LiDAR Semantic Segmentation on SemanticKITTI sequences 11 to 21 (test)

94.2Car IoURandLa-Net

Evaluation Results

Method
RandLa-Net2020.03	94.2	26	25.8	40.1	38.9	49.2	48.2	7.2	90.7	60.3	73.7	38.9	86.9	56.3	81.4	61.3	66.8	49.2	47.7	53.9	—
RLNet2020.04	94	19.8	21.4	42.7	38.7	47.5	48.8	4.6	90.4	56.9	67.9	15.5	81.1	49.7	78.3	60.3	59	44.2	38.1	50.3	22
LatticeNet2020.03	92.9	16.6	22.2	26.6	21.4	35.6	43	46	90	59.4	74.1	22	88.2	58.8	81.7	63.6	63.1	51.9	48.4	52.9	—
SSGV3-532020.04	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	55.9	6
SqueezeSegV32020.03	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	55.9	—
SalsaNext2020.03	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	59.5	—
RGN532020.04	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	52.2	11
RangeNet53++2020.03	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	52.2	—
3D-MiniNet2020.03	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	55.8	—
SSGV3-212020.04	89.4	33.7	34.9	11.3	21.5	42.6	44.9	21.2	90.8	54.1	73.3	23.2	84.8	53.6	80.2	53.3	64.5	46.4	57.6	51.6	15
SalsaNet2020.03	87.5	26.2	24.6	24	17.5	33.2	31.1	8.4	89.7	51.7	70.7	19.7	82.8	48	73	40	61.7	31.3	41.9	45.4	—
SSGV3-532020.04	87.4	35.2	33.7	29	31.9	41.8	39.1	20.1	91.8	63.5	74.4	27.2	85.3	55.8	79.4	52.1	64.7	38.6	53.4	52.9	7
TgConv2020.04	86.8	1.3	12.7	11.6	10.2	17.1	20.2	0.5	82.9	15.2	61.7	9	82.8	44.2	75.5	42.5	55.5	30.2	22.2	35.9	0.3
TangentConv2020.03	86.8	1.3	12.7	11.6	10.2	17.1	20.2	0.5	82.9	15.2	61.7	9	82.8	44.2	75.5	42.5	55.5	30.2	22.2	35.9	—
RGN532020.04	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	49.9	12
RangeNet532020.03	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	49.9	—
RGN212020.04	85.4	26.2	26.5	18.6	15.6	31.8	33.6	4	91.4	57	74	26.4	81.9	52.3	77.6	48.4	63.6	36	50	47.4	20
RangeNet212020.03	85.4	26.2	26.5	18.6	15.6	31.8	33.6	4	91.4	57	74	26.4	81.9	52.3	77.6	48.4	63.6	36	50	47.4	—
SSGV3-212020.04	84.6	31.5	32.4	11.3	20.9	39.4	36.1	21.3	90.8	54.1	72.9	23.9	81.1	50.3	77.6	47.7	63.9	36.1	51.7	48.8	16
SSGV22020.04	82.7	21	22.6	14.5	15.9	20.2	24.3	2.9	88.5	42.4	65.5	18.7	73.8	41	68.5	36.9	58.9	12.9	41	39.6	39
SqueezeSegV2-CRF2020.03	82.7	21	22.6	14.5	15.9	20.2	24.3	2.9	88.5	42.4	65.5	18.7	73.8	41	68.5	36.9	58.9	12.9	41	39.6	—
SSGV22020.04	81.8	18.5	17.9	13.4	14	20.1	25.1	3.9	88.6	45.8	67.6	17.7	73.7	41.1	71.8	35.8	60.2	20.2	36.3	39.7	50
SqueezeSegV22020.03	81.8	18.5	17.9	13.4	14	20.1	25.1	3.9	88.6	45.8	67.6	17.7	73.7	41.1	71.8	35.8	60.2	20.2	36.3	39.7	—
SSG2020.04	68.8	16	4.1	3.3	3.6	12.9	13.1	0.9	85.4	26.9	54.3	4.5	57.4	29	60	24.3	53.7	17.5	24.5	29.5	65
SqueezeSeg2020.03	68.8	16	4.1	3.3	3.6	12.9	13.1	0.9	85.4	26.9	54.3	4.5	57.4	29	60	24.3	53.7	17.5	24.5	29.5	—
SPGraph2020.04	68.3	0.9	4.5	0.9	0.8	1	6	0	49.5	1.7	24.2	0.3	68.2	22.5	59.2	27.2	17	18.3	10.5	20	0.2
SSG2020.04	68.3	18.1	5.1	4.1	4.8	16.5	17.3	1.2	84.9	28.4	54.7	4.6	61.5	29.2	59.6	25.5	54.7	11.2	36.3	30.8	53
SPGraph2020.03	68.3	0.9	4.5	0.9	0.8	1	6	0	49.5	1.7	24.2	0.3	68.2	22.5	59.2	27.2	17	18.3	10.5	20	—
SqueezeSeg-CRF2020.03	68.3	18.1	5.1	4.1	4.8	16.5	17.3	1.2	84.9	28.4	54.7	4.6	61.5	29.2	59.6	25.5	54.7	11.2	36.3	30.8	—
SPLAT2020.04	66.6	0	0	0	0	0	0	0	70.4	0.8	41.5	0	68.7	27.8	72.3	35.9	35.8	13.8	0	22.8	1
SPLATNet2020.03	66.6	0	0	0	0	0	0	0	70.4	0.8	41.5	0	68.7	27.8	72.3	35.9	35.8	13.8	0	22.8	—
PNet++2020.04	53.7	1.9	0.2	0.9	0.2	0.9	1	0	72	18.7	41.8	5.6	62.3	16.9	46.5	13.8	30	6	8.9	20.1	0.1
Pointnet++2020.03	53.7	1.9	0.2	0.9	0.2	0.9	1	0	72	18.7	41.8	5.6	62.3	16.9	46.5	13.8	30	6	8.9	20.1	—
PNet2020.04	46.3	1.3	0.3	0.1	0.8	0.2	0.2	0	61.6	15.8	35.7	1.4	41.4	12.9	31	4.6	17.6	2.4	3.7	14.6	2
Pointnet2020.03	46.3	1.3	0.3	0.1	0.8	0.2	0.2	0	61.6	15.8	35.7	1.4	41.4	12.9	31	4.6	17.6	2.4	3.7	14.6	—