LiDAR Semantic Segmentation on nuScenes (val)
82mIoULidarMultiNet
Evaluation results
| Method | Links | |||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LidarMultiNetModality=Multiple2023.03 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NOMAESSL pretraining=true2025.02 | 81.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87.7 | — | — | — | — | |
| M3Net2024.05 | 80.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3SSL pretraining=false2025.02 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87.3 | — | — | — | — | |
| PTv3Representation=Raw Points, Param=46.2M, FPS=20.22023.12 | 80.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2+2024.05 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2SSL pretraining=false2025.02 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2Representation=Raw Points, Param=12.8M, FPS=4.72023.12 | 80.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SFPNet2024.07 | 80.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SFPNetInput=LiDAR2024.07 | 80.1 | 78.8 | 49.7 | 95.3 | 93.5 | 63.1 | 86.4 | 82.9 | 68.6 | 72.8 | 86.7 | 97 | — | 76 | 75.3 | 91.2 | 89.5 | — | — | 74.7 | — | — | — | — | — | |
| Occupancy-MAE + PTv3SSL pretraining=true, implementation=author implementation2025.02 | 80 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 86.1 | — | — | — | — | |
| SphereFormer2024.07 | 79.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerInput=LiDAR2024.07 | 79.5 | 78.7 | 46.7 | 95.2 | 93.7 | 54 | 88.9 | 81.1 | 68 | 74.2 | 86.2 | 97.2 | — | 76.3 | 75.8 | 91.4 | 89.7 | — | — | 74.3 | — | — | — | — | — | |
| 2DPASSInput=LiDAR (with Camera guidance)2024.07 | 79.4 | 78.8 | 49.6 | 95.6 | 93.6 | 60 | 84.1 | 82.2 | 67.5 | 72.6 | 88.1 | 96.8 | — | 76.2 | 76.5 | 89.4 | 87.2 | — | — | 72.8 | — | — | — | — | — | |
| UniPADSSL pretraining=true2025.02 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSRepresentation=Multi-View, Param=26.5M, FPS=8.42023.12 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIron2024.05 | 79.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIronRepresentation=Raw Points, Param=6.8M, FPS=7.42023.12 | 79.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3DNet2021.10 | 79 | 78.3 | 55.1 | 95.4 | 87.7 | 59.4 | 79.3 | 80.7 | 70.2 | 68.2 | 86.6 | 96.1 | — | 75.7 | 75.1 | 91.4 | 89.9 | — | — | 74.9 | — | — | — | — | — | |
| FRNet2024.05 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3DNetInput=LiDAR+Camera2024.07 | 79 | 78.3 | 55.1 | 95.4 | 87.7 | 59.4 | 79.3 | 80.7 | 70.2 | 68.2 | 86.6 | 96.1 | — | 75.7 | 75.1 | 91.4 | 89.9 | — | — | 74.9 | — | — | — | — | — | |
| FRNetRepresentation=Frustum-Range, Param=10.0M, FPS=29.12023.12 | 79 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GEO-MAE + PTv3SSL pretraining=true, implementation=author implementation2025.02 | 78.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 84.7 | — | — | — | — | |
| Fast-FRNetRepresentation=Frustum-Range, Param=7.5M, FPS=33.82023.12 | 78.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GEO-MAESSL pretraining=true2025.02 | 78.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.05 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerSSL pretraining=false2025.02 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerRepresentation=Multi-View, Param=32.3M, FPS=4.92023.12 | 78.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerSize=24.3M, Modality=Range Image2023.03 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer2024.05 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerInput=LiDAR2024.07 | 78.1 | 78 | 45.2 | 94 | 92.9 | 58.7 | 83.9 | 77.9 | 69.1 | 63.7 | 85.6 | 96.7 | — | 75.1 | 75.3 | 89.1 | 87.5 | — | — | 74.5 | — | — | — | — | — | |
| RangeFormer†Representation=Range View, Param=24.3M, FPS=6.22023.12 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNetinstance CutMix=false2021.03 | 77.6 | 78.2 | 43.4 | 92.7 | 93.2 | 49 | 85.7 | 80.5 | 66 | 66.9 | 84 | 96.9 | — | 75.9 | 76 | 90.6 | 88.9 | — | — | 73.5 | — | — | — | — | — | |
