LiDAR Semantic Segmentation on nuScenes official (test)
84.6mIoUTASeg
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TASegRepresentation=Multi-View, Param=46.7M, FPS=6.12023.12 | 84.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniSegPoint Cloud Backbone=Minkowski-UNet34, Range Image Backbone=SalsaNext, Voxel Size=0.12023.09 | 83.5 | 85.9 | 71.2 | 92.1 | 91.6 | 80.5 | 88 | 80.9 | 76 | 86.3 | 76.7 | 97.7 | 71.8 | 80.7 | 76.7 | 91.3 | 88.8 | — | |
| UniSeg2023.09 | 83.5 | 85.9 | 71.2 | 92.1 | 91.6 | 80.5 | 88 | 80.9 | 76 | 86.3 | 76.7 | 97.7 | 71.8 | 80.7 | 76.7 | 91.3 | 88.8 | — | |
| UniSeg2023.09 | 83.5 | 85.9 | 71.2 | 92.1 | 91.6 | 80.5 | 88 | 80.9 | 76 | 86.3 | 76.7 | 97.7 | 71.8 | 80.7 | 76.7 | 91.3 | 88.8 | — | |
| UniSegRepresentation=Multi-View, Param=147.6M, FPS=6.92023.12 | 83.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3Net2024.05 | 83.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3SSL pretraining=false2025.02 | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.1 | |
| PTv3Representation=Raw Points, Param=46.2M, FPS=20.22023.12 | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2+2024.05 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2SSL pretraining=false2025.02 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMAESSL pretraining=true2025.02 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.5 | |
| PTv2Representation=Raw Points, Param=12.8M, FPS=4.72023.12 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FRNet2024.05 | 82.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FRNetRepresentation=Frustum-Range, Param=10.0M, FPS=29.12023.12 | 82.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-FRNetRepresentation=Frustum-Range, Param=7.5M, FPS=33.82023.12 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.05 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.07 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerSSL pretraining=false2025.02 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerRepresentation=Multi-View, Param=32.3M, FPS=4.92023.12 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LidarMultiNetInput Modality=LiDAR2023.02 | 81.4 | 80.4 | 48.4 | 94.3 | 90 | 71.5 | 87.2 | 85.2 | 80.4 | 86.9 | 74.8 | 97.8 | 67.3 | 80.7 | 76.5 | 92.1 | 89.6 | — | |
| LidarMultiNetInput Modality=LiDAR2023.04 | 81.4 | 80.4 | 48.4 | 94.3 | 90 | 71.5 | 87.2 | 85.2 | 80.4 | 86.9 | 74.8 | 97.8 | 67.3 | 80.7 | 76.5 | 92.1 | 89.6 | — | |
| LidarMultiNet2023.09 | 81.4 | 80.4 | 48.4 | 94.3 | 90 | 71.5 | 87.2 | 85.2 | 80.4 | 86.9 | 74.8 | 97.8 | 67.3 | 80.7 | 76.5 | 92.1 | 89.6 | — | |
| LidarMultiNet2023.09 | 81.4 | 80.4 | 48.4 | 94.3 | 90 | 71.5 | 87.2 | 85.2 | 80.4 | 86.9 | 74.8 | 97.8 | 67.3 | 80.7 | 76.5 | 92.1 | 89.6 | — | |
| LidarMultiNet2023.09 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LidarMultiNetModality=Multiple2023.03 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LidarMultiNet2023.03 | 81.4 | 80.4 | 48.4 | 94.3 | 90 | 71.5 | 87.2 | 85.2 | 80.4 | 86.9 | 74.8 | 97.8 | 67.3 | 80.7 | 76.5 | 92.1 | 89.6 | — | |
