Semantic Segmentation on S3DIS (6-fold)
88.1mIoU (Mean IoU)PointCNN
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PointCNNEvaluation Protocol=6-fold cross validation2019.04 | 88.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| A-CNNEvaluation Protocol=6-fold cross validation2019.04 | 87.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3P-RNNEvaluation Protocol=6-fold cross validation2019.04 | 86.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPGraphEvaluation Protocol=6-fold cross validation2019.04 | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SonataYear=2024, Evaluation Protocol=full fine-tuning, Pre-training=true2025.03 | 82.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SonataYear=2024, Evaluation Protocol=decoder probing, Pre-training=true2025.03 | 81.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| G+RCUEvaluation Protocol=6-fold cross validation2019.04 | 81.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Year=2024, Training=Pre-trained, Pre-training Method=PPT [92]2023.12 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPTYear=2023, Pre-training=true2025.03 | 80.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SWIN3D-LPre-training strategy=pre-trained, Backbone scale=Large, Fine-tuning epochs=6002023.04 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Swin3DYear=2023, Training=Pre-trained, Pre-training Method=Supervised [101]2023.12 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Supervised (Swin3D)Year=2023, Pre-training=true2025.03 | 79.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MS+CU (2)Evaluation Protocol=6-fold cross validation2019.04 | 79.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeLA + X-3DGFLOPS=14.8, #Params=8.02024.04 | 79.2 | 91.9 | 86.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPENet V2-XLParam. (M)=16.1, FLOPs (G)=18.2, TP (ins./sec.)=1282026.03 | 78.9 | — | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.9 | |
| HPENet V2-XL*Param. (M)=16.1, FLOPs (G)=18.2, TP (ins./sec.)=1282026.03 | 78.9 | — | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.9 | |
| HPENetParam. (M)=46.3, FLOPs (G)=148.8, TP (ins./sec.)=572026.03 | 78.7 | — | 86.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.9 | |
| PointNetEvaluation Protocol=6-fold cross validation2019.04 | 78.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointVector-XLParams=24.1M, FLOPS=58.5G, Throughput=40 ins./sec.2022.05 | 78.4 | 91.9 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointVector-XLGFLOPS=58.5, #Params=24.12024.04 | 78.4 | 91.9 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointVector-XLParam. (M)=24.1, FLOPs (G)=58.5, TP (ins./sec.)=902026.03 | 78.4 | — | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.9 | |
| DeLAGFLOPS=14.0, #Params=7.02024.04 | 78.3 | 91.7 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MVNetBackbone=SR-UNet2025.12 | 78.3 | 91.8 | 86.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SWIN3D-SPre-training strategy=pre-trained, Backbone scale=Small, Fine-tuning epochs=6002023.04 | 78.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPENet (SIN)Param. (M)=46.3, FLOPs (G)=147.2, TP (ins./sec.)=502026.03 | 78.2 | — | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.7 | |
| MinkUNetYear=2024, Training=Pre-trained, Pre-training Method=PPT [92]2023.12 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPT (sup.)Year=2023, Pre-training=true2025.03 | 78.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Year=2024, Training=Trained from scratch2023.12 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XL + X-3DGFLOPS=9.8, #Params=18.12024.04 | 77.7 | 91.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Year=2023, Pre-training=false2025.03 | 77.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point Transformer V3Param. (M)=46.2, FLOPs (G)=5.22026.03 | 77.7 | — | 85.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.5 | |
| StratifiedFormer + PAGWNBackbone=StratifiedFormer, Module=PAGWN2022.12 | 77.6 | 91.7 | 85.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WindowNormPre-training strategy=supervised2023.04 | 77.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Sparse EQ-Net2022.03 | 77.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPENet V2-LParam. (M)=2.9, FLOPs (G)=4.2, TP (ins./sec.)=2312026.03 | 77.5 | — | 85.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.6 | |
| PointVector-LParams=4.2M, FLOPS=10.7G, Throughput=98 ins./sec.2022.05 | 77.4 | 91.4 | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointVector-LParam. (M)=4.2, FLOPs (G)=10.7, TP (ins./sec.)=2092026.03 | 77.4 | — | 85.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.4 | |
| PointMetaBase-XXLParams. (M)=19.7, FLOPs (G)=11.0, Throughput (ins./sec.)=902022.11 | 77 | 91.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XXLPre-training strategy=supervised2023.04 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBaseYear=2023, Training=Trained from scratch2023.12 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBaseYear=2023, Pre-training=false2025.03 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XXLParam. (M)=19.7, FLOPs (G)=11.0, TP (ins./sec.)=1142026.03 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91.3 | |
| SWIN3D-S*Pre-training strategy=trained from scratch, Backbone scale=Small2023.04 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Swin3DYear=2023, Training=Trained from scratch2023.12 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Swin3DYear=2023, Pre-training=false2025.03 | 76.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-L + X-3DGFLOPS=2.2, #Params=3.82024.04 | 76.7 | 91.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SonataYear=2024, Evaluation Protocol=linear probing, Pre-training=true2025.03 | 76.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XLParams. (M)=15.3, FLOPs (G)=9.2, Throughput (ins./sec.)=1042022.11 | 76.3 | 91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PT + ERDAsettings=Fully2023.05 | 76.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XLGFLOPS=9.2, #Params=15.32024.04 | 76.3 | 91 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-XLParam. (M)=15.3, FLOPs (G)=9.2, TP (ins./sec.)=1302026.03 | 76.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 91 | |
| SPTSize (x10^6)=0.212024.01 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperpointTransformerYear=2023, Training=Trained from scratch2023.12 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperpointTransformerYear=2023, Pre-training=false2025.03 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HPENet V2-BParam. (M)=1.8, FLOPs (G)=3.7, TP (ins./sec.)=2602026.03 | 76 | — | 84.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 91 | |
| PointMetaBase-LParams. (M)=2.7, FLOPs (G)=2.0, Throughput (ins./sec.)=1872022.11 | 75.6 | 90.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-LGFLOPS=2.0, #Params=2.72024.04 | 75.6 | 90.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointMetaBase-LParam. (M)=2.7, FLOPs (G)=2.0, TP (ins./sec.)=2452026.03 | 75.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.6 | |
| IAEbackbone=PointNeXt, training_mode=self-supervised pre-training2022.01 | 75.3 | 90.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SuperClusterSize (x10^6)=0.212024.01 | 75.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OneFormer3D2023.11 | 75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XL2022.12 | 74.9 | 90.3 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLParams. (M)=41.6, FLOPs (G)=84.8, Throughput (ins./sec.)=432022.11 | 74.9 | 90.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLParams=41.6M, FLOPS=84.8G, Throughput=46 ins./sec.2022.05 | 74.9 | 90.3 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLPre-training strategy=supervised2023.04 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXttraining_mode=supervised2022.01 | 74.9 | 90.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt - XLsettings=Fully2023.05 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XL2023.11 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Strat. Trans.Size (x10^6)=8.02024.01 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLSize (x10^6)=41.62024.01 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXtYear=2022, Training=Trained from scratch2023.12 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLGFLOPS=84.8, #Params=412024.04 | 74.9 | 90.3 | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLParams (M)=41.6, FLOPs (G)=84.8, Throughput (ins./sec.)=462022.06 | 74.9 | 90.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXtYear=2022, Pre-training=false2025.03 | 74.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-XLParam. (M)=41.6, FLOPs (G)=84.8, TP (ins./sec.)=982026.03 | 74.9 | — | 83 | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.3 | |
| 3D Backbone + DeepViewAggInput Modality=Point clouds and images2022.04 | 74.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepViewAggSize (x10^6)=41.22024.01 | 74.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PIDS (NAS, 2x)Parameters (M)=1.352022.11 | 74.4 | 90.3 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoPEBackbone=Point-Transformer, PE=GeoPE2025.12 | 74.4 | 90.5 | 82.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RepSurfParams=0.976M2022.05 | 74.3 | 90.9 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RepSurfGFLOPS=1.042024.04 | 74.3 | 90.8 | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RepSurf-UParam. (M)=1.0, FLOPs (G)=1.02026.03 | 74.3 | — | 82.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.9 | |
| Point Transformer + PAGWNBackbone=Point Transformer, Module=PAGWN2022.12 | 74.1 | 90.2 | 82.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-LParams. (M)=7.1, FLOPs (G)=15.2, Throughput (ins./sec.)=1092022.11 | 73.9 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-LParams=7.1M, FLOPS=15.2G, Throughput=115 ins./sec.2022.05 | 73.9 | 89.8 | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-LParams (M)=7.1, FLOPs (G)=15.2, Throughput (ins./sec.)=1152022.06 | 73.9 | 89.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointNeXt-LParam. (M)=7.1, FLOPs (G)=15.2, TP (ins./sec.)=2212026.03 | 73.9 | — | 82.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 89.8 | |
| Closer Look3D + ERDAsettings=Fully2023.05 | 73.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point TransformerProtocol=6-fold cross-validation2020.12 | 73.5 | 90.2 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformer2022.03 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTrans.Input Modality=Colorized point clouds2022.04 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point Transformer2022.12 | 73.5 | 90.2 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point TransformerParams. (M)=7.8, FLOPs (G)=5.62022.11 | 73.5 | 90.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Point TransformerParams=7.8M, FLOPS=5.6G, Throughput=34 ins./sec.2022.05 | 73.5 | 90.2 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformertraining_mode=supervised2022.01 | 73.5 | 90.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTsettings=Fully2023.05 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PT + ERDAsettings=1%2023.05 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformer2023.11 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointTransformerParameters (M)=4.92022.11 | 73.5 | 90.2 | 81.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2Year=2022, Training=Trained from scratch2023.12 | 73.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |