3D Semantic Segmentation on ScanNet v2 (test)
3,390mIoUPointNet++
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointNet++No. of class obtained=20, Supervision level=Supervised2022.10 | 3,390 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WyPRNo. of class obtained=20, Supervision level=Weakly-supervised2022.10 | 2,400 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SL3D_1600No. of class obtained=20, Supervision level=Unsupervised2022.10 | 1,050 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SL3D_400No. of class obtained=20, Supervision level=Unsupervised2022.10 | 920 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SL3D_200No. of class obtained=18, Supervision level=Unsupervised2022.10 | 850 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SL3D_100No. of class obtained=14, Supervision level=Unsupervised2022.10 | 840 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SL3DNo. of class obtained=9, Supervision level=Unsupervised2022.10 | 580 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccuSeg2020.07 | 76.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BPNetInput Stream=Joint 2D-3D2021.03 | 74.9 | 85.6 | 95.7 | 75.2 | 81.8 | 83.9 | 81.8 | 69.3 | 64.4 | 72.3 | 81.1 | 30.5 | 48.5 | 67.3 | 84.2 | 77.3 | 85.9 | 91.6 | 78.8 | 90.9 | 52.8 | — | — | — | |
| Virtual Multi-view Fusion2020.07 | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Virtual-MVFusionInput Modality=mesh, Type=multi-view2021.07 | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Virtual-MVFusionInput Modality=mesh, Type=multi-view2021.07 | 74.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sparse EQ-Net2022.03 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LRPNetInput=voxel2023.01 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LargeKernel3DInput=voxel2023.01 | 73.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Stratified TransformerInput=point2023.01 | 73.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet2020.07 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNetInput Stream=3D-only2021.03 | 73.6 | 85.2 | 95.1 | 70.9 | 81.8 | 84 | 77.2 | — | 64.3 | 72.7 | 83.2 | 28.6 | 52.1 | 66 | 85.3 | 73.1 | 89.3 | 87.4 | 67.5 | 85.9 | 54.4 | — | — | — | |
| MinkowskiNet2022.03 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNetInput=voxel2023.01 | 73.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet2020.03 | 73.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNet2019.03 | 72.5 | 86.5 | 95.5 | 72.1 | 82.1 | 86.9 | 82.3 | 62.8 | 61.4 | 68.3 | 84.6 | 32.5 | 53.3 | 60.3 | 75.4 | 71 | 87 | 93.4 | 72.4 | 64.7 | 57.2 | — | — | — | |
| SparseConvNet2020.07 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNet2020.03 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNet2022.03 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConvNetInput=voxel2023.01 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XXLParams. (M)=19.7, FLOPs (G)=11.0, Throughput (ins./sec.)=902022.11 | 71.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLParams. (M)=41.6, FLOPs (G)=84.8, Throughput (ins./sec.)=432022.11 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CBLParams. (M)=18.62022.11 | 70.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JSENet2020.07 | 69.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FusionNet2022.03 | 68.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConv2022.03 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvInput=point2023.01 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvParams. (M)=15.02022.11 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConv2020.07 | 68.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KP-FCNNInput Stream=3D-only2021.03 | 68.4 | 81.9 | 93.5 | 64.7 | 75.8 | 81.4 | 78.5 | 61.4 | 59.4 | 63.2 | 78.4 | 18.1 | 47.3 | 60.5 | 77.2 | 58.7 | 80.5 | 88.2 | 69 | 84.7 | 45 | — | — | — | |
| KPConv2021.03 | 68.4 | 81.9 | 93.5 | 64.7 | 75.8 | 81.4 | 78.5 | 61.4 | 59.4 | 63.2 | 78.4 | 18.1 | — | 60.5 | 7,720 | 58.7 | 80.5 | 88.2 | 69 | 84.7 | 45 | — | — | 47.3 | |
| PointConv2020.07 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNL2020.07 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConvInput Stream=3D-only2021.03 | 66.6 | 81.3 | 95.3 | 64.4 | 75.9 | 82.2 | 75.3 | 58.8 | 50.4 | 64.2 | 69.9 | 20.3 | 47.5 | 56.4 | 77.9 | 58.6 | 75.4 | 90.2 | 66.1 | 78.1 | 42.8 | — | — | — | |
| PointASNLInput Stream=3D-only2021.03 | 66.6 | 80.6 | 95.1 | 65.5 | 78.1 | 83 | 75.1 | 55.3 | 53.7 | 70.3 | 75.1 | 27.9 | 47.1 | 47.4 | 76.9 | 63.5 | 69.8 | 81.6 | 67.5 | 70.3 | 47.5 | — | — | — | |
| PointConv2022.03 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNL2022.03 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConvInput=point2023.01 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointASNLInput=point2023.01 | 66.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DCM-NetInput Stream=3D-only2021.03 | 65.8 | 80.3 | 94.1 | 61.9 | 70.2 | 81.3 | 72.7 | 56.8 | 52.4 | 63.7 | 80.6 | 29.8 | 46.8 | 49.4 | 69.3 | 51 | 82.1 | 82.6 | 67.5 | 77.8 | 44.9 | — | — | — | |
| DCM-Net2021.03 | 65.8 | 80.3 | 94.1 | 61.9 | 70.2 | 81.3 | 72.7 | 56.8 | 52.4 | 63.7 | 80.6 | 29.8 | — | 49.4 | 6,930 | 51 | 82.1 | 82.6 | 67.5 | 77.8 | 44.9 | — | — | 46.8 | |
| SAFNetInput Modality=image+point, Type=fusion, Backbone=ResNet-34 & PointNet++2021.07 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAFNetType=fusion-based, Number of Views=5, Backbone=ResNet-34 & PointNet++2021.07 | 65.4 | 79.3 | 94.2 | 58.3 | 73.4 | 81.5 | 70.8 | 63.5 | 53.5 | 64.2 | 66.4 | 30.9 | 39.9 | 63.9 | 75.4 | 66.5 | 53.9 | 85.7 | 65 | 75.2 | 47 | — | — | — | |
| RandLA-NetInput Modality=point, Type=point-based2021.07 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-NetInput Modality=point, Type=point-based2021.07 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-NetInput=point2023.01 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-NetParams. (M)=1.3, FLOPs (G)=5.82022.11 | 64.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVPNetInput Stream=Joint 2D-3D2021.03 | 64.1 | 79.2 | 93.7 | 59 | 71.5 | 78.1 | 69.1 | 66.6 | 55.3 | 60.8 | 67.1 | 25.6 | 39.4 | 64.2 | 67.9 | 64.9 | 40.6 | 87.7 | 62.6 | 83.1 | 46.2 | — | — | — | |
| MVPNetType=fusion-based2021.07 | 64.1 | 79.2 | 93.7 | 59 | 71.5 | 78.1 | 69.1 | 66.6 | 55.3 | 60.8 | 67.1 | 25.6 | 39.4 | 64.2 | 67.9 | 64.9 | 40.6 | 87.7 | 62.6 | 83.1 | 46.2 | — | — | — | |
| FPConvInput Stream=3D-only2021.03 | 63.9 | 79.9 | 94.8 | 60.3 | 76 | 79.8 | 69.6 | 61.4 | 52.4 | 56.7 | 71.3 | 25 | 39.2 | 60.3 | 53.4 | 53.8 | 72.3 | 87.2 | 59.8 | 78.5 | 45.7 | — | — | — | |
| JointPoint Based2020.07 | 63.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UPBType=fusion-based2021.07 | 63.4 | 81.4 | 95.1 | 63.3 | 77.8 | 82.5 | 76.4 | 55.9 | 56.1 | 59.8 | 66.7 | 29.1 | 42 | 46.7 | 80.4 | 56.6 | 45.8 | 83.8 | 57.9 | 61.4 | 49.4 | — | — | — | |
| JointPointBasedInput=point2023.01 | 63.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MCCNNInput Stream=3D-only2021.03 | 63.3 | 79.5 | 94.9 | 57.6 | 73.1 | 80.9 | 68 | 54.2 | 49.1 | 61.8 | 77.1 | 10.5 | 41 | 49.7 | 68.4 | 58.1 | 64.6 | 81.7 | 62 | 86.6 | 46.6 | — | — | — | |
| FAConvInput Stream=3D-only2021.03 | 63 | 79.5 | 91.9 | 59 | 74.1 | 74.7 | 68.8 | 54.4 | 52.7 | 62.7 | 76.6 | 32.3 | 50.1 | 50.3 | 73.4 | 55 | 42 | 89.6 | 67.8 | 60.4 | 45.4 | — | — | — | |
| FAConvType=fusion-based2021.07 | 63 | 79.5 | 91.9 | 59 | 74.1 | 74.7 | 68.8 | 54.4 | 52.7 | 62.7 | 76.6 | 32.3 | 50.1 | 50.3 | 73.4 | 55 | 42 | 89.6 | 67.8 | 60.4 | 45.4 | — | — | — | |
| PointEdge2022.03 | 61.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPH3D-GCN2021.03 | 61 | 77.3 | 93.5 | 53.2 | 77.2 | 79.2 | 70.5 | 54.9 | 50.7 | 53.4 | 48.9 | 4.6 | — | 57 | 6,430 | 51 | 70.2 | 85.9 | 60.2 | 85.8 | 41.4 | — | — | 40.4 | |
| DPCsplit=test2019.07 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPCInput Modality=point, Type=point-based2021.07 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPCInput Modality=point, Type=point-based2021.07 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SegGCN2021.03 | 58.9 | 77.1 | 93.6 | 51.4 | 73.1 | 78.9 | 70 | 56.3 | 48.4 | 49.3 | 53.9 | 6.1 | — | 57.3 | 4,670 | 50.1 | 50.7 | 87.4 | 59.4 | 83.3 | 39.6 | — | — | 44.8 | |
| TextureNet2019.03 | 56.6 | 68 | 93.5 | 49.4 | 66.4 | 71.9 | 63.6 | 46.4 | 39.6 | 56.8 | 67.1 | 22.5 | 44.5 | 41.1 | 67.8 | 41.2 | 53.5 | 79.4 | 56.5 | 67.2 | 35.6 | — | — | — | |
| PointNet2020.07 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Input=point2023.01 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Params. (M)=1.0, FLOPs (G)=7.2, Throughput (ins./sec.)=2372022.11 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointConv2021.03 | 55.6 | 76.2 | 94.4 | 47.2 | 64 | 73.9 | 63.9 | 50.5 | 44.5 | 51.5 | 57.4 | 18.5 | — | 41.8 | 4,330 | 46.4 | 57.5 | 82.7 | 54 | 63.6 | 37.2 | — | — | 43 | |
| PanopticFusion2019.03 | 52.9 | 60.2 | 81.5 | 38.6 | 68.8 | 63.2 | 64.9 | 44.2 | 29.3 | 56.1 | 60.4 | 24.1 | 22.5 | 43.4 | 70.5 | 49.9 | 66.9 | 79.6 | 50.7 | 49.1 | 34.8 | — | — | — | |
| Panoptic Fusion2020.07 | 52.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++SWmode=Sliding Window2020.03 | 52.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMV-FTSDFrepresentation=FTSDF2020.03 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMV2019.03 | 48.4 | 60.2 | 79.6 | 42.4 | 53.8 | 60.6 | 50.7 | 41.3 | 37.8 | 53.9 | 64.3 | 21.4 | 31 | 43.3 | 57.4 | 53.7 | 20.8 | 69.3 | 47.2 | 48.4 | 30.1 | — | — | — | |
| 3DMV2020.07 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMV2020.03 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3DMVInput Stream=Joint 2D-3D2021.03 | 48.4 | 60.2 | 79.6 | 42.4 | 53.8 | 60.6 | 50.7 | 41.3 | 37.8 | 53.9 | 64.3 | 21.4 | 31 | 43.3 | 57.4 | 53.7 | 20.8 | 69.3 | 47.2 | 48.4 | 30.1 | — | — | — | |
| 3DMVType=fusion-based2021.07 | 48.4 | 60.2 | 79.6 | 42.4 | 53.8 | 60.6 | 50.7 | 41.3 | 37.8 | 53.9 | 64.3 | 21.4 | 31 | 43.3 | 57.4 | 53.7 | 20.8 | 69.3 | 47.2 | 48.4 | 30.1 | — | — | — | |
| 3DMVInput=point2023.01 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2021.03 | 45.8 | 70.9 | 94.4 | 32.1 | 61.1 | 71.5 | 54.5 | 45.6 | 31.9 | 47.5 | 35.6 | 16.4 | — | 32.8 | 3,760 | 21.6 | 22.9 | 75.5 | 48.4 | 57.7 | 28.5 | — | — | 29.9 | |
| PointCNNInput Modality=point, Type=point-based2021.07 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNInput Modality=point, Type=point-based2021.07 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2022.03 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNInput=point2023.01 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNParams. (M)=0.62022.11 | 45.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Tangent Conv.2019.03 | 43.8 | 63.3 | 91.8 | 36.9 | 64.6 | 64.5 | 56.2 | 42.7 | 27.9 | 35.2 | 47.4 | 14.7 | 35.3 | 28.2 | 25.8 | 28.3 | 29.4 | 61.9 | 48.7 | 43.7 | 29.8 | — | — | — | |
| Tangent-Conv2021.03 | 43.8 | 63.3 | 91.8 | 36.9 | 64.6 | 64.5 | 56.2 | 42.7 | 27.9 | 35.2 | 47.4 | 14.7 | — | 28.2 | 2,580 | 28.3 | 29.4 | 61.9 | 48.7 | 43.7 | 29.8 | — | — | 35.3 | |
| PointSIFTInput Modality=point, Type=point-based2021.07 | 41.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointSIFTInput Modality=point, Type=point-based2021.07 | 41.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TangentConvInput Modality=point, Type=multi-view2021.07 | 40.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TangentConvInput Modality=point, Type=multi-view2021.07 | 40.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNet2019.03 | 39.3 | 69.9 | 92.7 | 31.1 | 51.1 | 65.6 | 51 | 38.3 | 19.7 | 26.7 | 60.6 | 0 | 24.5 | 32.8 | 40.5 | 0.1 | 24.9 | 59.3 | 27.1 | 47.2 | 22.7 | — | — | — | |
| SPLATNet2020.03 | 39.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPLATNetInput Stream=3D-only2021.03 | 39.3 | 69.9 | 92.7 | 31.1 | 51.1 | 65.6 | 51 | 38.3 | 19.7 | 26.7 | 60.6 | 0 | 24.5 | 32.8 | 40.5 | 0.1 | 24.9 | 59.3 | 27.1 | 47.2 | 22.7 | — | — | — | |
| SPLATNET3D2021.03 | 39.3 | 69.9 | 92.7 | 31.1 | 51.1 | 65.6 | 51 | 38.3 | 19.7 | 26.7 | 60.6 | 0 | — | 32.8 | 4,050 | 0.1 | 24.9 | 59.3 | 27.1 | 47.2 | 22.7 | — | — | 24.5 | |
| Atlas2020.03 | 34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |