3D Semantic Segmentation on SemanticKITTI (val)
69.7mIoUE-3DSNN + SVL
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| E-3DSNN + SVLArchitecture=SNN, T × D=1 × 42025.05 | 69.7 | — | — | |
| E-3DANNArchitecture=ANN, T × D=N/A2025.05 | 69.4 | — | — | |
| E-3DSNNArchitecture=SNN, T × D=1 × 42025.05 | 68.5 | — | — | |
| LinK2023.03 | 67.5 | — | — | |
| PPT-L*Params=98M, Activated=98M, Joint indoor and outdoor training=true, use dataset labels during training=true2025.05 | 66.9 | — | — | |
| MSeg3DModality=LC2023.03 | 66.7 | — | — | |
| Point-MoE-LParams=100M, Activated=59M, Joint indoor and outdoor training=true2025.05 | 66.4 | — | — | |
| Mink2023.03 | 66.1 | — | — | |
| RPVNet2023.03 | 65.5 | — | — | |
| Cylinder3DModality=L2023.03 | 64.9 | — | — | |
| L-BaselineModality=L2023.03 | 64.8 | — | — | |
| SPVNAS2023.03 | 64.7 | — | — | |
| PMFModality=LC2023.03 | 63.9 | — | — | |
| Cylinder3D2023.03 | 63.8 | — | — | |
| CodedVTR (Mink-L)Architecture Type=Transformer, Param=11M2022.03 | 63.2 | — | — | |
| PTv3-LParams=97M, Activated=97M, Joint indoor and outdoor training=true2025.05 | 62.9 | — | — | |
| SPVNASModality=L2023.03 | 62.3 | — | — | |
| LaserMixRepresentation=Voxel, Labeled data ratio=40%2022.06 | 62.3 | — | — | |
| LaserMixRepresentation=Voxel, Labeled data ratio=30%2022.06 | 62.1 | — | — | |
| LaserMixRepresentation=Voxel, Labeled data ratio=20%2022.06 | 61.9 | — | — | |
| CodedVTR (SPVCNN)Architecture Type=Transformer, Param=8M2022.03 | 61.8 | — | — | |
| Minkowski-LArchitecture Type=Convolution, Param=11M2022.03 | 61.1 | — | — | |
| LaserMixRepresentation=Range View, Labeled data ratio=40%2022.06 | 60.8 | — | — | |
| SPVCNNArchitecture Type=Convolution, Param=8M2022.03 | 60.7 | — | — | |
| CodedVTR (Mink-M)Architecture Type=Transformer, Param=7M2022.03 | 60.4 | — | — | |
| LaserMixRepresentation=Range View, Labeled data ratio=30%2022.06 | 60.1 | — | — | |
| LaserMixRepresentation=Voxel, Labeled data ratio=10%2022.06 | 60 | — | — | |
| GPCLabeled data ratio=40%2022.06 | 59.9 | — | — | |
| SalsaNextModality=L2023.03 | 59.4 | — | — | |
| GPCLabeled data ratio=30%2022.06 | 59.4 | — | — | |
| LaserMixRepresentation=Range View, Labeled data ratio=20%2022.06 | 59.4 | — | — | |
| Minkowski-MArchitecture Type=Convolution, Param=7M2022.03 | 58.9 | — | — | |
| GPCLabeled data ratio=20%2022.06 | 58.8 | — | — | |
| LaserMixRepresentation=Range View, Labeled data ratio=10%2022.06 | 58.8 | — | — | |
| VoTR (Mink-L)Architecture Type=Transformer, Param=11M, Note=reproduced2022.03 | 58.2 | — | — | |
| RangeNet++2023.03 | 57.3 | — | — | |
| RandLA-Net2023.03 | 57.1 | — | — | |
| LaserMixRepresentation=Voxel, Labeled data ratio=5%2022.06 | 56.7 | — | — | |
| VoTR (Mink-M)Architecture Type=Transformer, Param=7M, Note=reproduced2022.03 | 56.5 | — | — | |
| RGBALModality=LC2023.03 | 56.2 | — | — | |
| CLIP2SceneFine-tuning Label Percentage=100%2023.01 | 55 | — | — | |
| LaserMixRepresentation=Range View, Labeled data ratio=5%2022.06 | 54.6 | — | — | |
| PointPaintingModality=LC2023.03 | 54.5 | — | — | |
| SLidRFine-tuning Label Percentage=100%2023.01 | 54.3 | — | — | |
| SparseConvAnnotation Requirement=annotation-required2026.05 | 53.2 | — | — | |
| PPKTFine-tuning Label Percentage=100%2023.01 | 53.1 | — | — | |
| PointContrastFine-tuning Label Percentage=100%2023.01 | 52.3 | — | — | |
| RandomFine-tuning Label Percentage=100%2023.01 | 52.1 | — | — | |
| GPCLabeled data ratio=10%2022.06 | 49.9 | — | — | |
| CLIP2SceneFine-tuning Label Percentage=1%2023.01 | 42.6 | — | — | |
| GPCLabeled data ratio=5%2022.06 | 41.8 | — | — | |
| SLidRFine-tuning Label Percentage=1%2023.01 | 39.6 | — | — | |
| PPKTFine-tuning Label Percentage=1%2023.01 | 39.1 | — | — | |
| PointContrastFine-tuning Label Percentage=1%2023.01 | 37.1 | — | — | |
| RandomFine-tuning Label Percentage=1%2023.01 | 32.5 | — | — | |
| PolarMix2022.07 | 31 | — | — | |
| PCT2022.07 | 28.9 | — | — | |
| Self-training2022.07 | 26.5 | — | — | |
| Ent-Min2022.07 | 25.5 | — | — | |
| ADDA2022.07 | 22.8 | — | — | |
| Source Only2022.07 | 20.4 | — | — | |
| PointNet++Annotation Requirement=annotation-required2026.05 | 20.1 | — | — | |
| DDSannotation setting=annotation-free2026.05 | 17.7 | 56.2 | 29.2 | |
| DDSAnnotation Requirement=annotation-free2026.05 | 17.7 | — | — | |
| LogoSPannotation setting=annotation-free2026.05 | 16.8 | 50.7 | 26.1 | |
| Spike PointNet + SVLArchitecture=SNN, T × D=1 × 4 / 6 × 42025.05 | 15.6 | — | — | |
| P-SLCRannotation setting=annotation-free2026.05 | 15.3 | 55.9 | 21.1 | |
| PointNetAnnotation Requirement=annotation-required2026.05 | 14.6 | — | — | |
| PointNetArchitecture=ANN, T × D=N/A2025.05 | 14.6 | — | — | |
| U3DS3annotation setting=annotation-free2026.05 | 14.2 | 34.8 | 23.1 | |
| GrowSPannotation setting=annotation-free2026.05 | 12.5 | 40.9 | 19.1 | |
| Spike PointNetArchitecture=SNN, T × D=1 × 4 / 6 × 42025.05 | 12.1 | — | — | |
| PiCIEannotation setting=annotation-free2026.05 | 2.8 | 29.4 | 6.8 | |
| K-meansannotation setting=annotation-free2026.05 | 2.3 | 9.1 | 6.8 | |
| IICannotation setting=annotation-free2026.05 | 2.1 | 28 | 5.6 |