3D Semantic Segmentation on ScanNet (test)
78.2mIoUMix3D
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Mix3D2023.05 | 78.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mix3DInput=3D2021.10 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OctFormervoting=true2023.05 | 76.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccuSegInput=3D2021.10 | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| O-NetInput=3D2021.10 | 76.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| O-CNN2023.05 | 76.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sonata (w/o dec.)Reference=CVPR 252026.04 | 75.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| + PointTPA (ours)Reference=–2026.04 | 75.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point Transformer V22023.05 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BPNetInput=3D + 2D2021.10 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VMNetInput=3D + Mesh2021.10 | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Virtual MVFusionInput=3D + 2D2021.10 | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| + DAPTReference=CVPR 242026.04 | 74.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LargeKernel2023.05 | 73.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stratified Transformer2023.05 | 73.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNetSupervision Level=Supervised, Axis Alignment=false2021.05 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNetInput=3D2021.10 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet2023.05 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet42voxel size=2cm2019.04 | 73.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MkNet-SV+OursType=Online, Feature=Memory-based Adapters2024.03 | 72.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84.1 | — | — | |
| SparseConvNetpost-CVPR submission=true2019.04 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SubSparseCNN2019.04 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNetInput=3D2021.10 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNet2023.05 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvSupervision=Supervised2026.05 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MkNetType=Offline2024.03 | 71.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.4 | — | — | |
| Closer Look3D + ERDAsettings=Fully2023.05 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RFCRInput=3D2021.10 | 70.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sonata (lin)Reference=CVPR 252026.04 | 70 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JSENetInput=3D2021.10 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JSENet2023.05 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FusionNetInput=3D2021.10 | 68.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FusionNet2023.05 | 68.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MkNet-SVType=Online2024.03 | 68.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 77.7 | — | — | |
| KPConv rigidkernel=rigid2019.04 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConv2023.05 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FG-Net2020.12 | 68.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.0495 | — | — | — | |
| KPConv deformkernel=deformable2019.04 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConv2021.03 | 68.4 | 93.5 | 81.9 | 81.4 | 78.5 | 61.4 | 59.4 | 64.7 | 75.8 | 60.5 | 88.2 | 69 | 63.2 | 18.1 | 78.4 | 77.2 | 80.5 | 47.3 | 58.7 | 84.7 | 45 | — | — | — | — | |
| KP-ConvInput=3D2021.10 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvsettings=Fully2023.05 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet42voxel size=5cm2019.04 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConvInput=3D2021.10 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNLInput=3D2021.10 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConv2023.05 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNL2023.05 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCM-Net2021.03 | 65.8 | 94.1 | 80.3 | 81.3 | 72.7 | 56.8 | 52.4 | 61.9 | 70.2 | 49.4 | 82.6 | 67.5 | 63.7 | 29.8 | 80.6 | 69.3 | 82.1 | 46.8 | 51 | 77.8 | 44.9 | — | — | — | — | |
| DCM-NetInput=3D + Mesh2021.10 | 65.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-Net2023.05 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-Netsettings=Fully2023.05 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fs-AType=Online2024.03 | 63.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.7 | — | — | |
| JointPoint2023.05 | 63.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-Net + ERDAsettings=1%2023.05 | 63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-Net + ERDAsettings=0.1%2023.05 | 62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPH3D-GCN2021.03 | 61 | 93.5 | 77.3 | 79.2 | 70.5 | 54.9 | 50.7 | 53.2 | 77.2 | 57 | 85.9 | 60.2 | 53.4 | 4.6 | 48.9 | 64.3 | 70.2 | 40.4 | 51 | 85.8 | 41.4 | — | — | — | — | |
| HybridCRsettings=Fully2023.05 | 59.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SegGCN2021.03 | 58.9 | 93.6 | 77.1 | 78.9 | 70 | 56.3 | 48.4 | 51.4 | 73.1 | 57.3 | 87.4 | 59.4 | 49.3 | 6.1 | 53.9 | 46.7 | 50.7 | 44.8 | 50.1 | 83.3 | 39.6 | — | — | — | — | |
| SegGCN2023.05 | 58.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CloserLook3D + ERDAsettings=20pts2023.05 | 57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SQNsettings=20pts2023.05 | 56.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HybridCRsettings=1%2023.05 | 56.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GNeSF with MeshSup.=2D, Geometry=true2023.10 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VoteNetSupervision Level=Supervised, Axis Alignment=false2021.05 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2023.05 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConv2021.03 | 55.6 | 94.4 | 76.2 | 73.9 | 63.9 | 50.5 | 44.5 | 47.2 | 64 | 41.8 | 82.7 | 54 | 51.5 | 18.5 | 57.4 | 43.3 | 57.5 | 43 | 46.4 | 63.6 | 37.2 | — | — | — | — | |
| PointConvSup.=3D, Geometry=true2023.10 | 55.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GNeSFSup.=2D, Geometry=false2023.10 | 55.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSDsettings=1%2023.05 | 54.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MIL-Transsettings=20pts2023.05 | 54.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PanopticFusion2023.05 | 52.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++SW2019.04 | 52.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Joint Recon-SegmentSup.=3D, Geometry=false2023.10 | 51.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| zhang et al.settings=1%2023.05 | 51.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMV-FTSDF+uses 2D images=true2019.04 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCNN2019.04 | 49.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMVuses 2D images=true2019.04 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMV2023.05 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2019.04 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2021.03 | 45.8 | 94.4 | 70.9 | 71.5 | 54.5 | 45.6 | 31.9 | 32.1 | 61.1 | 32.8 | 75.5 | 48.4 | 47.5 | 16.4 | 35.6 | 37.6 | 22.9 | 29.9 | 21.6 | 57.7 | 28.5 | — | — | — | — | |
| PointCNNsettings=Fully2023.05 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNSupervision=Supervised2026.05 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LangTailSupervision=Unsupervised, Label Matching=Hungarian matching2026.05 | 45.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPN2019.04 | 44.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNNSupervision=Supervised2026.05 | 44.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SurfaceConv2019.04 | 44.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TangetConv2019.04 | 43.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TangentConv2019.04 | 43.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Tangent-Conv2021.03 | 43.8 | 91.8 | 63.3 | 64.5 | 56.2 | 42.7 | 27.9 | 36.9 | 64.6 | 28.2 | 61.9 | 48.7 | 35.2 | 14.7 | 47.4 | 25.8 | 29.4 | 35.3 | 28.3 | 43.7 | 29.8 | — | — | — | — | |
| IRIS-mappingOnline=true, Pose/Depth=GT/GT2026.02 | 39.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 55.36 | 53.62 | 66.78 | |
| SPLATNet2019.04 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNet2019.04 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNET3D2021.03 | 39.3 | 92.7 | 69.9 | 65.6 | 51 | 38.3 | 19.7 | 31.1 | 51.1 | 32.8 | 59.3 | 27.1 | 26.7 | 0 | 60.6 | 40.5 | 24.9 | 24.5 | 0.1 | 47.2 | 22.7 | — | — | — | — | |
| ScanNet-FTSDF2019.04 | 38.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NeuralReconSup.=3D, Geometry=false2023.10 | 35.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AtlasSup.=3D, Geometry=false2023.10 | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2019.04 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Pointnet++2019.04 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2021.03 | 33.9 | 67.7 | 52.3 | 36 | 34.6 | 23.2 | 26.1 | 25.6 | 47.8 | 27.8 | 54.8 | 36.4 | 25.2 | 11.7 | 45.8 | 24.7 | 14.5 | 25 | 21.2 | 58.4 | 18.3 | — | — | — | — | |
| PointNet++Sup.=3D, Geometry=true2023.10 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Supervision=Supervised2026.05 | 33.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |