3D Semantic Segmentation on ScanNet v1 (test)
97.8mAccPointNet++
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointNet++Class=Floor2018.08 | 97.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Floor2018.08 | 96.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Floor2018.08 | 90.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Floor2018.08 | 90.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Wall2018.08 | 89.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Wall2018.08 | 88.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Wall2018.08 | 87.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Toilet2018.08 | 86.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Bathtub2018.08 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Chair2018.08 | 86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Shower Curtain2018.08 | 85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Toilet2018.08 | 84.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Bookshelf2018.08 | 84.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Chair2018.08 | 81.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Bookshelf2018.08 | 81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Bed2018.08 | 80.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Bathtub2018.08 | 79.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Sofa2018.08 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Sofa2018.08 | 75.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Bathtub2018.08 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Sofa2018.08 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Wall2018.08 | 70.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Toilet2018.08 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Chair2018.08 | 69.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Table2018.08 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Sofa2018.08 | 68.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Table2018.08 | 67.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Desk2018.08 | 66.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Refrigerator2018.08 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Bed2018.08 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Bookshelf2018.08 | 64.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Sink2018.08 | 62.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Bed2018.08 | 62.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Chair2018.08 | 60.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++2018.08 | 60.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84.5 | — | |
| PointNet++Class=Table2018.08 | 59.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Desk2018.08 | 58.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Refrigerator2018.08 | 54.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPN2018.08 | 54.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 82.6 | — | |
| FCPNClass=Sink2018.08 | 53.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Bed2018.08 | 52.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Cabinet2018.08 | 52.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNet2018.08 | 50.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73 | — | |
| FCPNClass=Refrigerator2018.08 | 50.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Cabinet2018.08 | 49.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Door2018.08 | 48.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Curtain2018.08 | 48.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNetinput=xyz2018.02 | 48.37 | 39.35 | 79.23 | 94.1 | 64.99 | 51.04 | 34.53 | 55.95 | 53.02 | 55.41 | 34.84 | 49.38 | 54.16 | 6.78 | 22.72 | 3 | 8.75 | 29.92 | 37.9 | 0.95 | 31.29 | 18.98 | — | — | |
| FCPNClass=Shower Curtain2018.08 | 48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Shower Curtain2018.08 | 46.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++input=xyz, scale=single-scale2018.02 | 43.77 | 34.26 | 77.48 | 92.5 | 64.55 | 46.6 | 12.69 | 51.32 | 52.93 | 52.27 | 30.23 | 42.72 | 31.37 | 32.97 | 20.04 | 2.02 | 3.56 | 27.43 | 18.51 | 0 | 23.81 | 2.2 | — | — | |
| PointNet++Class=Cabinet2018.08 | 39.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Sink2018.08 | 39.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Counter2018.08 | 37.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Desk2018.08 | 36.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanCompleteClass=Window2018.08 | 36.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Counter2018.08 | 32.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Counter2018.08 | 31.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Other Furniture2018.08 | 30.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Other Furniture2018.08 | 30.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Door2018.08 | 27.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Window2018.08 | 23.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Window2018.08 | 20.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNetinput=xyz2018.02 | 19.9 | 14.69 | 69.44 | 88.59 | 35.93 | 32.78 | 2.63 | 17.96 | 3.18 | 32.79 | 0 | 0.17 | 0 | 0 | 5.09 | 0 | 0 | 0 | 0 | 0 | 4.99 | 0.13 | — | — | |
| ScanNetClass=Other Furniture2018.08 | 19.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Door2018.08 | 16.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Window2018.08 | 12.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Curtain2018.08 | 7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Curtain2018.08 | 6.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetClass=Picture2018.08 | 3.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCPNClass=Picture2018.08 | 1.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Class=Picture2018.08 | 0 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BA-GEMmodality=3D (point), considers boundaries=true2022.03 | — | 63.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvNetmodality=3D (point)2022.03 | — | 69.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConvNet + CBLmodality=3D (point)2022.03 | — | 70.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCM-Netmodality=3D + Mesh2022.03 | — | 65.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FusionNetmodality=3D (point)2022.03 | — | 68.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JSENetmodality=3D (point), considers boundaries=true2022.03 | — | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KP-Convmodality=3D (point)2022.03 | — | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNetmodality=3D (voxel)2022.03 | — | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Mix3Dmodality=3D (voxel)2022.03 | — | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| O-CNNmodality=3D (voxel)2022.03 | — | 76.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccuSegmodality=3D (voxel)2022.03 | — | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNLmodality=3D (point)2022.03 | — | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNInput Features=3D coordinates and color values2019.09 | — | 45.8 | 70.9 | 94.4 | 71.5 | 45.6 | 32.8 | 61.1 | 35.6 | 54.5 | 48.4 | 57.7 | 75.5 | 37.6 | 29.9 | 31.9 | 47.5 | — | 21.6 | 16.4 | 32.1 | 28.5 | — | 22.9 | |
| PointConvInput Features=3D coordinates and color values2019.09 | — | 55.6 | 76.2 | 94.4 | 73.9 | 50.5 | 41.8 | 64 | 57.4 | 63.9 | 54 | 63.6 | 82.7 | 43.3 | 43 | 44.5 | 51.5 | — | 46.4 | 18.5 | 47.2 | 37.2 | — | 57.5 | |
| PointConvmodality=3D (point)2022.03 | — | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Input Features=3D coordinates and color values2019.09 | — | 33.9 | 52.3 | 67.7 | 36 | 23.2 | 27.8 | 47.8 | 45.8 | 34.6 | 36.4 | 58.4 | 54.8 | 24.7 | 25 | 26.1 | 25.2 | — | 21.2 | 11.7 | 25.6 | 18.3 | — | 14.5 | |
| RFCRmodality=3D (point)2022.03 | — | 70.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ScanNetInput Features=3D coordinates and color values2019.09 | — | 30.6 | 43.7 | 78.6 | 52.4 | 30 | 34.2 | 36.6 | 50.1 | 34.8 | 31.8 | 20.3 | 46 | 0.2 | 21.1 | 18.9 | 18.2 | — | 24.5 | 10.2 | 31.1 | 14.5 | — | 15.2 | |
| SparseConvNetInput Features=3D coordinates and color values2019.09 | — | 72.5 | 86.5 | 95.5 | 86.9 | 62.8 | 60.3 | 82.1 | 84.6 | 82.3 | 72.4 | 64.7 | 93.4 | 75.4 | 53.3 | 61.4 | 68.3 | — | 71 | 32.5 | 72.1 | 57.2 | — | 87 | |
| SparseConvNetmodality=3D (voxel)2022.03 | — | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPH3D-GCNInput Features=3D coordinates and color values2019.09 | — | 61 | 77.3 | 93.5 | 79.2 | 54.9 | 57 | 77.2 | 48.9 | 70.5 | 60.2 | 85.8 | 85.9 | 64.3 | 40.4 | 50.7 | 53.4 | — | 51 | 4.6 | 53.2 | 41.4 | — | 70.2 | |
| SPLATNET3DInput Features=3D coordinates and color values2019.09 | — | 39.3 | 69.9 | 92.7 | 65.6 | 38.3 | 32.8 | 51.1 | 60.6 | 51 | 27.1 | 47.2 | 59.3 | 40.5 | 24.5 | 19.7 | 26.7 | — | 0.1 | 0 | 31.1 | 22.7 | — | 24.9 | |
| SSC-UNetInput Features=3D coordinates and color values2019.09 | — | 30.8 | 68.5 | 90.8 | 55.3 | 34.5 | 14.7 | 29 | 27.8 | 36.3 | 35.4 | 35.3 | 54.6 | 28.6 | 16.9 | 14.8 | 27.8 | — | 2.3 | 6.4 | 16.6 | 18.2 | — | 1.8 | |
| Tangent-ConvInput Features=3D coordinates and color values2019.09 | — | 43.8 | 63.3 | 91.8 | 64.5 | 42.7 | 28.2 | 64.6 | 47.4 | 56.2 | 48.7 | 43.7 | 61.9 | 25.8 | 35.3 | 27.9 | 35.2 | — | 28.3 | 14.7 | 36.9 | 29.8 | — | 29.4 | |
| VMNetmodality=3D + Mesh2022.03 | — | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |