LiDAR Semantic Segmentation on SemanticKITTI (val)
72.7mIoUTASeg
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| TASegRepresentation=Multi-View, Param=46.7M, FPS=6.12023.12 | 72.7 | — | — | — | — | — | |
| M3Net2024.05 | 72 | — | — | — | — | — | |
| UniSegRepresentation=Multi-View, Param=147.6M, FPS=6.92023.12 | 71.3 | — | — | — | — | — | |
| PTv3Representation=Raw Points, Param=46.2M, FPS=20.22023.12 | 70.8 | — | — | — | — | — | |
| PTv2+2024.05 | 70.3 | — | — | — | — | — | |
| PTv2Representation=Raw Points, Param=12.8M, FPS=4.72023.12 | 70.3 | — | — | — | — | — | |
| 2DPASSRepresentation=Multi-View, Param=26.5M, FPS=8.42023.12 | 69.3 | — | — | — | — | — | |
| SFPNet2024.07 | 69.2 | — | — | — | — | — | |
| SphereFormer2024.07 | 69 | — | — | — | — | — | |
| FRNet2024.05 | 68.7 | — | — | — | — | — | |
| FRNetRepresentation=Frustum-Range, Param=10.0M, FPS=29.12023.12 | 68.7 | — | — | — | — | — | |
| WaffleIronRepresentation=Raw Points, Param=6.8M, FPS=7.42023.12 | 68 | — | — | — | — | — | |
| SphereFormer2024.05 | 67.8 | — | — | — | — | — | |
| SphereFormerRepresentation=Multi-View, Param=32.3M, FPS=4.92023.12 | 67.8 | — | — | — | — | — | |
| RangeFormer2024.05 | 67.6 | — | — | — | — | — | |
| RangeFormer†Representation=Range View, Param=24.3M, FPS=6.22023.12 | 67.6 | — | — | — | — | — | |
| Fast-FRNetRepresentation=Frustum-Range, Param=7.5M, FPS=33.82023.12 | 67.1 | — | — | — | — | — | |
| WaffleIron2024.05 | 66.8 | — | — | — | — | — | |
| PVKD2024.05 | 66.4 | — | — | — | — | — | |
| PVKDRepresentation=Sparse Voxel, Param=14.1M, FPS=13.22023.12 | 66.4 | — | — | — | — | — | |
| (AF)2-S3Net2024.05 | 65.9 | — | — | — | — | — | |
| Cylinder3D2024.05 | 65.9 | — | — | — | — | — | |
| Cylinder3D2024.07 | 65.9 | — | — | — | — | — | |
| Cylinder3DRepresentation=Sparse Voxel, Param=55.9M, FPS=6.22023.12 | 65.9 | — | — | — | — | — | |
| RPVNet2024.05 | 65.5 | — | — | — | — | — | |
| RPVNetRepresentation=Multi-View, Param=24.8M, FPS=7.92023.12 | 65.5 | — | — | — | — | — | |
| AMVNet2024.05 | 65.2 | — | — | — | — | — | |
| SPVNAS2024.05 | 64.7 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 64.3 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 64.1 | — | — | — | — | — | |
| MinkUNet2024.05 | 63.8 | — | — | — | — | — | |
| LiM3dLabel Ratio=100%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 63.6 | — | — | — | — | — | |
| LiM3dLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 63.1 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 63.1 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=2%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.9 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.8 | — | — | — | — | — | |
| MinkUNetRepresentation=Sparse Voxel, Param=21.7M, FPS=9.12023.12 | 62.8 | — | — | — | — | — | |
| CENetRepresentation=Range View, Param=6.8M, FPS=33.42023.12 | 62.6 | — | — | — | — | — | |
| SPVNASRepresentation=Sparse Voxel, Param=21.8M, FPS=8.92023.12 | 62.5 | — | — | — | — | — | |
| LaserMixLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.4 | — | — | — | — | — | |
| LaserMixLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.4 | — | — | — | — | — | |
| LiM3dLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.2 | — | — | — | — | — | |
| LaserMixLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 62.1 | — | — | — | — | — | |
| LaserMixLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 61.7 | — | — | — | — | — | |
| KPConvRepresentation=Raw Points, Param=18.3M, FPS=3.22023.12 | 61.3 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 61.1 | — | — | — | — | — | |
| RangeViT2024.05 | 60.7 | — | — | — | — | — | |
| RangeViT†Representation=Range View, Param=23.7M, FPS=10.02023.12 | 60.7 | — | — | — | — | — | |
| CPSLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 60.5 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 60.4 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 60.1 | — | — | — | — | — | |
| CBSTLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.7 | — | — | — | — | — | |
| CPSLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.6 | — | — | — | — | — | |
| LiM3dLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.5 | — | — | — | — | — | |
| CBSTLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.4 | — | — | — | — | — | |
| LaserMixLabel Ratio=2%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.2 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.1 | — | — | — | — | — | |
| Unal et al.Label Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 59.1 | — | — | — | — | — | |
| FIDNetRepresentation=Range View, Param=6.1M, FPS=31.82023.12 | 58.9 | — | — | — | — | — | |
| GPCLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.8 | — | — | — | — | — | |
| CPSLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.7 | — | — | — | — | — | |
| Unal et al.Label Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.7 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=50%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.5 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=100%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.5 | — | — | — | — | — | |
| LiM3dLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.4 | — | — | — | — | — | |
| CBSTLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 58.3 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 57.6 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=20%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 57.6 | — | — | — | — | — | |
| PolarNet2024.05 | 57.2 | — | — | — | — | — | |
| RandLA-NetRepresentation=Raw Points, Param=1.2M, FPS=1.92023.12 | 57.1 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 55.6 | — | — | — | — | — | |
| LaserMixLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 55.5 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 55.1 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=2%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 54.6 | — | — | — | — | — | |
| PLE + Dual-branchLabel Ratio=0.5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 52.2 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 51 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=2%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 50.3 | — | — | — | — | — | |
| RangeNet++Representation=Range View, Param=50.4M, FPS=12.02023.12 | 50.3 | — | — | — | — | — | |
| GPCLabel Ratio=10%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 49.9 | — | — | — | — | — | |
| Unal et al.Label Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 49.9 | — | — | — | — | — | |
| CBSTLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 48.8 | — | — | — | — | — | |
| LaserMixLabel Ratio=0.5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 47.3 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 47.1 | — | — | — | — | — | |
| CPSLabel Ratio=1%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 46.7 | — | — | — | — | — | |
| MeanTeacherLabel Ratio=0.5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 42.2 | — | — | — | — | — | |
| GPCLabel Ratio=5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 41.8 | — | — | — | — | — | |
| Sup.-onlyLabel Ratio=0.5%, Backbone=Cylinder3D, Voxel Resolution=[240, 180, 20]2024.10 | 40 | — | — | — | — | — | |
| AIScene2024.08 | — | 61.2 | 66.3 | 67.4 | 67.9 | 65.7 | |
| AISceneBackbone=Cylinder3D2026.04 | — | 54.5 | 63.3 | 63.7 | 64.3 | 61.5 | |
| CBSTVenue=ECCV'20182024.08 | — | 48.8 | 58.3 | 59.4 | 59.7 | 56.6 | |
| CBSTBackbone=Cylinder3D2026.04 | — | 48.8 | 58.3 | 59.4 | 59.7 | 56.6 | |
| CPSVenue=CVPR'20212024.08 | — | 46.7 | 58.7 | 59.6 | 60.5 | 56.4 | |
| CPSBackbone=Cylinder3D2026.04 | — | 46.7 | 58.7 | 59.6 | 60.5 | 56.4 | |
| DDSemiVenue=CVPR'20242024.08 | — | 59.3 | 65.1 | 66.3 | 67 | 64.4 | |
| FrustrumMixBackbone=Cylinder3D2026.04 | — | 55.7 | 62.5 | 63 | 64.9 | 61.5 | |
| GPCVenue=ICCV'20212024.08 | — | 54.1 | 62 | 62.5 | 62.8 | 60.4 | |
| IGNetVenue=WACV'20242024.08 | — | 49 | 61.3 | 63.1 | 64.8 | 59.6 | |
| IT2Backbone=Cylinder3D2026.04 | — | 52 | 61.4 | 62.1 | 62.5 | 59.5 | |
| LaserMixBackbone=Cylinder3D2026.04 | — | 50.6 | 60 | 61.9 | 62.3 | 58.7 | |
| LaserMix (Range View)Venue=CVPR'20232024.08 | — | 43.4 | 58.8 | 59.4 | 61.4 | 55.8 |