Semantic Segmentation on SemanticKITTI single-scan (test)
75.6mIoULSK3DNet
Evaluation results
| Method | Links | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LSK3DNetInput=PV, speed (ms/s)=892024.03 | 75.6 | 92.2 | 78.9 | 70.2 | 41.8 | 92.7 | 97.3 | 61 | 71.4 | 75.6 | 64.2 | 86.4 | 72.7 | 71.9 | 81.2 | 80.6 | 85.2 | 72 | 67 | 74.6 | |
| SphereFormerInput=P, speed (ms/s)=1232024.03 | 74.8 | 91.8 | 78.2 | 69.7 | 41.3 | 93.8 | 97.5 | 59.6 | 70.1 | 70.5 | 67.7 | 86.7 | 75.1 | 72.4 | 79 | 80.4 | 75.3 | 72.8 | 66.8 | 72.9 | |
| 2DPASSImage training=yes, Supervision level=Fully-supervised2023.09 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSInput=PV, speed (ms/s)=622024.03 | 72.9 | 89.7 | 74.7 | 67.4 | 40 | 93.5 | 97 | 61.1 | 63.6 | 63.4 | 61.5 | 86.2 | 73.9 | 71 | 77.9 | 81.3 | 74.1 | 72.9 | 65 | 70.4 | |
| Point-Voxel KDImage training=no, Supervision level=Fully-supervised2023.09 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PV-KDInput=V, speed (ms/s)=762024.03 | 71.2 | 91.8 | 77.5 | 70.9 | 41 | 92.4 | 97 | 53.5 | 67.9 | 69.3 | 60.2 | 86.5 | 73.8 | 71.9 | 75.1 | 73.5 | 50.5 | 69.4 | 64.9 | 65.8 | |
| (AF)2-S3NetInput=V, speed (ms/s)=1582024.03 | 70.8 | 92 | 76.2 | 66.8 | 45.8 | 92.5 | 94.3 | 40.2 | 63 | 81.4 | 40 | 78.6 | 68 | 63.1 | 76.4 | 81.7 | 77.7 | 69.6 | 64 | 73.3 | |
| RPVNetInput=RPV, speed (ms/s)=1682024.03 | 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 | 43.4 | 72.1 | 64.8 | 61.4 | |
| Cylinder3DInput=V, speed (ms/s)=1312024.03 | 68.9 | 92.2 | 77 | 65 | 32.3 | 90.7 | 97.1 | 50.8 | 67.6 | 63.8 | 58.5 | 85.6 | 72.5 | 69.8 | 73.7 | 69.2 | 48 | 66.5 | 62.4 | 66.2 | |
| Cylinder3DImage training=no, Supervision level=Fully-supervised2023.09 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASInput=PV, speed (ms/s)=2592024.03 | 67 | 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 | |
| SPVNASImage training=no, Supervision level=Fully-supervised2023.09 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3C-NetImage training=no, Supervision level=Fully-supervised2023.09 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3C-NetInput=V, speed (ms/s)=4712024.03 | 66 | 88.9 | 72.1 | 61.9 | 31.9 | 92.5 | 95.8 | 54.3 | 59.3 | 52.9 | 46 | 84.5 | 69.8 | 67.9 | 69.5 | 65.4 | 39.9 | 70.8 | 60.7 | 68.7 | |
| SalsaNextImage training=no, Supervision level=Fully-supervised2023.09 | 59.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvImage training=no, Supervision level=Fully-supervised2023.09 | 58.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KPConvInput=P, speed (ms/s)=4712024.03 | 58.8 | 90.3 | 72.7 | 61.3 | 31.5 | 90.5 | 95 | 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 | |
| ImageTo360Image training=yes, Supervision level=1% labels2023.09 | 57.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SCSSnetImage training=no, Supervision level=Fully-supervised2023.09 | 57.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SqueezeSegV3Image training=no, Supervision level=Fully-supervised2023.09 | 55.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RandLA-NetInput=P, speed (ms/s)=8802024.03 | 55.9 | 90.5 | 74 | 61.8 | 24.5 | 89.7 | 94.2 | 43.9 | 29.8 | 32.2 | 39.1 | 83.8 | 63.6 | 68.6 | 48.4 | 47.4 | 9.4 | 60.4 | 51 | 50.7 | |
| SqueezeSegV3Input=R, speed (ms/s)=2382024.03 | 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-MiniNet-KNNSize=64x2048 px, Frame-rate (FPS)=28, Params(M)=3.97, KNN post-processing=true2020.02 | 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 | |
| 3D-MiniNetImage training=no, Supervision level=Fully-supervised2023.09 | 55.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MiniNet-small-KNNSize=64x2048 px, Frame-rate (FPS)=40, Params(M)=1.13, KNN post-processing=true2020.02 | 54.4 | 91.5 | 72.7 | 61.8 | 24.6 | 87.1 | 88.1 | 25.6 | 39.3 | 38 | 25.6 | 82.5 | 59.7 | 65 | 47.2 | 46.2 | 22.4 | 56.1 | 45.8 | 54.9 | |
| PolarNetInput=R, speed (ms/s)=622024.03 | 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 | 61.3 | 51.8 | 57.5 | |
| RandLA-NetFrame-rate (FPS)=22, Params(M)=1.24, KNN post-processing=false2020.02 | 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 | |
| 3D-MiniNetSize=64x2048 px, Frame-rate (FPS)=36, Params(M)=3.97, KNN post-processing=false2020.02 | 53 | 91.6 | 74 | 64.1 | 25.9 | 85.8 | 85.2 | 28.3 | 37.9 | 39.3 | 28.8 | 80.3 | 54.5 | 65.9 | 43.8 | 40.3 | 14.4 | 57 | 37.9 | 51.5 | |
| RangeNet53-KNNSize=64x2048 px, Frame-rate (FPS)=12, Params(M)=50, KNN post-processing=true2020.02 | 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 | |
| RangeNet53++Image training=no, Supervision level=Fully-supervised2023.09 | 52.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 3D-MiniNet-smallSize=64x2048 px, Frame-rate (FPS)=61, Params(M)=1.13, KNN post-processing=false2020.02 | 51.8 | 91.5 | 72.3 | 61.7 | 25.1 | 83.9 | 83.4 | 25.4 | 35.6 | 25.4 | 25.1 | 80.3 | 53.9 | 64.3 | 43.4 | 42.3 | 20.7 | 53 | 36.4 | 50.3 | |
| RangeNet53Size=64x2048 px, Frame-rate (FPS)=13, Params(M)=50, KNN post-processing=false2020.02 | 49.9 | 91.7 | 74 | 65.1 | 28.2 | 82.9 | 85.3 | 25.8 | 22.7 | 33.6 | 22.2 | 77.3 | 50 | 64.6 | 36.8 | 31.4 | 4.7 | 54.8 | 39.1 | 52.3 | |
| 3D-MiniNet-tiny-KNNSize=64x2048 px, Frame-rate (FPS)=55, Params(M)=0.44, KNN post-processing=true2020.02 | 49 | 90.7 | 71 | 59.5 | 19.7 | 86.4 | 86.6 | 19.2 | 31.6 | 27.8 | 21.3 | 80 | 55.4 | 61.4 | 38.1 | 35 | 3 | 53.7 | 40.5 | 51 | |
| RangeNet21Size=64x2048 px, Frame-rate (FPS)=25, Params(M)=25, KNN post-processing=false2020.02 | 47.4 | 91.4 | 74 | 57 | 26.4 | 81.9 | 85.4 | 18.6 | 26.2 | 26.5 | 15.6 | 77.6 | 48.4 | 63.6 | 31.8 | 33.6 | 4 | 52.3 | 36 | 50 | |
| 3D-MiniNet-tinySize=64x2048 px, Frame-rate (FPS)=98, Params(M)=0.44, KNN post-processing=false2020.02 | 46.9 | 90.7 | 70.7 | 59.4 | 20 | 83.4 | 82 | 19 | 29.3 | 25.4 | 20.8 | 77.9 | 50.6 | 60.8 | 35.1 | 32.3 | 3.2 | 51 | 32.7 | 46.7 | |
| TangentConvSize=64x2048 px, Frame-rate (FPS)=0.3, Params(M)=0.4, KNN post-processing=false2020.02 | 40.9 | 83.9 | 63.9 | 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 | |
| TangentConvInput=R, speed (ms/s)=30002024.03 | 40.9 | 83.9 | 63.9 | 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 | |
| SqueezeSegV2Size=64x2048 px, Frame-rate (FPS)=83, Params(M)=1, KNN post-processing=false2020.02 | 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 | |
| DBLiDARNetSize=64x2048 px, Params(M)=2.8, KNN post-processing=false2020.02 | 37.6 | 85.8 | 59.3 | 8.7 | 1 | 78.6 | 81.5 | 6.6 | 29.4 | 19.6 | 6.5 | 77.1 | 46 | 58.1 | 23.7 | 20.1 | 2.4 | 39.6 | 32.6 | 39.1 | |
| SqueezeSegSize=64x2048 px, Frame-rate (FPS)=90, Params(M)=1, KNN post-processing=false2020.02 | 29.5 | 85.4 | 54.3 | 26.9 | 4.5 | 57.4 | 68.8 | 3.3 | 16 | 4.1 | 3.6 | 60 | 24.3 | 53.7 | 12.9 | 13.1 | 0.9 | 29 | 17.5 | 24.5 | |
| PointNet++Size=50K pts, Frame-rate (FPS)=0.1, Params(M)=6, KNN post-processing=false2020.02 | 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 | |
| PointNet++Input=P, speed (ms/s)=59002024.03 | 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 | |
| SPLATNetSize=50K pts, Frame-rate (FPS)=1, Params(M)=0.8, KNN post-processing=false2020.02 | 18.4 | 64.6 | 39.1 | 0.4 | 0 | 58.3 | 58.2 | 0 | 0 | 0 | 0 | 71.1 | 9.9 | 19.3 | 0 | 0 | 0 | 23.1 | 5.6 | 0 | |
| SPGFrame-rate (FPS)=0.2, Params(M)=0.25, KNN post-processing=false2020.02 | 17.4 | 45 | 28.5 | 0.6 | 0.6 | 64.3 | 49.3 | 0.1 | 0.2 | 0.2 | 0.8 | 48.9 | 27.2 | 24.6 | 0.3 | 2.7 | 0.1 | 20.8 | 15.9 | 0.8 | |
| PointNetSize=50K pts, Frame-rate (FPS)=2, Params(M)=3, KNN post-processing=false2020.02 | 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 |