LiDAR-based Panoptic Segmentation on SemanticKITTI (test)
67.2PQUniSeg
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UniSeg2023.09 | 67.2 | — | — | — | — | — | — | — | — | — | — | |
| P3FormerFPS=11.6, Use TTA=false2023.03 | 64.9 | 70 | 75.9 | 84.9 | 67.1 | 74.1 | 90.6 | 63.3 | 77.2 | 80.7 | — | |
| Panoptic-PHNet2023.09 | 64.6 | — | — | — | — | — | — | — | — | — | — | |
| Panoptic-PHNetdouble-flip=true, multi-model ensemble=true2022.05 | 64.6 | 70.2 | 74.9 | 85.7 | 66.9 | 73.3 | 91.5 | 63 | 76.1 | 81.5 | 68.4 | |
| SCANFPS=12.82023.03 | 61.5 | 67.5 | 72.1 | 84.5 | 61.4 | 69.3 | 88.1 | 61.5 | 74.1 | 81.8 | — | |
| Panoptic-PHNetFPS=11.02023.03 | 61.5 | 67.9 | 72.1 | 84.8 | 63.8 | 70.4 | 90.7 | 59.9 | 73.3 | 80.5 | — | |
| SCAN2023.09 | 61.5 | — | — | — | — | — | — | — | — | — | — | |
| Panoptic-PHNet2022.09 | 61.5 | 67.9 | 72.1 | 84.8 | 63.8 | 70.4 | 90.7 | 59.9 | 73.3 | 80.5 | 66 | |
| Panoptic-PHNetFPS=11, double-flip=false, multi-model ensemble=false2022.05 | 61.5 | 67.9 | 72.1 | 84.8 | 63.8 | 70.4 | 90.7 | 59.9 | 73.3 | 80.5 | 66 | |
| GP-S3Net2023.03 | 60 | 69 | 72.1 | 82 | 65 | 74.5 | 86.6 | 56.4 | 70.4 | 78.7 | — | |
| GP-S3Net2023.09 | 60 | — | — | — | — | — | — | — | — | — | — | |
| EfficientLPS2023.03 | 57.4 | 63.2 | 68.7 | 83 | 53.1 | 60.5 | 87.8 | 60.5 | 74.6 | 79.5 | — | |
| EfficientLPS2023.09 | 57.4 | — | — | — | — | — | — | — | — | — | — | |
| EfficientLPS2022.05 | 57.4 | 63.2 | 68.7 | 83 | 53.1 | 60.5 | 87.8 | 60.5 | 74.6 | 79.5 | 61.4 | |
| SoftGroup++2022.09 | 57.2 | 64.2 | 68.2 | 82.7 | 57.1 | 65.6 | 85.8 | 57.3 | 70.2 | 80.4 | 63 | |
| SoftGroup2022.09 | 57 | 63.9 | 68.1 | 82.5 | 56.5 | 65.2 | 85.4 | 57.3 | 70.2 | 80.4 | 61.7 | |
| DS-Net2020.11 | 55.9 | 62.5 | 66.7 | 82.3 | 55.1 | 62.8 | 87.2 | 56.5 | 69.5 | 78.7 | 61.6 | |
| DS-NetFPS=2.12023.03 | 55.9 | 62.5 | 66.7 | 82.3 | 55.1 | 62.8 | 87.2 | 56.5 | 69.5 | 78.7 | — | |
| DS-Net2023.09 | 55.9 | — | — | — | — | — | — | — | — | — | — | |
| DS-Net2022.09 | 55.9 | 62.5 | 66.7 | 82.3 | 55.1 | 62.8 | 87.2 | 56.5 | 69.5 | 78.7 | 61.6 | |
| DS-NetFPS=3.22022.05 | 55.9 | 62.5 | 66.7 | 82.3 | 55.1 | 62.8 | 87.2 | 56.5 | 69.5 | 78.7 | 61.6 | |
| Panoptic-PolarNetFPS=11.62023.03 | 54.1 | 60.7 | 65 | 81.4 | 53.3 | 60.6 | 87.2 | 54.8 | 68.1 | 77.2 | — | |
| Panoptic-PolarNet2023.09 | 54.1 | — | — | — | — | — | — | — | — | — | — | |
| Panoptic-PolarNet2022.09 | 54.1 | 60.7 | 65 | 81.4 | 53.3 | 60.6 | 87.2 | 54.8 | 68.1 | 77.2 | 59.5 | |
| Panoptic-PolarNetFPS=11.62022.05 | 54.1 | 60.7 | 65 | 81.4 | 53.3 | 60.6 | 87.2 | 54.8 | 68.1 | 77.2 | 59.5 | |
| PolarNet_segstatus=unpublished2020.11 | 53.3 | 59.8 | 64.2 | 81.1 | 52.1 | 59.5 | 86.9 | 54.2 | 67.6 | 76.9 | 58.9 | |
| Panoster2023.03 | 52.7 | 59.9 | 64.1 | 80.7 | 49.4 | 58.5 | 83.3 | 55.1 | 68.2 | 78.8 | — | |
| Panoster2022.09 | 52.7 | 59.9 | 64.1 | 80.7 | 49.4 | 58.5 | 83.3 | 55.1 | 68.2 | 78.8 | 59.9 | |
| Panoster2022.05 | 52.7 | 59.9 | 64.1 | 80.7 | 49.4 | 58.5 | 83.3 | 55.1 | 68.2 | 78.8 | 59.9 | |
| 4D-PLSmode=single scan2021.02 | 50.3 | 61 | 81.6 | 57.8 | — | — | — | — | — | — | 61.3 | |
| 4D-PLS2022.09 | 50.3 | 57.8 | 61 | 81.6 | — | — | — | — | — | — | 61.3 | |
| KPConv + PV-RCNNSemantic Segmentation=KPConv, Detection=PV-RCNN2020.11 | 50.2 | 57.5 | 61.4 | 80 | 43.2 | 51.4 | 80.2 | 55.9 | 68.7 | 79.9 | 62.8 | |
| KPConv + PV-RCNN2022.09 | 50.2 | 57.5 | 61.4 | 80 | 43.2 | 51.4 | 80.2 | 55.9 | 68.7 | 79.9 | 62.8 | |
| KPConv + PointPillarsSemantic Segmentation=KPConv, Detection=PointPillars2020.11 | 44.5 | 52.5 | 54.4 | 80 | 32.7 | 38.7 | 81.5 | 53.1 | 65.9 | 79 | 58.8 | |
| KPConv + PointPillarsmode=single-scan, detector=PointPillars2021.02 | 44.5 | 54.4 | 80 | 52.5 | — | — | — | — | — | — | 58.8 | |
| KPConv/PointPillarsFPS=1.92023.03 | 44.5 | 52.5 | 54.4 | 80 | 32.7 | 38.7 | 81.5 | 53.1 | 65.9 | 79 | — | |
| KPConv + PointPillarsFPS=1.92022.05 | 44.5 | 52.5 | 54.4 | 80 | 32.7 | 38.7 | 81.5 | 53.1 | 65.9 | 79 | 58.8 | |
| LPASD2020.11 | 38 | 47 | 48.2 | 76.5 | 25.6 | 31.8 | 76.8 | 47.1 | 60.1 | 76.2 | 50.9 | |
| Panoptic RangeNetmode=single-scan2021.02 | 38 | 48.2 | 76.5 | 47 | — | — | — | — | — | — | 50.9 | |
| LPSADFPS=11.82023.03 | 38 | 47 | 48.2 | 76.5 | 25.6 | 31.8 | 76.8 | 47.1 | 60.1 | 76.2 | — | |
| LPASD2022.09 | 38 | 47 | 48.2 | 76.5 | 25.6 | 31.8 | 76.8 | 47.1 | 60.1 | 76.2 | 50.9 | |
| LPSADFPS=11.82022.05 | 38 | 47 | 48.2 | 76.5 | 25.6 | 31.8 | 76.8 | 47.1 | 60.1 | 76.2 | 50.9 | |
| RangeNet++ + PointPillarsSemantic Segmentation=RangeNet++, Detection=PointPillars2020.11 | 37.1 | 45.9 | 47 | 75.9 | 20.2 | 25.2 | 75.2 | 49.3 | 62.8 | 76.5 | 52.4 | |
| RangeNet++ + PointPillarsmode=single-scan, detector=PointPillars2021.02 | 37.1 | 47 | 75.9 | 45.9 | — | — | — | — | — | — | 52.4 | |
| RangeNet++/PointPillarsFPS=2.42023.03 | 37.1 | 45.9 | 75.9 | 47 | 20.2 | 75.2 | 25.2 | 49.3 | 62.8 | 76.5 | — | |
| RangeNet++ + PointPillars2022.09 | 37.1 | 45.9 | 47 | 75.9 | 20.2 | 25.2 | 75.2 | 49.3 | 62.8 | 76.5 | 52.4 | |
| RangeNet++ + PointPillarsFPS=2.42022.05 | 37.1 | 45.9 | 47 | 75.9 | 20.2 | 25.2 | 75.2 | 49.3 | 62.8 | 76.5 | 52.4 |