Semantic Segmentation on SemanticKITTI single-scan

70.3mIoURPVNet

Evaluation Results

Method
RPVNet2022.04	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	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—	—
CPGNet2022.04	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
CPGNet2022.04	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
Cylinder3D2022.04	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
DRINet2022.04	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	—
SPVCNN2022.04	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-HDSeg2022.02	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	—
FusionNet2021.03	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-RangeSeg2022.02	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-Net2021.03	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-Net2022.02	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	—
SalsaNext2022.04	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
SalsaNext2022.02	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	—
FIDNet2022.02	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	—
KPConv2022.02	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-LSTM2022.02	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	—
SqueezeSegv32022.04	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
SqueezeSegV32022.02	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-MiniNet2022.02	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	—
MPF2022.04	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
MINet2022.02	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	—
PolarNet2021.03	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	—
MinkNet422021.03	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	—
PolarNet2022.02	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-Net2021.03	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-Net2022.04	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-Net2022.02	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	—
LatticeNet2022.02	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++2022.04	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++2022.02	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	—
PointASNL2021.03	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	—
TangentConv2021.03	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	—
SqueezeSegV22021.03	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	—
TangentConv2022.02	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	—
SPLATNet2022.02	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++2021.03	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++2022.02	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	—
PointNet2021.03	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	—
PointNet2022.02	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	—