Semantic Segmentation on SemanticKITTI single-scan
70.3mIoURPVNet
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RPVNetGPU Hardware=NVIDIA TESLA V1002022.04 | 70.3 | 93.4 | 80.7 | 70.3 | 33.3 | 93.5 | 97.6 | 44.2 | 68.4 | 68.7 | 61.1 | 86.5 | 75.1 | 71.7 | 75.9 | 74.4 | 73.4 | 72.1 | 64.8 | 61.4 | 168 | |
| AF2S3Net2022.04 | 69.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CPGNetGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 68.3 | 92.9 | 78.1 | 68 | 24.6 | 92.7 | 96.7 | 56.7 | 62.9 | 61.1 | 55.3 | 84.6 | 72.9 | 70.2 | 72.1 | 73.9 | 27.9 | 71.1 | 64.5 | 71.9 | 43 | |
| CPGNetGPU Hardware=NVIDIA TESLA V1002022.04 | 68.3 | 92.9 | 78.1 | 68 | 24.6 | 92.7 | 96.7 | 56.7 | 62.9 | 61.1 | 55.3 | 84.6 | 72.9 | 70.2 | 72.1 | 73.9 | 27.9 | 71.1 | 64.5 | 71.9 | 35.6 | |
| Cylinder3DGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 67.8 | 90.7 | 75.2 | 65 | 26.2 | 91.5 | 96.9 | 43.3 | 57 | 56 | 54.5 | 85.2 | 72.6 | 68.8 | 69.4 | 75.1 | 58.9 | 67.3 | 63.5 | 66 | 178 | |
| DRINetGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 67.5 | 91.3 | 72.5 | 68.8 | 53.5 | 87.9 | 94.5 | 39.2 | 65.4 | 86.8 | 41.1 | 70.2 | 68.5 | 53.7 | 80.7 | 80.4 | 74.3 | 63.2 | 61.5 | 71 | 62 | |
| SPVNAS2022.04 | 67 | 91.4 | 75.5 | 65.1 | 32.3 | 91 | 97.1 | 59 | 67.6 | 64 | 58.6 | 85.4 | 71.8 | 68.5 | 73.9 | 67.9 | 36 | 66.5 | 62.6 | 65.6 | — | |
| AMVNet2022.04 | 65.3 | 90.1 | 75.8 | 71 | 32.4 | 92.4 | 96.2 | 48.8 | 59.9 | 54.2 | 45.7 | 85.6 | 71.7 | 69.6 | 71 | 65.7 | 11 | 69.1 | 62.7 | 67.2 | — | |
| Lite-HDSeg2022.04 | 63.8 | 93 | 78.3 | 68.2 | 29.3 | 91.5 | 92.3 | 37.7 | 40 | 55.4 | 39.6 | 78.2 | 65.8 | 65.1 | 59.2 | 71.6 | 54.1 | 65 | 59.5 | 67.7 | — | |
| SPVCNNGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 63.8 | 90.2 | 75.4 | 67.6 | 21.8 | 91.6 | 97.2 | 56.6 | 50.6 | 50.4 | 58 | 86.1 | 73.4 | 71 | 67.4 | 67.1 | 50.3 | 66.9 | 64.3 | 67.3 | 187 | |
| Lite-HDSegSize=64 x 2048, FPS (Hz)=202022.02 | 63.8 | 93 | 78.3 | 68.2 | 29.3 | 91.5 | 92.3 | 37.7 | 40 | 55.4 | 39.6 | 78.2 | 65.8 | 65.1 | 59.2 | 71.6 | 54.1 | 65 | 59.5 | 67.7 | — | |
| FusionNetProtocol=single-scan2021.03 | 61.3 | 91.8 | 77.1 | 68.8 | 30.8 | 92.5 | 95.3 | 41.8 | 47.5 | 37.7 | 34.5 | 84.5 | 69.8 | 68.5 | 59.5 | 56.8 | 11.9 | 69.4 | 60.4 | 66.5 | — | |
| Meta-RangeSegSize=64 x 2048, FPS (Hz)=262022.02 | 61 | 90.6 | 74.6 | 64.3 | 29.2 | 91.1 | 93.9 | 43.9 | 50.1 | 43.8 | 43.2 | 82.6 | 65.5 | 65.5 | 63.7 | 53.1 | 18.7 | 64.7 | 56.3 | 64.2 | — | |
| BAAF-NetProtocol=single-scan2021.03 | 59.9 | 90.9 | 74.4 | 62.2 | 23.6 | 89.8 | 95.4 | 48.7 | 31.8 | 35.5 | 46.7 | 82.7 | 63.4 | 67.9 | 49.5 | 55.7 | 53 | 60.8 | 53.7 | 52 | — | |
| BAAF-NetSize=50K pts, FPS (Hz)=4.82022.02 | 59.9 | 90.9 | 74.4 | 62.2 | 23.6 | 89.8 | 95.4 | 48.7 | 31.8 | 35.5 | 46.7 | 82.7 | 63.4 | 67.9 | 49.5 | 55.7 | 33 | 60.8 | 53.7 | 52 | — | |
| SalsaNextGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 59.5 | 91.7 | 75.8 | 63.7 | 29.1 | 90.2 | 91.9 | 38.9 | 48.3 | 38.6 | 31.9 | 81.8 | 63.6 | 66.5 | 60.2 | 59 | 19.4 | 64.2 | 54.3 | 62.1 | 40.7 | |
| SalsaNextSize=64 x 2048, FPS (Hz)=242022.02 | 59.5 | 91.7 | 75.8 | 63.7 | 29.1 | 90.2 | 91.9 | 38.9 | 48.3 | 38.6 | 31.9 | 81.8 | 63.6 | 66.5 | 60.2 | 59 | 19.4 | 64.2 | 54.3 | 62.1 | — | |
| FIDNetSize=64 x 2048, FPS (Hz)=29*2022.02 | 59.5 | 90.6 | 75.8 | 59.1 | 26.7 | 88.9 | 93.9 | 27.6 | 54.7 | 48.9 | 23.9 | 84.5 | 64.4 | 69 | 62.3 | 59.8 | 23.7 | 60.5 | 53.3 | 62.8 | — | |
| KPConv2022.04 | 58.8 | 88.8 | 72.7 | 61.3 | 31.6 | 90.5 | 96 | 33.4 | 30.2 | 42.5 | 44.3 | 84.8 | 69.2 | 69.1 | 61.5 | 61.6 | 11.8 | 64.2 | 56.4 | 47.4 | — | |
| KPConvSize=50K pts, FPS (Hz)=3.82022.02 | 58.8 | 88.8 | 72.7 | 61.3 | 31.6 | 90.5 | 96 | 33.4 | 30.2 | 42.5 | 44.3 | 84.8 | 69.2 | 69.1 | 61.5 | 61.6 | 11.8 | 64.2 | 56.4 | 47.4 | — | |
| CNN-LSTMSize=[512, 512, 32], FPS (Hz)=112022.02 | 56.9 | 90.7 | 75.7 | 23.3 | 17.6 | 90 | 92.6 | 48.6 | 45.7 | 49.6 | 30.2 | 87.1 | 60.8 | 75.4 | 53.8 | 74.6 | 9.2 | 51.3 | 63.9 | 41.5 | — | |
| SqueezeSegv3GPU Hardware=NVIDIA RTX 2080Ti2022.04 | 55.9 | 91.7 | 74.8 | 63.4 | 26.4 | 89 | 92.5 | 29.6 | 38.7 | 36.5 | 33 | 82 | 58.7 | 65.4 | 45.6 | 46.2 | 20.1 | 59.4 | 49.6 | 58.9 | 124.3 | |
| SqueezeSegV3Size=64 x 2048, FPS (Hz)=62022.02 | 55.9 | 91.7 | 74.8 | 63.4 | 26.4 | 89 | 92.5 | 29.6 | 38.7 | 36.5 | 33 | 82 | 58.7 | 65.4 | 45.6 | 46.2 | 20.1 | 59.4 | 49.6 | 58.9 | — | |
| 3D-MiniNetSize=64 x 2048, FPS (Hz)=282022.02 | 55.8 | 91.6 | 74.5 | 64.2 | 25.4 | 89.4 | 90.5 | 28.5 | 42.3 | 42.1 | 29.4 | 82.8 | 60.8 | 66.7 | 47.8 | 44.1 | 14.5 | 60.8 | 48 | 56.6 | — | |
| MPFGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 55.5 | 90.6 | 74.5 | 62.3 | 30.6 | 88.5 | 93.4 | 26.1 | 30.2 | 38.3 | 28.5 | 83.5 | 59.7 | 69.2 | 48.1 | 46.1 | 18.1 | 59.7 | 49.7 | 58.1 | 31 | |
| MINetSize=64 x 2048, FPS (Hz)=242022.02 | 55.2 | 90.5 | 72.6 | 59 | 25.8 | 85.6 | 90.1 | 29.9 | 41.8 | 34 | 23.6 | 81.1 | 58.1 | 66.1 | 51.4 | 52.4 | 25 | 52.3 | 49 | 59.9 | — | |
| PolarNetProtocol=single-scan2021.03 | 54.3 | 90.8 | 74.4 | 61.7 | 21.7 | 90 | 93.8 | 22.9 | 40.3 | 30.1 | 28.5 | 84 | 65.5 | 67.8 | 43.2 | 40.2 | 5.6 | 67.8 | 51.8 | 57.5 | — | |
| MinkNet42Protocol=single-scan2021.03 | 54.3 | 91.1 | 69.7 | 63.8 | 29.3 | 92.7 | 94.3 | 26.1 | 23.1 | 26.2 | 36.7 | 83.7 | 68.4 | 64.7 | 43.1 | 36.4 | 7.9 | 57.1 | 57.3 | 60.1 | — | |
| PolarNetSize=[480, 360, 32], FPS (Hz)=162022.02 | 54.3 | 90.8 | 74.4 | 61.7 | 21.7 | 90 | 93.8 | 22.9 | 40.3 | 30.1 | 28.5 | 84 | 65.5 | 67.8 | 43.2 | 40.2 | 5.6 | 61.3 | 51.8 | 57.5 | — | |
| RandLA-NetProtocol=single-scan2021.03 | 53.9 | 90.7 | 73.7 | 60.3 | 20.4 | 86.9 | 94.2 | 40.1 | 26 | 25.8 | 38.9 | 81.4 | 61.3 | 66.8 | 49.2 | 48.2 | 7.2 | 56.3 | 49.2 | 47.7 | — | |
| RandLA-NetGPU Hardware=NVIDIA RTX 2080Ti2022.04 | 53.9 | 90.7 | 73.7 | 60.3 | 20.4 | 86.9 | 94.2 | 40.1 | 26 | 25.8 | 38.9 | 81.4 | 61.3 | 66.8 | 49.2 | 48.2 | 7.2 | 56.3 | 49.2 | 47.7 | 521.8 | |
| RandLA-NetSize=50K pts, FPS (Hz)=1.32022.02 | 53.9 | 90.7 | 73.7 | 60.3 | 20.4 | 86.9 | 94.2 | 40.1 | 26 | 25.8 | 38.9 | 81.4 | 61.3 | 66.8 | 49.2 | 48.2 | 7.2 | 56.3 | 49.2 | 47.7 | — | |
| LatticeNetSize=50K pts, FPS (Hz)=72022.02 | 52.9 | 90 | 74.1 | 59.4 | 22 | 88.2 | 92.9 | 26.6 | 16.6 | 22.2 | 21.4 | 81.7 | 63.6 | 63.1 | 35.6 | 43 | 46 | 58.8 | 51.9 | 48.4 | — | |
| RangeNet++GPU Hardware=NVIDIA RTX 2080Ti2022.04 | 52.2 | 91.8 | 75.2 | 65 | 27.8 | 87.4 | 91.4 | 25.7 | 25.7 | 34.4 | 23 | 80.5 | 55.1 | 64.6 | 38.3 | 38.8 | 4.8 | 58.6 | 47.9 | 55.9 | 82.3 | |
| RangeNet53++Size=64 x 2048, FPS (Hz)=122022.02 | 52.2 | 91.8 | 75.2 | 65 | 27.8 | 87.4 | 91.4 | 25.7 | 25.7 | 34.4 | 23 | 80.5 | 55.1 | 64.6 | 38.3 | 38.8 | 4.8 | 58.6 | 47.9 | 55.9 | — | |
| PointASNLProtocol=single-scan2021.03 | 46.8 | 87.4 | 74.3 | 24.3 | 1.8 | 83.1 | 87.9 | 39 | 0 | 25.1 | 29.2 | 84.1 | 52.2 | 70.6 | 34.2 | 57.6 | 0 | 43.9 | 57.8 | 36.9 | — | |
| TangentConvProtocol=single-scan2021.03 | 40.9 | 83.9 | 33.4 | 15.4 | — | 83.4 | 90.8 | 15.2 | 2.7 | 16.5 | 12.1 | 79.5 | 49.3 | 58.1 | 23 | 28.4 | 8.1 | 49 | 35.8 | 28.5 | — | |
| SqueezeSegV2Protocol=single-scan2021.03 | 39.7 | 88.6 | 67.6 | 45.8 | 17.7 | 73.7 | 81.8 | 13.4 | 18.5 | 17.9 | 14 | 71.8 | 35.8 | 60.2 | 20.1 | 25.1 | 3.9 | 41.1 | 20.2 | 36.3 | — | |
| TangentConvSize=50K pts, FPS (Hz)=0.32022.02 | 35.9 | 82.9 | 61.7 | 15.2 | 9 | 82.8 | 86.8 | 11.6 | 1.3 | 12.7 | 10.2 | 75.5 | 42.5 | 55.5 | 17.1 | 20.2 | 0.5 | 44.2 | 30.2 | 22.2 | — | |
| SPLATNetSize=50K pts, FPS (Hz)=12022.02 | 22.8 | 70.4 | 41.5 | 0.8 | 0 | 68.7 | 66.6 | 0 | 0 | 0 | 0 | 72.3 | 35.9 | 35.8 | 0 | 0 | 0 | 27.8 | 13.8 | 0 | — | |
| PointNet++Protocol=single-scan2021.03 | 20.1 | 72 | 41.8 | 18.7 | 5.6 | 62.3 | 53.7 | 0.9 | 1.9 | 0.2 | 0.2 | 46.5 | 13.8 | 30 | 0.9 | 1 | 0 | 16.9 | 6 | 8.9 | — | |
| PointNet++2022.04 | 20.1 | 72 | 41.8 | 18.7 | 5.6 | 62.3 | 53.7 | 0.9 | 1.9 | 0.2 | 0.2 | 46.5 | 13.8 | 30 | 0.9 | 1 | 0 | 16.9 | 6 | 8.9 | — | |
| PointNet++Size=50K pts, FPS (Hz)=0.12022.02 | 20.1 | 72 | 41.8 | 18.7 | 5.6 | 62.3 | 53.7 | 0.9 | 1.9 | 0.2 | 0.2 | 46.5 | 13.8 | 30 | 0.9 | 1 | 0 | 16.9 | 6 | 8.9 | — | |
| PointNetProtocol=single-scan2021.03 | 14.6 | 61.6 | 35.7 | 15.8 | 1.4 | 41.4 | 46.3 | 0.1 | 1.3 | 0.3 | 0.8 | 31 | 4.6 | 17.6 | 0.2 | 0.2 | 0 | 12.9 | 2.4 | 3.7 | — | |
| PointNet2022.04 | 14.6 | 61.6 | 35.7 | 15.8 | 1.4 | 41.4 | 46.3 | 0.1 | 1.3 | 0.3 | 0.8 | 31 | 4.6 | 17.6 | 0.2 | 0.2 | 0 | 12.9 | 2.4 | 3.7 | — | |
| PointNetSize=50K pts, FPS (Hz)=22022.02 | 14.6 | 61.6 | 35.7 | 15.8 | 1.4 | 41.4 | 46.3 | 0.1 | 1.3 | 0.3 | 0.8 | 31 | 4.6 | 17.6 | 0.2 | 0.2 | 0 | 12.9 | 2.4 | 3.7 | — |