| LidarMultiNet2024.05 | 81.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVCNN++Input Modality=LiDAR-only, Status=Unpublished2021.10 | 81.1 | — | 43.1 | — | 92.2 | — | — | 83.4 | — | — | — | — | — | — | — | — | — | — | |
| UniPADSSL pretraining=true2025.02 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2023.09 | 80.8 | 81.7 | 55.3 | 92 | 91.8 | 73.3 | 86.5 | 78.5 | 72.5 | 84.7 | 75.5 | 97.6 | 69.1 | 79.9 | 75.5 | 90.2 | 88 | — | |
| 2DPASS2023.09 | 80.8 | 81.7 | 55.3 | 92 | 91.8 | 73.3 | 86.5 | 78.5 | 72.5 | 84.7 | 75.5 | 97.6 | 69.1 | 79.9 | 75.5 | 90.2 | 88 | — | |
| 2DPASS2023.09 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSModality=Multiple2023.03 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2023.03 | 80.8 | 81.7 | 55.3 | 92 | 91.8 | 73.3 | 86.5 | 78.5 | 72.5 | 84.7 | 75.5 | 97.6 | 69.1 | 79.9 | 75.5 | 90.2 | 88 | — | |
| 2DPASSSSL pretraining=false2025.02 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSRepresentation=Multi-View, Param=26.5M, FPS=8.42023.12 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DRINet++Input Modality=LiDAR2023.02 | 80.4 | 85.5 | 43.2 | 90.5 | 92.1 | 64.7 | 86 | 83 | 73.3 | 83.9 | 75.8 | 97 | 71 | 81 | 77.7 | 91.6 | 90.2 | — | |
| DRINet++Input Modality=LiDAR2023.04 | 80.4 | 85.5 | 43.2 | 90.5 | 92.1 | 64.7 | 86 | 83 | 73.3 | 83.9 | 75.8 | 97 | 71 | 81 | 77.7 | 91.6 | 90.2 | — | |
| GASN2023.09 | 80.4 | 85.5 | 43.2 | 90.5 | 92.1 | 64.7 | 86 | 83 | 73.3 | 83.9 | 75.8 | 97 | 71 | 81 | 77.7 | 91.6 | 90.2 | — | |
| GASN2023.09 | 80.4 | 85.5 | 43.2 | 90.5 | 92.1 | 64.7 | 86 | 83 | 73.3 | 83.9 | 75.8 | 97 | 71 | 81 | 77.7 | 91.6 | 90.2 | — | |
| GASN2023.09 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GASN2023.03 | 80.4 | 85.5 | 43.2 | 90.5 | 92.1 | 64.7 | 86 | 83 | 73.3 | 83.9 | 75.8 | 97 | 71 | 81 | 77.7 | 91.6 | 90.2 | — | |
| GU-NetInput Modality=LiDAR-only, Status=Unpublished2021.10 | 80.3 | — | 33.4 | — | 91.4 | — | — | 81.3 | — | — | — | — | — | — | — | — | — | — | |
| SFPNet2024.07 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursVenue=IROS’26, Representation Type=2D Projection Based2026.06 | 80.2 | 79.7 | 45.6 | 95 | 94.7 | 57.6 | 87.1 | 80.7 | 69.4 | 74 | 86.1 | 96.8 | 77.6 | 78.9 | 77.8 | 91.3 | 90.1 | — | |
| RangeFormerSize=24.3M, Modality=Range Image2023.03 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer2023.03 | 80.1 | 85.6 | 47.4 | 91.2 | 90.9 | 70.7 | 84.7 | 77.1 | 74.1 | 83.2 | 72.6 | 97.5 | 70.7 | 79.2 | 75.4 | 91.3 | 88.9 | — | |
| WaffleIron2024.05 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer2024.05 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer†Representation=Range View, Param=24.3M, FPS=6.22023.12 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursInput Modality=2D and 3D reasoning2021.10 | 80 | — | 59.4 | — | 85.1 | — | — | 82 | — | — | — | — | — | — | — | — | — | — | |
| 2D3DNet2023.09 | 80 | 83 | 59.4 | 88 | 85.1 | 63.7 | 84.4 | 82 | 76 | 84.8 | 71.9 | 96.9 | 67.4 | 79.8 | 76 | 92.1 | 89.2 | — | |
| 2D3DNet2023.09 | 80 | 83 | 59.4 | 88 | 85.1 | 63.7 | 84.4 | 82 | 76 | 84.8 | 71.9 | 96.9 | 67.4 | 79.8 | 76 | 92.1 | 89.2 | — | |
| 2D3DNet2023.09 | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3DNet2023.03 | 80 | 83 | 59.4 | 88 | 85.1 | 63.7 | 84.4 | 82 | 76 | 84.8 | 71.9 | 96.9 | 67.4 | 79.8 | 76 | 92.1 | 89.2 | — | |
| FRNetVenue=TIP’25, Representation Type=2D Projection Based2026.06 | 79 | 78.5 | 43.9 | 95.4 | 93.2 | 56.3 | 85.8 | 79 | 68.5 | 72.8 | 86.5 | 97.1 | 75.9 | 77 | 76.4 | 89.7 | 88 | — | |
| RangeFormer w/ STRSize=24.3M, Wtrain=480, Modality=Range Image2023.03 | 78.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STRW_train=4802023.03 | 78.7 | 83.9 | 46.3 | 90 | 87.2 | 69.5 | 83.4 | 75.5 | 73.6 | 82.1 | 71.7 | 97 | 69.1 | 78.1 | 74.1 | 90.1 | 87 | — | |
| SphereFormerVenue=CVPR’23, Representation Type=3D Voxel Based2026.06 | 78.4 | 77.7 | 43.8 | 94.5 | 93.1 | 52.4 | 86.9 | 81.2 | 65.4 | 73.4 | 85.3 | 97 | 73.4 | 75.4 | 75 | 91 | 89.2 | — | |
| AF2S3NetInput Modality=LiDAR-only2021.10 | 78.3 | — | 52.2 | — | 84.2 | — | — | 77.3 | — | — | — | — | — | — | — | — | — | — | |
| AF2S3NetInput Modality=LiDAR2023.02 | 78.3 | 78.9 | 52.2 | 89.9 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | — | |
| AF2S3NetInput Modality=LiDAR2023.04 | 78.3 | 78.9 | 52.2 | 89.9 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | — | |
| AF2S3Net2023.09 | 78.3 | 78.9 | 52.2 | 89.9 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | — | |
| AF2S3Net2023.09 | 78.3 | 78.9 | 52.2 | 89.9 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | — | |
| AF2S3Net2023.09 | 78.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AF2S3Net2023.03 | 78.3 | 78.9 | 52.2 | 89.9 | 84.2 | 77.4 | 74.3 | 77.3 | 72 | 83.9 | 73.8 | 97.1 | 66.5 | 77.5 | 74 | 87.7 | 86.8 | — | |
| (AF)2-S3Net2024.05 | 78.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AF2S3NetSSL pretraining=false2025.02 | 78 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 88.5 | |
| Cylinder3D++Input Modality=LiDAR-only2021.10 | 77.9 | — | 33.9 | — | 89.4 | — | — | 77.3 | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D++Input Modality=LiDAR2023.02 | 77.9 | 82.8 | 33.9 | 84.3 | 89.4 | 69.6 | 79.4 | 77.3 | 73.4 | 84.6 | 69.4 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | — | |
| Cylinder3D++Input Modality=LiDAR2023.04 | 77.9 | 82.8 | 33.9 | 84.3 | 89.4 | 69.6 | 79.4 | 77.3 | 73.4 | 84.6 | 69.4 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | — | |
| Cylinder3D2024.05 | 77.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DRepresentation=Sparse Voxel, Param=55.9M, FPS=6.22023.12 | 77.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPFusionInput Modality=2D and 3D reasoning2021.10 | 77.7 | — | 37 | — | 86.2 | — | — | 78.1 | — | — | — | — | — | — | — | — | — | — | |
| SPVNASInput Modality=LiDAR-only2021.10 | 77.4 | — | 30 | — | 90.8 | — | — | 75.6 | — | — | — | — | — | — | — | — | — | — | |
| SPVNASInput Modality=LiDAR2023.02 | 77.4 | 80 | 30 | 91.9 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | — | |
| SPVNASInput Modality=LiDAR2023.04 | 77.4 | 80 | 30 | 91.9 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | — | |
| SPVCNN2023.09 | 77.4 | 80 | 30 | 91.9 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | — | |
| SPVCNN2023.09 | 77.4 | 80 | 30 | 91.9 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | — | |
| SPVCNN2023.09 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASSize=12.5M, Modality=Sparse Voxel2023.03 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVCNN2023.03 | 77.4 | 80 | 30 | 91.9 | 90.8 | 64.7 | 79 | 75.6 | 70.9 | 81 | 74.6 | 97.4 | 69.2 | 80 | 76.1 | 89.3 | 87.1 | — | |
| SPVNASSSL pretraining=false2025.02 | 77.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.7 | |
| AMVNetInput Modality=LiDAR2023.02 | 77.3 | 80.6 | 32 | 81.7 | 88.9 | 67.1 | 84.3 | 76.1 | 73.5 | 84.9 | 67.3 | 97.5 | 67.4 | 79.4 | 75.5 | 91.5 | 88.7 | — | |
| AMVNetInput Modality=LiDAR2023.04 | 77.3 | 80.6 | 32 | 81.7 | 88.9 | 67.1 | 84.3 | 76.1 | 73.5 | 84.9 | 67.3 | 97.5 | 67.4 | 79.4 | 75.5 | 91.5 | 88.7 | — | |
| AMVNet2023.09 | 77.3 | 80.6 | 32 | 81.7 | 88.9 | 67.1 | 84.3 | 76.1 | 73.5 | 84.9 | 67.3 | 97.5 | 67.4 | 79.4 | 75.5 | 91.5 | 88.7 | — | |
| AMVNet2023.09 | 77.3 | 80.6 | 32 | 81.7 | 88.9 | 67.1 | 84.3 | 76.1 | 73.5 | 84.9 | 67.3 | 97.5 | 67.4 | 79.4 | 75.5 | 91.5 | 88.7 | — | |
| AMVNet2023.09 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetModality=Multiple2023.03 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNet2023.03 | 77.3 | 80.6 | 32 | 81.7 | 88.9 | 67.1 | 84.3 | 76.1 | 73.5 | 84.9 | 67.3 | 97.5 | 67.4 | 79.4 | 75.5 | 91.5 | 88.7 | — | |
| AMVNet2024.05 | 77.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2023.09 | 77.2 | 82.8 | 29.8 | 84.3 | 89.4 | 63 | 79.3 | 77.2 | 73.4 | 84.6 | 69.1 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | — | |
| Cylinder3D2023.09 | 77.2 | 82.8 | 29.8 | 84.3 | 89.4 | 63 | 79.3 | 77.2 | 73.4 | 84.6 | 69.1 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | — | |
| Cylinder3D2023.09 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSize=56.3M, Modality=Sparse Voxel2023.03 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2023.03 | 77.2 | 82.8 | 29.8 | 84.3 | 89.4 | 63 | 79.3 | 77.2 | 73.4 | 84.6 | 69.1 | 97.7 | 70.2 | 80.3 | 75.5 | 90.4 | 87.6 | — | |
| Cylinder3D2024.07 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSSL pretraining=false2025.02 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.9 | |
| PMF2023.09 | 77 | 82 | 40 | 81 | 88 | 64 | 79 | 80 | 76 | 81 | 67 | 97 | 68 | 78 | 74 | 90 | 88 | — | |
| PMF2023.09 | 77 | 82 | 40 | 81 | 88 | 64 | 79 | 80 | 76 | 81 | 67 | 97 | 68 | 78 | 74 | 90 | 88 | — |