LiDAR Semantic Segmentation on SemanticKITTI (test)
76.5mIoUTASeg
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TASegRepresentation=Multi-View, Param=46.7M, FPS=6.12023.12 | 76.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniSeg2023.09 | 75.2 | 97.9 | 71.9 | 75.2 | 63.6 | 74.1 | 78.9 | 74.8 | 60.6 | 92.6 | 74 | 79.5 | 46.1 | 93.4 | 72.7 | 87.5 | 76.3 | 73.1 | 68.3 | 68.5 | |
| UniSeg2023.09 | 75.2 | 97.9 | 71.9 | 75.2 | 63.6 | 74.1 | 78.9 | 74.8 | 60.6 | 92.6 | 74 | 79.5 | 46.1 | 93.4 | 72.7 | 87.5 | 76.3 | 73.1 | 68.3 | 68.5 | |
| UniSegRepresentation=Multi-View, Param=147.6M, FPS=6.92023.12 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| M3Net2024.05 | 75.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.05 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2024.07 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerRepresentation=Multi-View, Param=32.3M, FPS=4.92023.12 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerRepresentation Type=3D Voxel Based2026.06 | 74.8 | 97.5 | 70.1 | 70.5 | 59.6 | 67.7 | 79 | 80.4 | 75.3 | 91.8 | 69.7 | 78.2 | 41.3 | 93.8 | 72.8 | 86.7 | 75.1 | 72.4 | 66.8 | 72.9 | |
| observability-constrained test-time prompt tuningRepresentation Type=2D Projection Based2026.06 | 74.3 | 97.5 | 69.1 | 75.9 | 61.1 | 65.8 | 79.4 | 79.2 | 58.9 | 93 | 74.8 | 79.8 | 42.4 | 92 | 72.4 | 87.2 | 74.7 | 73.2 | 66.2 | 68.5 | |
| PTv3Representation=Raw Points, Param=46.2M, FPS=20.22023.12 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer2023.09 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer2023.09 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerSize=24.3M, Latency=37ms, Modality=Range Image2023.03 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerResolution=64 x 20482023.03 | 73.3 | 96.7 | 69.4 | 73.7 | 59.9 | 66.2 | 78.1 | 75.9 | 58.1 | 92.4 | 73 | 78.8 | 42.4 | 92.3 | 70.1 | 86.6 | 73.3 | 72.8 | 66.4 | 66.6 | |
| FRNet2024.05 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer†Representation=Range View, Param=24.3M, FPS=6.22023.12 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FRNetRepresentation=Frustum-Range, Param=10.0M, FPS=29.12023.12 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FRNetRepresentation Type=2D Projection Based2026.06 | 73.3 | 97.3 | 67.9 | 74.6 | 59.4 | 66.3 | 78.1 | 79.2 | 57.3 | 92.1 | 73 | 78.1 | 41.8 | 92.7 | 71 | 86.7 | 73.2 | 72.5 | 64.7 | 67.3 | |
| 2DPASS2023.03 | 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 | |
| 2DPASS2023.09 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2023.09 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSLatency=62ms, Modality=Multiple2023.03 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2Representation=Raw Points, Param=12.8M, FPS=4.72023.12 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Fast-FRNetRepresentation=Frustum-Range, Param=7.5M, FPS=33.82023.12 | 72.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer w/ STRSize=24.3M, Latency=32ms, Wtrain=384, Modality=Range Image2023.03 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormer w/ STRParadigm=STR, Wtrain=3842023.03 | 72.2 | 96.4 | 67.1 | 72.2 | 58.8 | 67.4 | 74.9 | 74.7 | 57.5 | 92.1 | 72.5 | 78.2 | 42.4 | 91.8 | 69.7 | 85.8 | 70.4 | 72.3 | 62.8 | 65 | |
| 2DPASSRepresentation=Multi-View, Param=26.5M, FPS=8.42023.12 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerResolution=64 x 10242023.03 | 72.1 | 95.7 | 66.2 | 72.9 | 59.8 | 66.5 | 75.8 | 74.5 | 56.5 | 91.8 | 71.9 | 77.4 | 41.6 | 91.6 | 68.9 | 85.8 | 71.5 | 71.6 | 64.2 | 65.8 | |
| C3D + SCPNetLatency (ms)=170, initialization=trained weight of SCPNet2023.03 | 71.5 | 97.5 | 60.9 | 56.3 | 58.6 | 65.9 | 70.7 | 71.8 | 58.7 | 93.6 | 72.1 | 80.9 | 36.2 | 93.3 | 72.1 | 86.2 | 74.1 | 71.6 | 66.7 | 71.8 | |
| RangeFormer2024.05 | 71.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKDLatency (ms)=762023.03 | 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 | |
| PVKD2023.09 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKD2023.09 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKD2024.05 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PVKDRepresentation=Sparse Voxel, Param=14.1M, FPS=13.22023.12 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIron2024.05 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIronRepresentation=Raw Points, Param=6.8M, FPS=7.42023.12 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GASN2023.09 | 70.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GASN2023.09 | 70.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2+2024.05 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SDSeg3D2023.09 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SDSeg3D2023.09 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNet2023.03 | 70.3 | 97.6 | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 73.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | |
| RPVNet2023.09 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNet2023.09 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNet2024.05 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SFPNet2024.07 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNetRepresentation=Multi-View, Param=24.8M, FPS=7.92023.12 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerResolution=64 x 5122023.03 | 70 | 94.7 | 60.5 | 70.2 | 58.4 | 64.6 | 72.8 | 73 | 55.4 | 90.8 | 70.4 | 75.4 | 39.9 | 90.7 | 66.6 | 84.6 | 68.6 | 70.5 | 59.4 | 63.6 | |
| AF2S3Net2023.03 | 69.7 | 94.5 | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 72.5 | 53.5 | 87.9 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | |
| AF2S3Net2023.09 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AF2S3Net2023.09 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AF2-S3NetLatency=111ms, Modality=Multiple2023.03 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| (AF)2-S3Net2024.05 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DLatency (ms)=1702023.03 | 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 | |
| Cylinder3D2023.09 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2023.09 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2024.07 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RPVNetSize=24.8M, Latency=111ms, Modality=Multiple2023.03 | 68.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DSize=56.3M, Latency=170ms, Modality=Sparse Voxel2023.03 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D2024.05 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DRepresentation=Sparse Voxel, Param=55.9M, FPS=6.22023.12 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DRepresentation Type=3D Voxel Based2026.06 | 67.8 | 97.1 | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | |
| SPVNASLatency (ms)=2592023.03 | 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 | |
| SPVNAS2023.09 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS2023.09 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASSize=12.5M, Latency=259ms, Modality=Sparse Voxel2023.03 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS2024.05 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASRepresentation=Sparse Voxel, Param=21.8M, FPS=8.92023.12 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MaskRangeResolution=64 x 2048, Year=20222023.03 | 66.1 | 94.2 | 56 | 55.7 | 59.2 | 52.4 | 67.6 | 64.8 | 31.8 | 91.7 | 70.7 | 77.1 | 29.5 | 90.6 | 65.2 | 84.6 | 68.5 | 69.2 | 60.2 | 66.6 | |
