LiDAR Semantic Segmentation on SemanticKITTI 1.0 (test)
72.9mIoU2DPASS
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2DPASSspeed (ms)=622022.07 | 72.9 | 97 | 63.6 | 63.4 | 61.1 | 61.5 | 77.9 | 81.3 | 74.1 | 89.7 | 67.4 | 74.7 | 40 | 93.5 | 72.9 | 86.2 | 73.9 | 71 | 65 | 70.4 | |
| C3D_0.5x + PVDfinetuning and flip & rotation test ensemble=true, Latency (ms)=762022.06 | 71.2 | 97 | 67.9 | 69.3 | 53.5 | 60.2 | 75.1 | 73.5 | 50.5 | 91.8 | 70.9 | 77.5 | 41 | 92.4 | 69.4 | 86.5 | 73.8 | 71.9 | 64.9 | 65.8 | |
| (AF)2-S3Net2022.07 | 70.8 | 94.3 | 63 | 81.4 | 40.2 | 40 | 76.4 | 81.7 | 77.7 | 92 | 66.8 | 76.2 | 45.8 | 92.5 | 69.6 | 78.6 | 68 | 63.1 | 64 | 73.3 | |
| RPVNetspeed (ms)=1682022.07 | 70.3 | 97.6 | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 43.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | |
| Cylinder3Dfinetuning and flip & rotation test ensemble=true, Latency (ms)=1702022.06 | 68.9 | 97.1 | 67.6 | 63.8 | 50.8 | 58.5 | 73.7 | 69.2 | 48 | 92.2 | 65 | 77 | 32.3 | 90.7 | 66.5 | 85.6 | 72.5 | 69.8 | 62.4 | 66.2 | |
| C3D_0.5x + PVDLatency (ms)=762022.06 | 68.9 | 96.7 | 66.4 | 61 | 60 | 59.3 | 73.2 | 72.1 | 25 | 91.4 | 66.5 | 76.2 | 37.1 | 93 | 70.5 | 85.9 | 72.7 | 69.8 | 64.1 | 67.8 | |
| Cylinder3Dspeed (ms)=1312022.07 | 68.9 | 97.1 | 67.6 | 63.8 | 50.8 | 58.5 | 73.7 | 69.2 | 48 | 92.2 | 65 | 77 | 32.3 | 90.7 | 66.5 | 85.6 | 72.5 | 69.8 | 62.4 | 66.2 | |
| Baselinespeed (ms)=622022.07 | 67.4 | 96.3 | 51.1 | 55.8 | 54.9 | 51.6 | 76.8 | 79.8 | 30.3 | 89.8 | 62.1 | 73.8 | 33.5 | 91.9 | 68.7 | 86.5 | 72.3 | 71.3 | 63.7 | 70.2 | |
| SPVNASspeed (ms)=2592022.07 | 67 | 97.2 | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | |
| SPVNASfinetuning and flip & rotation test ensemble=true, Latency (ms)=2592022.06 | 66.4 | 97.3 | 51.5 | 50.8 | 59.8 | 58.8 | 65.7 | 65.2 | 43.7 | 90.2 | 67.6 | 75.2 | 16.9 | 91.3 | 65.9 | 86.1 | 73.4 | 71 | 64.2 | 66.9 | |
| CoLLiSRepresentation=F-Range, Label Proportion=50%2026.05 | 66.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5x + CDLatency (ms)=762022.06 | 66.1 | 94.5 | 62.7 | 59.8 | 49.3 | 57.2 | 72.1 | 67.1 | 22.7 | 92.1 | 61.4 | 74.9 | 30.8 | 90.9 | 67.3 | 84.6 | 72.2 | 68.3 | 61.1 | 65.1 | |
| JS3C-Netspeed (ms)=4712022.07 | 66 | 95.8 | 59.3 | 52.9 | 54.3 | 46 | 69.5 | 65.4 | 39.9 | 88.9 | 61.9 | 72.1 | 31.9 | 92.5 | 70.8 | 84.5 | 69.8 | 67.9 | 60.7 | 68.7 | |
| C3D_0.5x + SKDLatency (ms)=762022.06 | 65.8 | 93.6 | 62.7 | 59.6 | 48.5 | 57.4 | 72.8 | 66.7 | 24.3 | 91.6 | 61.4 | 75.9 | 30.8 | 90.1 | 65.6 | 84.8 | 71.7 | 67.5 | 60.7 | 65.2 | |
| C3D_0.5x + KDLatency (ms)=762022.06 | 65.6 | 93.8 | 62.5 | 59.4 | 48.6 | 55.3 | 72.9 | 66.5 | 21.9 | 91.8 | 61.3 | 75.7 | 30.5 | 90.4 | 65.5 | 84.3 | 71.7 | 67.6 | 60.3 | 64.8 | |
| C3D_0.5x + IFVLatency (ms)=762022.06 | 65.5 | 93.7 | 62.4 | 59.1 | 48.7 | 56.7 | 72.4 | 66.6 | 21.4 | 91.5 | 62 | 75.6 | 30.4 | 90.3 | 66.2 | 84.7 | 71.5 | 67.5 | 60.6 | 64.3 | |
| C3D_0.5x + KALatency (ms)=762022.06 | 65.5 | 93.4 | 62.6 | 58.9 | 48.5 | 56.5 | 72.7 | 66.5 | 20.7 | 91.6 | 61.5 | 75.3 | 30.1 | 89.9 | 65.6 | 84.4 | 71.3 | 67.8 | 60.3 | 65.8 | |
| FrustumMixRepresentation=F-Range, Label Proportion=50%2026.05 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| C3D_0.5×Latency (ms)=762022.06 | 65.3 | 93.4 | 62.3 | 59.2 | 48.3 | 56.4 | 72.3 | 66.3 | 21 | 91.2 | 61.3 | 75.3 | 30.4 | 89.8 | 65.4 | 84.2 | 71.4 | 67.3 | 60.2 | 64.2 | |
| FrustumMixRepresentation=F-Range, Label Proportion=20%2026.05 | 65.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=F-Range, Label Proportion=50%2026.05 | 65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoLLiSRepresentation=F-Range, Label Proportion=20%2026.05 | 64.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FrustumMixRepresentation=F-Range, Label Proportion=10%2026.05 | 64.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENetCategory=Image-based, Size=64 x 2048, FPS (Hz)=37.82022.07 | 64.7 | 91.9 | 58.6 | 50.3 | 40.6 | 42.3 | 68.9 | 65.9 | 43.5 | 90.3 | 60.9 | 75.1 | 31.5 | 91 | 66.2 | 84.5 | 69.7 | 70 | 61.5 | 67.6 | |
| CoLLiSRepresentation=F-Range, Label Proportion=10%2026.05 | 64.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoLLiSRepresentation=Voxel, Label Proportion=50%2026.05 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVCNNCategory=Voxel-based, Size=Voxel, FPS (Hz)=3.22022.07 | 63.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lite-HDSegCategory=Image-based, Size=64 x 2048, FPS (Hz)=202022.07 | 63.8 | 92.3 | 40 | 55.4 | 37.7 | 39.6 | 59.2 | 71.6 | 54.3 | 93 | 68.2 | 78.3 | 29.3 | 91.5 | 65 | 78.2 | 65.8 | 65.1 | 59.5 | 67.7 | |
| PolarMixRepresentation=F-Range, Label Proportion=50%2026.05 | 63.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoLLiSRepresentation=Voxel, Label Proportion=20%2026.05 | 63.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=F-Range, Label Proportion=20%2026.05 | 63.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPRNetfinetuning and flip & rotation test ensemble=true2022.06 | 63.1 | 95.5 | 54.1 | 47.9 | 23.6 | 42.6 | 65.9 | 65 | 16.5 | 93.2 | 73.9 | 80.6 | 30.2 | 91.7 | 68.4 | 85.7 | 69.8 | 71.2 | 58.7 | 64.1 | |
| TORNADONetfinetuning and flip & rotation test ensemble=true2022.06 | 63.1 | 94.2 | 55.7 | 48.1 | 40 | 38.2 | 63.6 | 60.1 | 34.9 | 89.7 | 66.3 | 74.5 | 28.7 | 91.3 | 65.6 | 85.6 | 67 | 71.5 | 58 | 65.9 | |
| MinkowskiNetCategory=Voxel-based, Size=Voxel, FPS (Hz)=3.42022.07 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPRNetCategory=Image-based, Size=64 x 2048, FPS (Hz)=0.32022.07 | 63.1 | 95.5 | 54.1 | 47.9 | 23.6 | 42.6 | 65.9 | 65 | 16.5 | 93.2 | 73.9 | 80.6 | 30.2 | 91.7 | 68.4 | 85.7 | 69.8 | 71.2 | 58.7 | 64.1 | |
| sup. onlyRepresentation=F-Range, Label Proportion=50%2026.05 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoLLiSRepresentation=Voxel, Label Proportion=10%2026.05 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=F-Range, Label Proportion=10%2026.05 | 62.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IT2Representation=Voxel, Label Proportion=50%2026.05 | 62.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENetCategory=Image-based, Size=64 x 1024, FPS (Hz)=67.92022.07 | 62.3 | 93 | 50.5 | 47.6 | 41.7 | 43.4 | 64.5 | 65.2 | 32.5 | 90.5 | 65.5 | 74.1 | 29.2 | 90.9 | 65.4 | 81.6 | 65.4 | 65.6 | 55.9 | 61 | |
| LaserMixRepresentation=Voxel, Label Proportion=50%2026.05 | 62.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IT2Representation=Voxel, Label Proportion=20%2026.05 | 62.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarMixRepresentation=F-Range, Label Proportion=20%2026.05 | 62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=Voxel, Label Proportion=20%2026.05 | 61.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=F-Range, Label Proportion=20%2026.05 | 61.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IT2Representation=Voxel, Label Proportion=10%2026.05 | 61.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FusionNetfinetuning and flip & rotation test ensemble=true2022.06 | 61.3 | 95.3 | 47.5 | 37.7 | 41.8 | 34.5 | 59.5 | 56.8 | 11.9 | 91.8 | 68.8 | 77.1 | 30.8 | 92.5 | 69.4 | 84.5 | 69.8 | 68.5 | 60.4 | 66.5 | |
| PolarMixRepresentation=F-Range, Label Proportion=10%2026.05 | 60.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENetCategory=Image-based, Size=64 x 512, FPS (Hz)=84.92022.07 | 60.7 | 92.1 | 45.4 | 42.9 | 43.9 | 46.8 | 56.4 | 63.8 | 29.7 | 91.3 | 66 | 75.3 | 31.1 | 88.9 | 60.4 | 81.9 | 60.5 | 67.6 | 49.5 | 59.1 | |
| CPSRepresentation=Voxel, Label Proportion=50%2026.05 | 60.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=F-Range, Label Proportion=10%2026.05 | 60.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=Voxel, Label Proportion=10%2026.05 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BAAFCategory=Point-based, Size=50K pts, FPS (Hz)=3.42022.07 | 59.9 | 95.4 | 31.8 | 35.5 | 48.7 | 46.7 | 49.5 | 55.7 | 53 | 90.9 | 62.2 | 74.4 | 23.6 | 89.8 | 60.8 | 82.7 | 63.4 | 67.9 | 53.7 | 52 | |
| CBSTRepresentation=Voxel, Label Proportion=50%2026.05 | 59.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPSRepresentation=Voxel, Label Proportion=20%2026.05 | 59.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Salsanext2022.06 | 59.5 | 91.9 | 48.3 | 38.6 | 38.9 | 31.9 | 60.2 | 59 | 19.4 | 91.7 | 63.7 | 75.8 | 29.1 | 90.2 | 64.2 | 81.8 | 63.6 | 66.5 | 54.3 | 62.1 | |
| SalsaNextCategory=Image-based, Size=64 x 2048, FPS (Hz)=242022.07 | 59.5 | 91.9 | 48.3 | 38.6 | 38.9 | 31.9 | 60.2 | 59 | 19.4 | 91.7 | 63.7 | 75.8 | 29.1 | 90.2 | 64.2 | 81.8 | 63.6 | 66.5 | 54.3 | 62.1 | |
| CBSTRepresentation=Voxel, Label Proportion=20%2026.05 | 59.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvLatency (ms)=2632022.06 | 58.8 | 96 | 32 | 42.5 | 33.4 | 44.3 | 61.5 | 61.6 | 11.8 | 88.8 | 61.3 | 72.7 | 31.6 | 95 | 64.2 | 84.8 | 69.2 | 69.1 | 56.4 | 47.4 | |
| KPConvCategory=Point-based, Size=50K pts, FPS (Hz)=52022.07 | 58.8 | 96 | 30.2 | 42.5 | 33.4 | 44.3 | 61.5 | 61.6 | 11.8 | 88.8 | 61.3 | 72.7 | 31.6 | 90.5 | 64.2 | 84.8 | 69.2 | 69.1 | 56.4 | 47.4 | |
| KPConv2022.07 | 58.8 | 95 | 30.2 | 42.5 | 33.4 | 44.3 | 61.5 | 61.6 | 11.8 | 90.3 | 61.3 | 72.7 | 31.5 | 90.5 | 64.2 | 84.8 | 69.2 | 69.1 | 56.4 | 47.4 | |
| sup. onlyRepresentation=Voxel, Label Proportion=50%2026.05 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPSRepresentation=Voxel, Label Proportion=10%2026.05 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FIDNet-PointCategory=Image-based, Size=64 x 2048, FPS (Hz)=33.72022.07 | 58.6 | 93 | 45.7 | 42 | 27.9 | 32.6 | 62.6 | 58.1 | 30.5 | 90.8 | 58.3 | 74.9 | 20.1 | 88.5 | 59.5 | 83.1 | 64.3 | 67.8 | 52.6 | 60 | |
| SPVCNN-liteCategory=Voxel-based, Size=Voxel, FPS (Hz)=8.12022.07 | 58.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CBSTRepresentation=Voxel, Label Proportion=10%2026.05 | 58.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=Voxel, Label Proportion=20%2026.05 | 57.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkowskiNet-liteCategory=Voxel-based, Size=Voxel, FPS (Hz)=8.62022.07 | 57.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=Voxel, Label Proportion=10%2026.05 | 56.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FIDNet-PointCategory=Image-based, Size=64 x 1024, FPS (Hz)=60.92022.07 | 56 | 92.4 | 44 | 41.5 | 33.2 | 30.8 | 57.9 | 52.6 | 18 | 91 | 61.2 | 73.8 | 12.6 | 88.2 | 57.9 | 80.8 | 59.5 | 65.1 | 45.3 | 58.4 | |
| CoLLiSRepresentation=F-Range, Label Proportion=1%2026.05 | 56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SqueezeSegV3Category=Image-based, Size=64 x 2048, FPS (Hz)=62022.07 | 55.9 | 92.5 | 38.7 | 36.5 | 29.6 | 33 | 45.6 | 46.2 | 20.1 | 91.7 | 63.4 | 74.8 | 26.4 | 89 | 59.4 | 82 | 58.7 | 65.4 | 49.6 | 58.9 | |
| SqueezeSegV3speed (ms)=2382022.07 | 55.9 | 92.5 | 38.7 | 36.5 | 29.6 | 33 | 45.6 | 46.2 | 20.1 | 91.7 | 63.4 | 74.8 | 26.4 | 89 | 59.4 | 82 | 58.7 | 65.4 | 49.6 | 58.9 | |
| RandLA-Netspeed (ms)=8802022.07 | 55.9 | 94.2 | 29.8 | 32.2 | 43.9 | 39.1 | 48.4 | 47.4 | 9.4 | 90.5 | 61.8 | 74 | 24.5 | 89.7 | 60.4 | 83.8 | 63.6 | 68.6 | 51 | 50.7 | |
| 3D-MiniNet2022.07 | 55.8 | 90.5 | 42.3 | 42.1 | 28.5 | 29.4 | 47.8 | 44.1 | 14.5 | 91.6 | 64.2 | 74.5 | 25.4 | 89.4 | 60.8 | 82.8 | 60.8 | 66.7 | 48 | 56.6 | |
| FrustumMixRepresentation=F-Range, Label Proportion=1%2026.05 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MPFCategory=Image-based, Size=64 x 2048, FPS (Hz)=20.62022.07 | 55.5 | 93.4 | 30.2 | 38.3 | 26.1 | 28.5 | 48.1 | 46.1 | 18.1 | 90.6 | 62.3 | 74.5 | 30.6 | 88.5 | 59.7 | 83.5 | 59.7 | 69.2 | 49.7 | 58.1 | |
| CoLLiSRepresentation=Polar, Label Proportion=50%2026.05 | 55.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarNetspeed (ms)=622022.07 | 54.3 | 93.8 | 40.3 | 30.1 | 22.9 | 28.5 | 43.2 | 40.2 | 5.6 | 90.8 | 61.7 | 74.4 | 21.7 | 90 | 61.3 | 84 | 65.5 | 67.8 | 51.8 | 57.5 | |
| CoLLiSRepresentation=Polar, Label Proportion=20%2026.05 | 54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLa-NetCategory=Point-based, Size=50K pts, FPS (Hz)=202022.07 | 53.9 | 94.2 | 26 | 25.8 | 40.1 | 38.9 | 49.2 | 48.2 | 7.2 | 90.7 | 60.3 | 73.7 | 20.4 | 86.9 | 56.3 | 81.4 | 61.3 | 66.8 | 49.2 | 47.7 | |
| MPFCategory=Image-based, Size=64 x 1024, FPS (Hz)=28.52022.07 | 53.6 | 92.7 | 28.2 | 30.5 | 26.9 | 25.2 | 42.5 | 45.5 | 9.5 | 90.5 | 64.7 | 74.3 | 32 | 88.3 | 59 | 83.4 | 56.6 | 69.8 | 46 | 54.9 | |
| CoLLiSRepresentation=Polar, Label Proportion=10%2026.05 | 53.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoLLiSRepresentation=Voxel, Label Proportion=1%2026.05 | 53.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=Polar, Label Proportion=50%2026.05 | 53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LaserMixRepresentation=F-Range, Label Proportion=1%2026.05 | 52.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeNet++Category=Image-based, Size=64 x 2048, FPS (Hz)=12.82022.07 | 52.2 | 91.4 | 25.7 | 34.4 | 25.7 | 23 | 38.3 | 38.8 | 4.8 | 91.8 | 65 | 75.2 | 27.8 | 87.4 | 58.6 | 80.5 | 55.1 | 64.6 | 47.9 | 55.9 | |
| RangeNet53++speed (ms)=83.32022.07 | 52.2 | 91.4 | 25.7 | 34.4 | 25.7 | 23 | 38.3 | 38.8 | 4.8 | 91.8 | 65 | 75.2 | 27.8 | 87.4 | 58.6 | 80.5 | 55.1 | 64.6 | 47.9 | 55.9 | |
| IT2Representation=Voxel, Label Proportion=1%2026.05 | 52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=Polar, Label Proportion=20%2026.05 | 51.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FIDNet-PointCategory=Image-based, Size=64 x 512, FPS (Hz)=822022.07 | 51.3 | 90.4 | 28.6 | 30.9 | 34.3 | 27 | 43.9 | 48.9 | 16.8 | 90.1 | 58.7 | 71.4 | 19.9 | 84.2 | 51.2 | 78.2 | 51.9 | 64.5 | 32.7 | 50.3 | |
| LaserMixRepresentation=Voxel, Label Proportion=1%2026.05 | 50.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| sup. onlyRepresentation=Polar, Label Proportion=10%2026.05 | 50.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PolarMixRepresentation=F-Range, Label Proportion=1%2026.05 | 50.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DarkNet53Seg2022.07 | 49.9 | 86.4 | 24.5 | 32.7 | 25.5 | 22.6 | 36.2 | 33.6 | 4.7 | 91.8 | 64.8 | 74.6 | 27.9 | 84.1 | 55 | 78.3 | 50.1 | 64 | 38.9 | 52.2 | |
| MPFCategory=Image-based, Size=64 x 512, FPS (Hz)=33.72022.07 | 48.9 | 91.1 | 22 | 19.7 | 18.8 | 16.5 | 30 | 36.2 | 4.2 | 91.1 | 61.9 | 74.1 | 29.4 | 86.7 | 56.2 | 82.3 | 51.6 | 68.9 | 38.6 | 49.8 | |
| CBSTRepresentation=Voxel, Label Proportion=1%2026.05 | 48.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeNet++Category=Image-based, Size=64 x 1024, FPS (Hz)=23.32022.07 | 48 | 90.3 | 20.6 | 27.1 | 25.2 | 17.6 | 29.6 | 34.2 | 7.1 | 90.4 | 52.3 | 72.7 | 22.8 | 83.9 | 53.3 | 77.7 | 52.5 | 63.7 | 43.8 | 47.2 | |
| PointASNL2022.07 | 46.8 | 87.9 | 0 | 25.1 | 39 | 29.2 | 34.2 | 57.6 | 0 | 87.4 | 24.3 | 74.3 | 1.8 | 83.1 | 43.9 | 84.1 | 52.2 | 70.6 | 57.8 | 36.9 | |
| CoLLiSRepresentation=Polar, Label Proportion=1%2026.05 | 46.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |