4D Semantic Segmentation on Synthia 4D
84.21mIoUGATS
Evaluation Results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GATSInput=point, Frame=3, Track=×2026.03 | 84.21 | 97.37 | 98.41 | 94.72 | 95.85 | 97.81 | 98.31 | 95.8 | 84.87 | 87.64 | 0 | 76.77 | 82.98 | |
| PointATAInput=point, Frame=32026.02 | 84.06 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PST-TransformerInput=point, Frame=3, Track=×2026.03 | 83.95 | 96.1 | 98.44 | 94.94 | 96.58 | 98.98 | 98.1 | 96.06 | 82.67 | 87.86 | 0 | 76.01 | 81.67 | |
| PST-TransformerInput=point, Frame=32026.02 | 83.95 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GATSInput=point, Frame=1, Track=×2026.03 | 83.72 | 97.51 | 98.58 | 95.62 | 95.54 | 99.01 | 98.27 | 95.62 | 81.08 | 83.11 | 0 | 77.19 | 83.12 | |
| MAMBA4DInput=point, Frame=3, Track=×2026.03 | 83.35 | 96.16 | 98.58 | 92.8 | 94.95 | 97.08 | 98.24 | 95.75 | 82.03 | 84.57 | 0 | 79.35 | 80.74 | |
| MAMBA4DInput=point, Frame=32026.02 | 83.35 | — | — | — | — | — | — | — | — | — | — | — | — | |
| P4TransformerInput=point, Frame=3, Track=×2026.03 | 83.16 | 96.73 | 98.35 | 94.03 | 95.23 | 98.28 | 98.01 | 95.6 | 81.54 | 85.18 | 0 | 75.95 | 79.07 | |
| P4TransformerInput=point, Frame=32026.02 | 83.16 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PST-TransformerInput=point, Frame=1, Track=-2026.03 | 82.92 | 94.46 | 98.13 | 89.37 | 95.84 | 99.06 | 98.1 | 96.8 | 80.41 | 87.58 | 0 | 75.25 | 80.84 | |
| PST-TransformerInput=point, Frame=12026.02 | 82.92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointATAInput=point, Frame=12026.02 | 82.92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| P4TransformerInput=point, Frame=1, Track=-2026.03 | 82.41 | 96.76 | 98.23 | 92.11 | 95.23 | 98.62 | 97.77 | 95.46 | 80.75 | 85.48 | 0 | 74.28 | 74.22 | |
| P4TransformerInput=point, Frame=12026.02 | 82.41 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PSTNetInput=point, Frame=32026.02 | 82.24 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MeteorNet-lInput=point, Frame=3, Track=×2026.03 | 81.8 | 98.1 | 97.72 | 88.65 | 94 | 97.98 | 97.65 | 93.83 | 84.07 | 80.9 | 0 | 71.14 | 77.6 | |
| MeteorNet-LInput=point, Frame=32026.02 | 81.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MeteorNet-mInput=point, Frame=2, Track=×2026.03 | 81.72 | 97.65 | 97.83 | 90.03 | 94.06 | 97.41 | 97.79 | 94.15 | 82.01 | 79.14 | 0 | 72.59 | 77.92 | |
| MeteorNet-mInput=point, Frame=2, Track=✓2026.03 | 81.47 | 98.22 | 97.79 | 90.98 | 93.18 | 98.31 | 97.45 | 94.3 | 76.35 | 81.05 | 0 | 74.09 | 75.92 | |
| MeteorNet-MInput=point, Frame=22026.02 | 81.47 | — | — | — | — | — | — | — | — | — | — | — | — | |
| E-3DSNN-L (SVL, ours)Input=Voxel, Frames=3 × 2, Params (M)=19.12025.05 | 80.05 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Same-structure ANNInput=Voxel, Frames=3, Params (M)=19.12025.05 | 79.54 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet++Input=point, Frame=1, Track=-2026.03 | 79.35 | 96.88 | 97.72 | 86.2 | 92.75 | 97.12 | 97.09 | 90.85 | 66.87 | 78.64 | 0 | 72.93 | 75.17 | |
| E-3DSNN-L (SVL, ours)Input=Voxel, Frames=1 × 2, Params (M)=17.72025.05 | 78.91 | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4D MinkNet14Input=voxel, Frame=3, Track=-2026.03 | 77.46 | 90.13 | 98.26 | 73.47 | 87.19 | 99.1 | 97.5 | 94.01 | 79.04 | 92.62 | 0 | 50.01 | 68.14 | |
| 4D MinkNet14Input=voxel, Frame=32026.02 | 77.46 | — | — | — | — | — | — | — | — | — | — | — | — | |
| 4D MinkNet14Input=Voxel, Frames=3, Params (M)=23.72025.05 | 77.46 | — | — | — | — | — | — | — | — | — | — | — | — | |
| E-3DSNN-L (w/o SVL)Input=Voxel, Frames=3 × 2, Params (M)=19.12025.05 | 76.41 | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D MinkNet14Input=voxel, Frame=1, Track=-2026.03 | 76.24 | 89.39 | 97.68 | 69.43 | 86.52 | 98.11 | 97.26 | 93.5 | 79.45 | 92.27 | 0 | 44.61 | 66.69 | |
| 3D MinkNet14Input=voxel, Frame=12026.02 | 76.24 | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D MinkNet14Input=Voxel, Frames=1, Params (M)=19.32025.05 | 76.24 | — | — | — | — | — | — | — | — | — | — | — | — |