Semantic Segmentation on S3DIS
75.11mIoUPointER
Evaluation results
| Method | Links | |||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointER2026.06 | 75.11 | 96.1 | 97.5 | 78 | 78.9 | 76.7 | 80.3 | 80.6 | 82.3 | 72.9 | 55.9 | 57.2 | 52.6 | 67.3 | — | — | — | — | 90.31 | 84.37 | — | — | — | |
| Mamba3D2026.06 | 74.45 | 95.8 | 98 | 78.3 | 82.8 | 72.6 | 82.5 | 81 | 82.1 | 71.8 | 55.8 | 51.2 | 50.4 | 65.8 | — | — | — | — | 90.19 | 83.42 | — | — | — | |
| PIDSInteraction=true, Dimension=true, Reuse=false, NAS=true2022.11 | 74.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMamba2026.06 | 73.78 | 95.7 | 96.1 | 77.8 | 82 | 73.4 | 82.6 | 79.8 | 78.6 | 70.3 | 56.5 | 51.4 | 49.8 | 65.2 | — | — | — | — | 89.65 | 83.08 | — | — | — | |
| PointTransformerInteraction=true, Dimension=false, Reuse=true, NAS=false2022.11 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HUNetEvaluation Protocol=Fine-tuning2025.04 | 73.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point-MAE2026.06 | 73.14 | 94.4 | 96.8 | 77.6 | 82 | 68.5 | 78.4 | 79 | 82.9 | 73.3 | 52.6 | 45.4 | 55.5 | 64.6 | — | — | — | — | 90.29 | 82.18 | — | — | — | |
| Contrastive Scene ContextsPre-training strategy=Contrastive Scene Contexts2020.12 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointSeaNetInteraction=true, Dimension=false, Reuse=true, NAS=true2022.11 | 71.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SAM-MAEEvaluation Protocol=Fine-tuning2025.04 | 71.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPoTrYear=20232023.03 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.7 | 76.4 | — | — | — | |
| KPConvSearch=Radius2020.04 | 70.6 | 93.6 | 92.4 | 83.1 | 63.9 | 54.3 | 66.1 | 76.6 | 57.8 | 64 | 69.3 | 74.9 | 61.3 | 60.3 | — | — | — | — | — | — | — | — | — | |
| KPConvInteraction=true, Dimension=false, Reuse=true, NAS=false2022.11 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSPBackbone=StratifiedTransformer2024.04 | 70.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16.7 | 72.4 | — | |
| MaxLogitBackbone=StratifiedTransformer2024.04 | 70.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 30.1 | 81 | — | |
| PointTransformerYear=20212023.03 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.8 | — | — | — | — | |
| DMLNetBackbone=StratifiedTransformer2024.04 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.4 | 66.3 | — | |
| REALBackbone=StratifiedTransformer2024.04 | 70.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 50.9 | 87.1 | — | |
| PDFBackbone=StratifiedTransformer2024.04 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.4 | 92.7 | — | |
| PointContrastPre-training strategy=PointContrast2020.12 | 70.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Bridge3DEvaluation Protocol=Fine-tuning2025.04 | 70.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSPBackbone=PointTransformer2024.04 | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 15.2 | 70.3 | — | |
| MaxLogitBackbone=PointTransformer2024.04 | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.5 | 74.3 | — | |
| MC-DropoutBackbone=PointTransformer2024.04 | 69.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.2 | 75.9 | — | |
| REALBackbone=PointTransformer2024.04 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.4 | 87.6 | — | |
| APFBackbone=PointTransformer2024.04 | 69.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.6 | 90 | — | |
| MC-DropoutBackbone=StratifiedTransformer2024.04 | 69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16.4 | 68.6 | — | |
| RepSurf-UYear=20222023.03 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.2 | 76 | — | — | — | |
| PDFBackbone=PointTransformer2024.04 | 68.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 73.1 | 96.2 | — | |
| FKAConvSearch=Knn, Variant=fusion2020.04 | 68.4 | 94.5 | 98 | 82.9 | 41 | 46 | 57.8 | 74.1 | 77.7 | 71.7 | 65 | 60.3 | 55 | 65.5 | — | — | — | — | — | — | — | — | — | |
| ConvPointSearch=Knn2020.04 | 68.2 | 95 | 97.3 | 81.7 | 47.1 | 34.6 | 63.2 | 73.2 | 75.3 | 71.8 | 64.9 | 59.2 | 57.6 | 65 | — | — | — | — | — | — | — | — | — | |
| ScratchPre-training strategy=None (from scratch)2020.12 | 68.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CTYear=20212023.03 | 67.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DMLNetBackbone=PointTransformer2024.04 | 67.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 20.5 | 80.7 | — | |
| KPConvYear=20192023.03 | 67.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 72.8 | — | — | — | |
| ShellNet2019.08 | 66.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ShellNetSearch=Knn2020.04 | 66.8 | 90.2 | 93.6 | 79.9 | 60.4 | 44.1 | 64.9 | 52.9 | 71.6 | 84.7 | 53.8 | 64.6 | 48.6 | 59.4 | — | — | — | — | — | — | — | — | — | |
| PosPool*param=18.4M, FLOP=7.3G2020.07 | 66.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointWebSearch=Knn2020.04 | 66.7 | 93.5 | 94.2 | 80.8 | 52.4 | 41.3 | 64.9 | 68.1 | 71.4 | 67.1 | 50.3 | 62.7 | 62.2 | 58.5 | — | — | — | — | — | — | — | — | — | |
| FKAConvSearch=Knn, Variant=RGB drop.2020.04 | 66.6 | 94.4 | 97.8 | 81.5 | 38.7 | 43.3 | 56.4 | 71.6 | 80.2 | 71.8 | 63.5 | 54.1 | 50.6 | 62.5 | — | — | — | — | — | — | — | — | — | |
| adapt weightsparam=18.4M, FLOP=7.8G2020.07 | 66.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PosPoolparam=18.4M, FLOP=7.3G2020.07 | 66.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| point-wise MLPparam=25.5M, FLOP=9.8G2020.07 | 66.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| pseudo gridparam=18.5M, FLOP=9.3G2020.07 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvparam=15.0M, FLOP=6.5G2020.07 | 65.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNN2019.08 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNparam=4.4M, FLOP=36.7G2020.07 | 65.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNSearch=Knn2020.04 | 65.4 | 94.8 | 97.3 | 75.8 | 63.3 | 51.7 | 58.4 | 57.2 | 71.6 | 69.1 | 39.1 | 61.2 | 52.2 | 58.6 | — | — | — | — | — | — | — | — | — | |
| PointCNN2018.01 | 65.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FKAConvSearch=Knn, Variant=RGB only2020.04 | 64.9 | 94 | 97.8 | 80.5 | 38.5 | 48.5 | 49.8 | 68 | 79.4 | 70.7 | 48.4 | 43.7 | 62.9 | 61.4 | — | — | — | — | — | — | — | — | — | |
| pseudo grid (S)param=1.2M, FLOP=1.0G, Model Scale=Small2020.07 | 64.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PosPool (S)param=1.1M, FLOP=0.5G, Model Scale=Small2020.07 | 64.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPGraph2018.01 | 62.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPG2019.08 | 62.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPGraphSearch=Super pt.2020.04 | 62.1 | 89.9 | 95.1 | 76.4 | 62.8 | 47.1 | 55.3 | 68.4 | 73.5 | 69.2 | 63.2 | 45.9 | 8.7 | 52.9 | — | — | — | — | — | — | — | — | — | |
| adapt weights (S)param=1.2M, FLOP=0.6G, Model Scale=Small2020.07 | 61.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PosPool* (S)param=1.1M, FLOP=0.5G, Model Scale=Small2020.07 | 61.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCTYear=20212023.03 | 61.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.7 | — | — | — | |
| PCP-MAE2026.06 | 61.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71 | — | — | — | |
| MPL-MAE2026.06 | 61.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.7 | — | — | — | |
| 4DContrastEvaluation protocol=pre-trained2021.12 | 61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point-MAE2026.06 | 60.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 69.9 | — | — | — | |
| PointWebYear=20192023.03 | 60.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 87 | 66.6 | — | — | — | |
| HUNetEvaluation Protocol=Linear probing2025.04 | 59.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| scratchEvaluation protocol=from scratch2021.12 | 58.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| baseline† (MAX)param=18.4M, FLOP=7.2G, Pooling strategy=MAX, Equation=72020.07 | 58.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCCNSearch=Knn2020.04 | 58.3 | 92.3 | 96.2 | 75.9 | 0.27 | 6 | 69.5 | 63.5 | 65.6 | 66.9 | 68.9 | 47.3 | 59.1 | 46.2 | — | — | — | — | — | — | — | — | — | |