| RPVNetSize=24.8M, Modality=Multiple2023.03 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNet2024.05 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNetInput=LiDAR2024.07 | 77.6 | 78.2 | 43.4 | 92.7 | 93.2 | 49 | 85.7 | 80.5 | 66 | 66.9 | 84 | 96.9 | — | 75.9 | 76 | 90.6 | 88.9 | — | — | 73.5 | — | — | — | — | — | |
| RPVNetRepresentation=Multi-View, Param=24.8M, FPS=7.92023.12 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNet2024.05 | 77.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer w/ STRSize=24.3M, Wtrain=480, Modality=Range Image2023.03 | 77.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| (AF)2-S3Net2024.05 | 77.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PMFInput=LiDAR+Camera2024.07 | 76.9 | 74.1 | 46.6 | 89.8 | 92.7 | 57 | 77.7 | 80.9 | 70.9 | 64.6 | 82.9 | 95.5 | — | 73.6 | 74.8 | 89.4 | 87.7 | — | — | 73.3 | — | — | — | — | — | |
| GFNetModality=Multiple2023.03 | 76.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2020.11 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | — | — | — | — | — | — | — | |
| Cylinder3D2020.11 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | — | — | — | — | — | — | — | |
| AMVNet2021.03 | 76.1 | 79.8 | 32.4 | 82.2 | 86.4 | 62.5 | 81.9 | 75.3 | 72.3 | 83.5 | 65.1 | 97.4 | — | 78.8 | 74.6 | 90.8 | 87.9 | — | — | 67 | — | — | — | — | — | |
| Cylindr3D2021.03 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | — | 76.4 | 75.4 | 90.5 | 87.4 | — | — | 71.6 | — | — | — | — | — | |
| Cylinder3D2021.10 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | — | 76.4 | 75.4 | 90.5 | 87.4 | — | — | 71.6 | — | — | — | — | — | |
| Cylinder3D2022.06 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | 71.6 | 76.4 | 75.4 | 90.5 | 87.4 | — | — | — | — | — | — | — | — | |
| AMVNetModality=Multiple2023.03 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSize=56.3M, Modality=Sparse Voxel2023.03 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2024.05 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2024.07 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetInput=LiDAR2024.07 | 76.1 | 79.8 | 32.4 | 82.2 | 86.4 | 62.5 | 81.9 | 75.3 | 72.3 | 83.5 | 65.1 | 97.4 | — | 78.8 | 74.6 | 90.8 | 87.9 | — | — | 67 | — | — | — | — | — | |
| Cylinder3DInput=LiDAR2024.07 | 76.1 | 76.4 | 40.3 | 91.2 | 93.8 | 51.3 | 78 | 78.9 | 64.9 | 62.1 | 84.4 | 96.8 | — | 76.4 | 75.4 | 90.5 | 87.4 | — | — | 71.6 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSSL pretraining=false2025.02 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DRepresentation=Sparse Voxel, Param=55.9M, FPS=6.22023.12 | 76.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=PVD2022.06 | 76 | 76.2 | 40 | 90.2 | 94 | 50.9 | 77.4 | 78.8 | 64.7 | 62 | 84.1 | 96.6 | 71.4 | 76.4 | 76.3 | 90.3 | 86.9 | — | — | — | — | — | — | — | — | |
| PVKD2024.05 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKDInput=LiDAR2024.07 | 76 | 76.2 | 40 | 90.2 | 94 | 50.9 | 77.4 | 78.8 | 64.7 | 62 | 84.1 | 96.6 | — | 76.4 | 76.3 | 90.3 | 86.9 | — | — | 71.4 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKDRepresentation=Sparse Voxel, Param=14.1M, FPS=13.22023.12 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetRepresentation=Sparse Voxel, Param=21.7M, FPS=9.12023.12 | 75.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseConv*2021.10 | 75.2 | 76.9 | 25.4 | 91.5 | 86.8 | 54 | 76.7 | 77.9 | 62 | 66.4 | 83 | 96 | — | 75.9 | 75.2 | 91.3 | 89.9 | — | — | 74.7 | — | — | — | — | — | |
| RangeViTModality=Range Image2023.03 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViT2024.05 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViT-CSInput=LiDAR2024.07 | 75.2 | 75.5 | 40.7 | 88.3 | 90.1 | 49.3 | 79.3 | 77.2 | 66.3 | 65.2 | 80 | 96.4 | — | 73.8 | 73.8 | 89.9 | 87.2 | — | — | 71.4 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=100%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixLabel Ratio=100%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViT†Representation=Range View, Param=23.7M, FPS=10.02023.12 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Salsanext2022.06 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | — | — | — | — | — | — | — | — | |
| SVASegInput=LiDAR2024.07 | 74.7 | 73.1 | 44.5 | 88.4 | 86.6 | 48.2 | 80.5 | 77.7 | 65.6 | 57.5 | 82.1 | 96.5 | — | 74.7 | 74.6 | 87.3 | 86.9 | — | — | 70.5 | — | — | — | — | — | |
| SPVNASRepresentation=Sparse Voxel, Param=21.8M, FPS=8.92023.12 | 74.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 74.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=SKD2022.06 | 74.2 | 74.9 | 37.3 | 87.6 | 89.1 | 47.5 | 76.2 | 77.4 | 63.2 | 59.3 | 83.4 | 95.9 | 70.4 | 73.9 | 74.3 | 90.3 | 87.1 | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=CD2022.06 | 74.1 | 75.4 | 36.1 | 88.4 | 89.3 | 46.9 | 76.1 | 77.6 | 62.9 | 58 | 84.3 | 96 | 70.3 | 74.8 | 74.6 | 90.1 | 85.6 | — | — | — | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=KD2022.06 | 73.9 | 75.2 | 35.4 | 88.3 | 88.2 | 47.6 | 76.8 | 77.2 | 63.6 | 57.3 | 83.1 | 95.7 | 70.1 | 75.2 | 73.1 | 89.2 | 85.3 | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=KA2022.06 | 73.9 | 74.2 | 36.3 | 88.5 | 87.6 | 47.1 | 76.9 | 78.3 | 63.5 | 57.6 | 83.4 | 94.9 | 70.3 | 73.8 | 73.2 | 88.4 | 86.3 | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x, distillation=IFV2022.06 | 73.8 | 74.7 | 36.6 | 88.3 | 88.6 | 47.2 | 76.7 | 77.1 | 63.1 | 58.2 | 83.5 | 95.1 | 70.2 | 73.4 | 73.8 | 88.9 | 84.3 | — | — | — | — | — | — | — | — | |
| LaserMixLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 73.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 73.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5xbackbone=Cylinder3D 0.5x2022.06 | 73.6 | 74.6 | 36.2 | 88.2 | 87.3 | 47.9 | 76.4 | 77 | 63.4 | 58.8 | 82.3 | 95.1 | 70 | 73.5 | 73.6 | 88.7 | 85.2 | — | — | — | — | — | — | — | — | |
| CENetSize=6.8M, Modality=Range Image2023.03 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNet2024.05 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetSSL pretraining=false2025.02 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENetRepresentation=Range View, Param=6.8M, FPS=33.42023.12 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Occupancy-MAESSL pretraining=true2025.02 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 72.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPSLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Salsanext2020.11 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | — | — | — | — | — | — | — | |
| Salsanext2020.11 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | 70.8 | 71.2 | 71.5 | 86.7 | 84.4 | — | — | — | — | — | — | — | — | |
| Salsanext2021.03 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | — | 71.2 | 71.5 | 86.7 | 84.4 | — | — | 70.8 | — | — | — | — | — | |
| SalsaNext2021.10 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | — | 71.2 | 71.5 | 86.7 | 84.4 | — | — | 70.8 | — | — | — | — | — | |
| SalsaNextSize=6.7M, Modality=Range Image2023.03 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SalsaNextInput=LiDAR2024.07 | 72.2 | 74.8 | 34.1 | 85.9 | 88.4 | 42.2 | 72.4 | 72.2 | 63.1 | 61.3 | 76.5 | 96 | — | 71.2 | 71.5 | 86.7 | 84.4 | — | — | 70.8 | — | — | — | — | — | |
| PCSCNetInput=LiDAR2024.07 | 72 | 73.3 | 42.2 | 87.8 | 86.1 | 44.9 | 82.2 | 76.1 | 62.9 | 49.3 | 77.3 | 95.2 | — | 69.5 | 72.3 | 83.7 | 82.5 | — | — | 66.9 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CBSTLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 71.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 71.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |