Semantic Segmentation on SemanticKITTI (Per-Class IoU and Stuff Metrics)
95.8Car IoUCAP
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CAPArchitecture=RangeViT, Projection Strategy=Centerness-Aware Projection2026.01 | 95.8 | 56.2 | 46.7 | 49.1 | 44.2 | 64.1 | 64.6 | 38.2 | 94.6 | 70.2 | 82.1 | 31.2 | 91.8 | 68.5 | 84.9 | 70.3 | 70.2 | 60.2 | 64 | 65.8 | 57.4 | 71.6 | |
| KPRNetArchitecture=RangeViT, Projection Strategy=KPRNet projection2026.01 | 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 | 63.1 | 51.4 | 71.6 | |
| RangeViTArchitecture=RangeViT, Projection Strategy=Depth-based projection2026.01 | 95.4 | 55.8 | 43.5 | 29.8 | 42.1 | 63.9 | 58.2 | 38.1 | 93.1 | 70.3 | 80 | 32.5 | 92 | 69 | 85.3 | 70.6 | 71.2 | 60.8 | 64.7 | 64 | 53.4 | 71.8 | |
| CWAPArchitecture=RangeViT, Projection Strategy=Class-Weighted-Aware Projection2026.01 | 93.3 | 35.5 | 48.5 | 58.4 | 40.9 | 62.6 | 55.9 | 38 | 94.7 | 70.1 | 81.8 | 30.1 | 90.7 | 68.2 | 84.9 | 70.4 | 70 | 61.2 | 64.2 | 64.1 | 54.1 | 71.5 | |
| SqueezeSegV3Architecture=RangeViT, Projection Strategy=SqueezeSegV3 projection2026.01 | 92.5 | 38.7 | 36.5 | 29.6 | 33 | 45.6 | 46.2 | 20.1 | 91.7 | 63.4 | 74.8 | 26.4 | 89 | 59.4 | 82 | 58.7 | 65.4 | 49.6 | 58.9 | 55.9 | 42.8 | 61.7 | |
| SalsaNextArchitecture=RangeViT, Projection Strategy=SalsaNext projection2026.01 | 91.9 | 48.3 | 38.6 | 38.9 | 31.9 | 60.2 | 59 | 19.4 | 91.7 | 63.7 | 75.8 | 29.1 | 90.2 | 64.2 | 81.8 | 63.6 | 66.5 | 54.3 | 62.1 | 59.5 | 48.5 | 67.5 | |
| RangeNet++Architecture=RangeViT, Projection Strategy=RangeNet++ projection2026.01 | 91.4 | 25.7 | 34.4 | 25.7 | 23 | 38.3 | 38.8 | 4.8 | 91.8 | 65 | 75.2 | 27.8 | 87.4 | 58.6 | 80.5 | 55.1 | 64.6 | 47.9 | 55.9 | 52.2 | 35.3 | 64.5 |