# Point Cloud Semantic Segmentation on Semantic-KITTI (test)

Source: [Point Cloud Semantic Segmentation on Semantic-KITTI (test)](<https://www.sota2.com/research/sota/point-cloud-semantic-segmentation-on-semantic-kitti-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-14T12:03:37.349Z

Evaluation of Point Cloud Semantic Segmentation performance on the test split of the SemanticKITTI dataset, reporting mean IoU and inference time efficiency.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Point Cloud Semantic Segmentation |
| Dataset (including any stated split) | Semantic-KITTI (test) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mIoU](<https://www.sota2.com/research/sota/point-cloud-semantic-segmentation-on-semantic-kitti-test.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [Inference Time (s / 10^5 pts)](<https://www.sota2.com/research/sota/point-cloud-semantic-segmentation-on-semantic-kitti-test.md?metric=Inference%20Time%20(s%20%2F%2010%5E5%20pts)>): Lower is better; unit: TIME.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| Mlpfseg | 71.8 | Not recorded | 68fa7c021e209131cea8bd9f |
| PASeg | 70.5 | Not recorded | 68fa7c021e209131cea8bd9f |
| Mseg3D | 70.4 | Not recorded | 68fa7c021e209131cea8bd9f |
| 2DPASS | 70.1 | Not recorded | 68fa7c021e209131cea8bd9f |
| Baseline | 67.9 | Not recorded | 68fa7c021e209131cea8bd9f |
| SPVCNN | 66.4 | Not recorded | 68fa7c021e209131cea8bd9f |
| Cylinder3D | 64.9 | Not recorded | 68fa7c021e209131cea8bd9f |
| PMF | 63.9 | Not recorded | 68fa7c021e209131cea8bd9f |
| FG-Net | 53.8 | Not recorded | 68fa6a271e209131cea26632 |

### Mlpfseg

mIoU: 71.8. Result ID: 69de2d0847f34ce924c6df92.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

Recorded evaluation configuration: {"Input View":"one view"}. This record does not assert independent reproduction.

### PASeg

mIoU: 70.5. Result ID: 69de2d0847f34ce924c6df90.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Mseg3D

mIoU: 70.4. Result ID: 69de2d0847f34ce924c6df8f.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ec41e209131cea41e2f.md>)

[Implementation](<https://github.com/jialeli1/lidarseg3d>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### 2DPASS

mIoU: 70.1. Result ID: 69de2d0847f34ce924c6df8d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6dac1e209131cea3b618.md>)

[Implementation](<https://github.com/yanx27/2DPASS>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Baseline

mIoU: 67.9. Result ID: 69de2d0847f34ce924c6df91.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SPVCNN

mIoU: 66.4. Result ID: 69de2d0847f34ce924c6df8b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa682e1e209131cea1a95e.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Cylinder3D

mIoU: 64.9. Result ID: 69de2d0847f34ce924c6df8c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68c51e209131cea1e4a1.md>)

[Implementation](<https://github.com/xinge008/Cylinder3D>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PMF

mIoU: 63.9. Result ID: 69de2d0847f34ce924c6df8e.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7c021e209131cea8bd9f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### FG-Net

mIoU: 53.8. Result ID: 698e17caffc3901de09abc21.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6a271e209131cea26632.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a271e209131cea26632.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.