LiDAR Semantic Segmentation on SemanticKITTI sequences 11 to 21 (test)
94.2Car IoURandLa-Net
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RandLa-NetApproach Type=Point-wise, Input Size=50k pts2020.03 | 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 | — | |
| RLNetProcessing=PointNet-based2020.04 | 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 | |
| LatticeNetApproach Type=Point-wise, Input Size=50k pts2020.03 | 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 | — | |
| SSGV3-53Backbone=SqueezeSegV3-53, Processing=Projection-based, KNN post-processing=true2020.04 | 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 | |
| SqueezeSegV3Approach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SalsaNextApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| RGN53Backbone=RangeNet53, Processing=Projection-based, KNN post-processing=true2020.04 | 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++Approach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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-MiniNetApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SSGV3-21Backbone=SqueezeSegV3-21, Processing=Projection-based, KNN post-processing=true2020.04 | 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 | |
| SalsaNetApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SSGV3-53Backbone=SqueezeSegV3-53, Processing=Projection-based2020.04 | 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 | |
| TgConvProcessing=PointNet-based2020.04 | 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 | |
| TangentConvApproach Type=Point-wise, Input Size=50k pts2020.03 | 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 | — | |
| RGN53Backbone=RangeNet53, Processing=Projection-based2020.04 | 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 | |
| RangeNet53Approach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| RGN21Backbone=RangeNet21, Processing=Projection-based2020.04 | 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 | |
| RangeNet21Approach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SSGV3-21Backbone=SqueezeSegV3-21, Processing=Projection-based2020.04 | 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 | |
| SSGV2Processing=Projection-based, CRF post-processing=true2020.04 | 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-CRFApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SSGV2Processing=Projection-based, CRF post-processing=false2020.04 | 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 | |
| SqueezeSegV2Approach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SSGProcessing=Projection-based, CRF post-processing=false2020.04 | 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 | |
| SqueezeSegApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SPGraphProcessing=PointNet-based2020.04 | 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 | |
| SSGProcessing=Projection-based, CRF post-processing=true2020.04 | 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 | |
| SPGraphApproach Type=Point-wise, Input Size=50k pts2020.03 | 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-CRFApproach Type=Projection-based, Input Size=64x2048 pixels2020.03 | 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 | — | |
| SPLATProcessing=PointNet-based2020.04 | 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 | |
| SPLATNetApproach Type=Point-wise, Input Size=50k pts2020.03 | 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++Processing=PointNet-based2020.04 | 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++Approach Type=Point-wise, Input Size=50k pts2020.03 | 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 | — | |
| PNetProcessing=PointNet-based2020.04 | 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 | |
| PointnetApproach Type=Point-wise, Input Size=50k pts2020.03 | 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 | — |