# LiDAR Segmentation on SemanticKITTI (Distance Threshold IoU)

Source: [LiDAR Segmentation on SemanticKITTI (Distance Threshold IoU)](<https://www.sota2.com/research/sota/lidar-segmentation-on-semantickitti-distance-threshold-iou>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:10:53.479Z

Evaluation of LiDAR Semantic Segmentation performance on the SemanticKITTI dataset, reporting mean Intersection over Union (mIoU) scores calculated across specific distance thresholds (1%, 10%, 20%, 50%).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | LiDAR Segmentation |
| Dataset (including any stated split) | SemanticKITTI |
| Metric | mIoU (10%) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 16 of 16 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mIoU (10%)](<https://www.sota2.com/research/sota/lidar-segmentation-on-semantickitti-distance-threshold-iou.md?metric=mIoU%20(10%25)>): Higher is better; unit: PERCENT.

- [mIoU (1%)](<https://www.sota2.com/research/sota/lidar-segmentation-on-semantickitti-distance-threshold-iou.md?metric=mIoU%20(1%25)>): Higher is better; unit: PERCENT.

- [mIoU (20%)](<https://www.sota2.com/research/sota/lidar-segmentation-on-semantickitti-distance-threshold-iou.md?metric=mIoU%20(20%25)>): Higher is better; unit: PERCENT.

- [mIoU (50%)](<https://www.sota2.com/research/sota/lidar-segmentation-on-semantickitti-distance-threshold-iou.md?metric=mIoU%20(50%25)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU (10%) | Result date | Report paper |
| --- | --- | --- | --- |
| FrustumMix | 64.8 | Not recorded | 68fa77951e209131cea7422b |
| FrustumMix | 64.7 | Not recorded | 68fa77951e209131cea7422b |
| LaserMix | 63.3 | Not recorded | 68fa77951e209131cea7422b |
| LaserMix | 62.9 | Not recorded | 68fa77951e209131cea7422b |
| FrustumMix | 62.5 | Not recorded | 68fa77951e209131cea7422b |
| LiM3D | 61.6 | Not recorded | 68fa77951e209131cea7422b |
| PolarMix | 61.6 | Not recorded | 68fa77951e209131cea7422b |
| Sup.-only | 60.9 | Not recorded | 68fa77951e209131cea7422b |
| PolarMix | 60.9 | Not recorded | 68fa77951e209131cea7422b |
| Sup.-only | 60.4 | Not recorded | 68fa77951e209131cea7422b |
| LaserMix | 60 | Not recorded | 68fa77951e209131cea7422b |
| LaserMix | 58.8 | Not recorded | 68fa77951e209131cea7422b |
| CRB | 58.7 | Not recorded | 68fa77951e209131cea7422b |
| ImageTo360 | 58.6 | Not recorded | 68fa77951e209131cea7422b |
| Sup.-only | 56.1 | Not recorded | 68fa77951e209131cea7422b |
| Sup.-only | 52.2 | Not recorded | 68fa77951e209131cea7422b |

### FrustumMix

mIoU (10%): 64.8. Result ID: 699546913badfaffe634c85f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction.

### FrustumMix

mIoU (10%): 64.7. Result ID: 699546913badfaffe634c85b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction.

### LaserMix

mIoU (10%): 63.3. Result ID: 699546913badfaffe634c85a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction.

### LaserMix

mIoU (10%): 62.9. Result ID: 699546913badfaffe634c85e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction.

### FrustumMix

mIoU (10%): 62.5. Result ID: 699546913badfaffe634c857.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### LiM3D

mIoU (10%): 61.6. Result ID: 699546913badfaffe634c855.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6edf1e209131cea428ce.md>)

[Implementation](<https://github.com/l1997i/lim3d/>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### PolarMix

mIoU (10%): 61.6. Result ID: 699546913badfaffe634c859.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d1c1e209131cea37cf7.md>)

Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction.

### Sup.-only

mIoU (10%): 60.9. Result ID: 699546913badfaffe634c858.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"PTv3"}. This record does not assert independent reproduction.

### PolarMix

mIoU (10%): 60.9. Result ID: 699546913badfaffe634c85d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d1c1e209131cea37cf7.md>)

Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction.

### Sup.-only

mIoU (10%): 60.4. Result ID: 699546913badfaffe634c85c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"FRNet"}. This record does not assert independent reproduction.

### LaserMix

mIoU (10%): 60. Result ID: 699546913badfaffe634c854.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### LaserMix

mIoU (10%): 58.8. Result ID: 699546913badfaffe634c851.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70731e209131cea4b186.md>)

[Implementation](<https://github.com/ldkong1205/LaserMix>)

Recorded evaluation configuration: {"Backbone":"FIDNet"}. This record does not assert independent reproduction.

### CRB

mIoU (10%): 58.7. Result ID: 699546913badfaffe634c853.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c2e1e209131cea329c1.md>)

[Implementation](<https://www.sota2.com/github.com/ouenal/scribblekitti>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### ImageTo360

mIoU (10%): 58.6. Result ID: 699546913badfaffe634c856.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### Sup.-only

mIoU (10%): 56.1. Result ID: 699546913badfaffe634c852.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"Cylinder3D"}. This record does not assert independent reproduction.

### Sup.-only

mIoU (10%): 52.2. Result ID: 699546913badfaffe634c850.

[Reporting paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77951e209131cea7422b.md>)

[Implementation](<https://github.com/Xiangxu-0103/FRNet>)

Recorded evaluation configuration: {"Backbone":"FIDNet"}. This record does not assert independent reproduction.

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