| TFNetResolution=64x2048, Test time augmentation=false2023.09 | 66.1 | 94.3 | 60.7 | 58.5 | 38.4 | 48.4 | 74.3 | 72.2 | 35.5 | 90.6 | 68.5 | 75.3 | 29 | 91.6 | 67.3 | 83.8 | 71.1 | 67 | 60.8 | 68.7 | |
| JS3C-Net2023.09 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3C-Net2023.09 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENet w/ STRParadigm=STR, Wtrain=3842023.03 | 65.8 | 93.6 | 60.2 | 60 | 43.5 | 47.4 | 69.4 | 67.6 | 19.7 | 92 | 70.2 | 77.6 | 43.6 | 90.2 | 66.9 | 84.7 | 66.2 | 71.3 | 60.5 | 65.4 | |
| GFNetLatency=100ms, Modality=Multiple2023.03 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNet2023.09 | 65.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNet2023.09 | 65.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNetLatency=65.3ms, Modality=Multiple2023.03 | 65.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AMVNet2024.05 | 65.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SFCNetRepresentation Type=2D Projection Based2026.06 | 65 | 95.1 | 64.2 | 63.2 | 23.5 | 45.6 | 78.3 | 73.1 | 26.4 | 87.9 | 65.6 | 71.9 | 29.1 | 91.1 | 64.5 | 83.7 | 72.6 | 69.6 | 62.6 | 67.2 | |
| CENetSize=6.8M, Latency=14ms, Modality=Range Image2023.03 | 64.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CENetResolution=64 x 2048, Year=20222023.03 | 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 | |
| CENetResolution=64x2048, Test time augmentation=true2023.09 | 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 | |
| CENetRepresentation=Range View, Param=6.8M, FPS=33.42023.12 | 64.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LENetResolution=64x2048, Test time augmentation=false2023.09 | 64.5 | 93.9 | 57 | 51.3 | 44.3 | 44.4 | 66.6 | 64.9 | 36 | 91.8 | 68.3 | 76.9 | 30.5 | 91.2 | 66 | 83.7 | 68.3 | 67.8 | 58.6 | 63.2 | |
| RangeViTResolution=64 x 2048, Year=20232023.03 | 64 | 95.4 | 55.8 | 43.5 | 29.8 | 42.1 | 63.9 | 58.2 | 38.1 | 93.1 | 70.2 | 80 | 32.5 | 92 | 69 | 85.3 | 70.6 | 71.2 | 60.8 | 64.7 | |
| RangeViTResolution=64x2048, Test time augmentation=false2023.09 | 64 | 95.4 | 55.8 | 43.5 | 29.8 | 42.1 | 63.9 | 58.2 | 38.1 | 93.1 | 70.2 | 80 | 32.5 | 92 | 69 | 85.3 | 70.6 | 71.2 | 60.8 | 64.7 | |
| RangeViT2024.05 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViT†Representation=Range View, Param=23.7M, FPS=10.02023.12 | 64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeViTRepresentation Type=2D Projection Based2026.06 | 64 | 95.4 | 55.8 | 43.5 | 29.8 | 42.1 | 63.9 | 58.2 | 38.1 | 93.1 | 70.2 | 80 | 32.5 | 92 | 69 | 85.3 | 70.6 | 71.2 | 60.8 | 64.7 | |
| LiteHDSegResolution=64 x 2048, Year=20212023.03 | 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 | |
| Lite-HDSegResolution=64x2048, Test time augmentation=false2023.09 | 63.8 | 92.3 | 40 | 55.4 | 37.7 | 39.6 | 59.2 | 71.6 | 54.1 | 93 | 68.2 | 78.3 | 29.3 | 91.5 | 65 | 78.2 | 65.8 | 65.1 | 59.5 | 67.7 | |
| MinkUNet2024.05 | 63.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkUNetRepresentation=Sparse Voxel, Param=21.7M, FPS=9.12023.12 | 63.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MinkNetSize=21.7M, Latency=294ms, Modality=Sparse Voxel2023.03 | 63.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPRNetResolution=64 x 2048, Year=20212023.03 | 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 | |
| KPRNetResolution=64x2048, Test time augmentation=false2023.09 | 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 | |
| CENetResolution=64 x 1024, Year=20222023.03 | 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 | |
| Meta-RangeSegResolution=64x2048, Test time augmentation=false2023.09 | 61 | 93.9 | 50.1 | 43.8 | 43.9 | 43.2 | 63.7 | 53.1 | 18.7 | 90.6 | 64.3 | 74.6 | 29.2 | 91.1 | 64.7 | 82.6 | 65.5 | 65.5 | 56.3 | 64.2 |