| baseline† (MAX, S)param=1.1M, FLOP=0.5G, Pooling strategy=MAX, Model Scale=Small, Equation=72020.07 | 57.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointCNNYear=20182023.03 | 57.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 85.9 | 63.9 | — | — | — | |
| point-wise MLP (S)param=1.6M, FLOP=0.8G, Model Scale=Small2020.07 | 56.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNet2019.08 | 56.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RSNetSearch=Knn2020.04 | 56.5 | 92.5 | 92.8 | 78.6 | 32.8 | 34.4 | 51.6 | 68.1 | 60.1 | 59.7 | 50.2 | 16.4 | 44.9 | 52 | — | — | — | — | — | — | — | — | — | |
| RSNet2018.01 | 56.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2018.01 | 56.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGCNN2019.08 | 56.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| baseline*param=18.4M, FLOP=7.2G, Equation=62020.07 | 51.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MINDMethod Category=Geometric-Aware Adaptation2026.05 | 51.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.14 | |
| baseline† (AVG)param=18.4M, FLOP=7.2G, Pooling strategy=AVG, Equation=72020.07 | 51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGPN2019.08 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGPN2018.01 | 50.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| baseline† (AVG, S)param=1.1M, FLOP=0.5G, Pooling strategy=AVG, Model Scale=Small, Equation=72020.07 | 50.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Clean baselineSegmentation model=SegNN2024.10 | 50.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 79 | — | — | — | — | |
| CA2CMethod Category=Generic Robust Fine-tuning, Venue=ICCV’252026.05 | 48.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.2 | |
| PointNet2018.01 | 47.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNet2019.08 | 47.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointnetSearch=Knn2020.04 | 47.6 | 88 | 88.7 | 69.3 | 42.4 | 23.1 | 47.5 | 51.6 | 42 | 54.1 | 38.2 | 9.6 | 29.4 | 35.2 | — | — | — | — | — | — | — | — | — | |
| NPCMethod Category=Generic Robust Fine-tuning, Venue=ICML’222026.05 | 46.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.6 | |
| 3D-to-2D distillationBackbone=ResNet-50, 3D Teacher Network=PointWeb [62]2021.04 | 46.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UMTk=2, Segmentation model=SegNN2024.10 | 46.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 66.41 | — | — | — | — | |
| Standard CEMethod Category=Generic Robust Fine-tuning, Evaluation Protocol=Retrain2026.05 | 44.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.95 | |
| PSPNet-50Backbone=ResNet-502021.04 | 43.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Clean baselineSegmentation model=AVG2024.10 | 43.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 76.16 | — | — | — | — | |
| OpenSegMethod Category=Foundation Model Baseline, Evaluation Protocol=Zero-shot2026.05 | 43.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNetYear=20172023.03 | 41.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Clean baselineSegmentation model=Point Transformer v32024.10 | 40.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.72 | — | — | — | — | |
| Clean baselineSegmentation model=PointNet++2024.10 | 40.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 74.76 | — | — | — | — | |
| UMTk=2, Segmentation model=AVG2024.10 | 24.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 35.97 | — | — | — | — | |
| UMTk=2, Segmentation model=Point Transformer v32024.10 | 18.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 25.61 | — | — | — | — | |
| UMTk=2, Segmentation model=PointNet++2024.10 | 7.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 15.89 | — | — | — | — | |
| MM-3DSceneComplexity=Entire floor, office, Training Mode=Fine-tuning, Backbone=Point Transformer2022.12 | 1.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |