. This record does not assert independent reproduction.

### PointTrans

mIoU (%): 70.4. Result ID: 698f8d573a6c314849fa0913.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ade1e209131cea2aea1.md>)

Recorded evaluation configuration: {"Param.":"7.8M"}. This record does not assert independent reproduction.

### PointTransformer

mIoU (%): 70.4. Result ID: 69926a473a6c3148490eccba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ade1e209131cea2aea1.md>)

Recorded evaluation configuration: {"Type":"p","Params.":"11.4M","Training strategy":"Expert"}. This record does not assert independent reproduction.

### FastPoint Trans

mIoU (%): 70.3. Result ID: 698f8d573a6c314849fa0914.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Implementation](<http://cvlab.postech.ac.kr/research/FPT>)

Recorded evaluation configuration: {"Param.":"37.9M"}. This record does not assert independent reproduction.

### PointContrast

mIoU (%): 70.3. Result ID: 69a13e6635dfcabb00e5bb64.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a3b1e209131cea26d0b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68c11e209131cea1e126.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### FastPointTransformer

mIoU (%): 70.1. Result ID: 698ef4b83a6c314849f3d9d2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Implementation](<http://cvlab.postech.ac.kr/research/FPT>)

Recorded evaluation configuration: {"Voxel size":"4cm","Neighbor Search Preparation":"O(N)","Neighbor Search Inference":"O(M)","Large-scale Inference":"Multi-shot","Latency (Seconds)":"1.13","Latency (Normalized)":"8.07","Rotation average":true}. This record does not assert independent reproduction.

### GeoAuxNet

mIoU (%): 69.5. Result ID: 69926a473a6c3148490eccc1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Implementation](<https://github.com/zhangshengjun2019/GeoAuxNet>)

Recorded evaluation configuration: {"Type":"p-\>v","Params.":"64.7M","Training strategy":"Joint"}. This record does not assert independent reproduction.

### FastPointTransformer

mIoU (%): 68.5. Result ID: 698ef4b83a6c314849f3d9d1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Implementation](<http://cvlab.postech.ac.kr/research/FPT>)

Recorded evaluation configuration: {"Voxel size":"4cm","Neighbor Search Preparation":"O(N)","Neighbor Search Inference":"O(M)","Large-scale Inference":"Single-shot","Latency (Seconds)":"0.14","Latency (Normalized)":"1.00","Rotation average":false}. This record does not assert independent reproduction.

### MinkowskiNet42

mIoU (%): 68.4. Result ID: 698ef4b83a6c314849f3d9d0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Voxel size":"4cm","Neighbor Search Preparation":"O(N)","Neighbor Search Inference":"O(M)","Large-scale Inference":"Multi-shot","Latency (Seconds)":"0.66","Latency (Normalized)":"4.71","Rotation average":true}. This record does not assert independent reproduction.

### Scratch

mIoU (%): 68.2. Result ID: 69a13e6635dfcabb00e5bb63.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a3b1e209131cea26d0b.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PPT†

mIoU (%): 67.9. Result ID: 69926a473a6c3148490eccc0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

Recorded evaluation configuration: {"Type":"v","Params.":"63.0M","Training strategy":"Joint","Notes":"Decoupled projection heads"}. This record does not assert independent reproduction.

### KPConv deform

mIoU (%): 67.1. Result ID: 698ef4b83a6c314849f3d9cc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66341e209131cea0ebe7.md>)

[Implementation](<https://github.com/HuguesTHOMAS/KPConv>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"O(N log N)","Neighbor Search Inference":"O(KM log N)","Large-scale Inference":"Multi-shot","Latency (Seconds)":"105.15","Latency (Normalized)":"751.07"}. This record does not assert independent reproduction.

### MinkowskiNet42

mIoU (%): 67.1. Result ID: 698ef4b83a6c314849f3d9cf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Voxel size":"4cm","Neighbor Search Preparation":"O(N)","Neighbor Search Inference":"O(M)","Large-scale Inference":"Single-shot","Latency (Seconds)":"0.08","Latency (Normalized)":"0.57","Rotation average":false}. This record does not assert independent reproduction.

### KPConv deform

mIoU (%): 67.1. Result ID: 698f8d573a6c314849fa0911.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66341e209131cea0ebe7.md>)

[Implementation](<https://github.com/HuguesTHOMAS/KPConv>)

Recorded evaluation configuration: {"Param.":"-"}. This record does not assert independent reproduction.

### PAConv

mIoU (%): 66.6. Result ID: 698ef4b83a6c314849f3d9cd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69d41e209131cea24744.md>)

[Implementation](<https://github.com/CVMI-Lab/PAConv>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"O(1)","Neighbor Search Inference":"O(MN log K)","Large-scale Inference":"Crop-and-stitch","Latency (Seconds)":"28.13","Latency (Normalized)":"200.93"}. This record does not assert independent reproduction.

### PAConv

mIoU (%): 66.6. Result ID: 698f8d573a6c314849fa0910.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69d41e209131cea24744.md>)

[Implementation](<https://github.com/CVMI-Lab/PAConv>)

Recorded evaluation configuration: {"Param.":"-"}. This record does not assert independent reproduction.

### MinkowskiNet32

mIoU (%): 65.4. Result ID: 698ef4b83a6c314849f3d9cb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Voxel size":"5cm","Neighbor Search Preparation":"O(N)","Neighbor Search Inference":"O(M)","Large-scale Inference":"Single-shot","Latency (Seconds)":"0.08","Latency (Normalized)":"0.57"}. This record does not assert independent reproduction.

### MinkowskiNet

mIoU (%): 65.4. Result ID: 698f8d573a6c314849fa0912.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d181e209131cea37abf.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Param.":"37.9M"}. This record does not assert independent reproduction.

### PointWeb

mIoU (%): 60.3. Result ID: 698ef4b83a6c314849f3d9ca.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"O(1)","Neighbor Search Inference":"O(MNK)","Large-scale Inference":"Crop-and-stitch","Latency (Seconds)":"11.62","Latency (Normalized)":"83.00"}. This record does not assert independent reproduction.

### SPVCNN

mIoU (%): 58.6. Result ID: 69926a473a6c3148490eccbe.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a95e.md>)

Recorded evaluation configuration: {"Type":"p+v","Params.":"61.0M","Training strategy":"Joint"}. This record does not assert independent reproduction.

### SPGraph

mIoU (%): 58. Result ID: 698ef4b83a6c314849f3d9c9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa642f1e209131cea03453.md>)

[Implementation](<https://github.com/loicland/superpoint_graph>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"X","Neighbor Search Inference":"X","Large-scale Inference":"Crop-and-stitch","Latency (Seconds)":"18.28","Latency (Normalized)":"130.57"}. This record does not assert independent reproduction.

### LocoTrans

mIoU (%): 56. Result ID: 699244c23a6c3148490dc51b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Implementation](<https://github.com/wdttt/LocoTrans>)

Recorded evaluation configuration: {"Input":"pc","Rotation Protocol":"SO(3)/SO(3)"}. This record does not assert independent reproduction.

### LocoTrans

mIoU (%): 54.2. Result ID: 699244c23a6c3148490dc51a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Implementation](<https://github.com/wdttt/LocoTrans>)

Recorded evaluation configuration: {"Input":"pc","Rotation Protocol":"z/SO(3)"}. This record does not assert independent reproduction.

### DGCNN

mIoU (%): 42.8. Result ID: 699244c23a6c3148490dc519.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65e11e209131cea0d1ac.md>)

[Implementation](<https://github.com/WangYueFt/dgcnn>)

Recorded evaluation configuration: {"Input":"pc","Rotation Protocol":"SO(3)/SO(3)"}. This record does not assert independent reproduction.

### PointNet

mIoU (%): 41.1. Result ID: 698ef4b83a6c314849f3d9c8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6c341e209131cea32c85.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa634f1e209131ce9fe019.md>)

Recorded evaluation configuration: {"Neighbor Search Preparation":"X","Neighbor Search Inference":"X","Large-scale Inference":"Crop-and-stitch","Latency (Seconds)":"18.16","Latency (Normalized)":"129.71"}. This record does not assert independent reproduction.

### PPT

mIoU (%): 30.4. Result ID: 69926a473a6c3148490eccbf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

Recorded evaluation configuration: {"Type":"v","Params.":"63.0M","Training strategy":"Joint"}. This record does not assert independent reproduction.

### MinkowskiNet

mIoU (%): 18.8. Result ID: 69926a473a6c3148490eccbd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72ad1e209131cea57cf0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65dd1e209131cea0ceeb.md>)

[Implementation](<https://github.com/StanfordVL/MinkowskiEngine>)

Recorded evaluation configuration: {"Type":"v","Params.":"60.9M","Training strategy":"Joint"}. This record does not assert independent reproduction.

### DGCNN

mIoU (%): 3. Result ID: 699244c23a6c3148490dc518.

[Reporting paper](<https://www.sota2.com/research/paper/68fa72971e209131cea575ad.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65e11e209131cea0d1ac.md>)

[Implementation](<https://github.com/WangYueFt/dgcnn>)

Recorded evaluation configuration: {"Input":"pc","Rotation Protocol":"z/SO(3)"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.