Semantic Segmentation on SemanticKITTI (test)
75.6mIoULSK3DNet
Evaluation results
| Method | Links | ||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| LSK3DNet#Params=28.8M, Joint training=false2026.04 | 75.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Training Protocol=Multi-dataset joint training (PPT [92])2023.12 | 75.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3 + PPTYear=20242023.08 | 75.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PPT + PTv3Params.=46.3M, Training Protocol=supervised pre-training (fine-tuned)2023.08 | 75.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3/PPT#Params=46.3M, Joint training=true2026.04 | 75.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Volt-B#Params=94.3M, Joint training=true2026.04 | 75.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3 + M3NetYear=20242023.08 | 75.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer2023.03 | 74.8 | — | 70.1 | 70.5 | 59.6 | 67.7 | 79 | 80.4 | 75.3 | 91.8 | 69.7 | 78.2 | 41.3 | 93.8 | 72.8 | 86.7 | 75.1 | 72.4 | 66.8 | 72.9 | 97.5 | — | |
| SphereFormerTraining Protocol=Trained from scratch2023.12 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerYear=20232023.08 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerParams.=32.3M2023.08 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormerApproach Type=3D Voxel Based2023.11 | 74.8 | — | 70.1 | 70.5 | 59.6 | 67.7 | 79 | 80.4 | 75.3 | 91.8 | 69.7 | 78.2 | 41.3 | 93.8 | 72.8 | 86.7 | 75.1 | 72.4 | 66.8 | 72.9 | 97.5 | — | |
| SphereFormerModality=3D-only2025.03 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SphereFormer#Params=32.3M, Joint training=false2026.04 | 74.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DITRModality=2D-3D fusion2025.03 | 74.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Training Protocol=Trained from scratch2023.12 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Year=20242023.08 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Params.=46.2M2023.08 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3Modality=3D-only2025.03 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv3#Params=46.1M, Joint training=false2026.04 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RangeFormerYear=20232023.08 | 73.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2023.03 | 72.9 | — | 63.6 | 63.4 | 61.1 | 61.5 | 77.9 | 81.3 | 74.1 | 89.7 | 67.4 | 74.7 | 40 | 93.5 | 72.9 | 86.2 | 73.9 | 71 | 65 | 70.4 | 97 | — | |
| 2DPASS2023.12 | 72.9 | — | 63.6 | 63.4 | 61.1 | 61.5 | 77.9 | 81.3 | 74.1 | 89.7 | 67.4 | 74.7 | 40 | 93.5 | 72.9 | 86.2 | 73.9 | 71 | 65 | 70.4 | 97 | — | |
| 2DPASSTraining Protocol=Trained from scratch2023.12 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSYear=20222023.08 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASSModality=2D-3D fusion2025.03 | 72.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2DPASS2026.05 | 72.9 | — | 63.6 | 63.4 | 61.1 | 61.5 | 77.9 | 81.3 | 74.1 | 89.7 | 67.4 | 74.7 | 40 | 93.5 | 72.9 | 86.2 | 73.9 | 71 | 65 | 70.4 | 97 | — | |
| PTv2Training Protocol=Trained from scratch2023.12 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2Year=20222023.08 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2Modality=3D-only2025.03 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PTv2#Params=12.8M, Joint training=false2026.04 | 72.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ConDaFormer2023.12 | 72 | — | 66.5 | 69.3 | 62.6 | 64.8 | 73.6 | 73.1 | 65.1 | 88.3 | 70.5 | 72.8 | 35.7 | 92.7 | 70.7 | 84.9 | 73.9 | 69.7 | 65.2 | 71.3 | 97.3 | — | |
| PVKD2023.03 | 71.2 | — | 69.3 | 53.5 | 67.9 | 60.2 | 75.1 | 73.5 | 50.5 | 91.8 | 77.5 | 70.9 | 41 | 92.4 | 69.4 | 86.5 | 73.8 | 71.9 | 64.9 | 65.8 | 97 | — | |
| PVKDSpConv free=false2023.01 | 71.2 | — | 67.9 | 69.3 | 53.5 | 60.2 | 75.1 | 73.5 | 50.5 | 91.8 | 70.9 | 92.4 | 77.5 | 41 | 69.4 | 86.5 | 73.8 | 71.9 | 64.9 | 65.8 | 97 | — | |
| PVKD2023.12 | 71.2 | — | 69.3 | 53.5 | 67.9 | 60.2 | 75.1 | 73.5 | 50.5 | 91.8 | 77.5 | 70.9 | 41 | 92.4 | 69.4 | 86.5 | 73.8 | 71.9 | 64.9 | 65.8 | 97 | — | |
| PVKDYear=20222023.08 | 71.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| (AF)2-S3Net2023.03 | 70.8 | — | 63 | 81.4 | 40.2 | 40 | 76.4 | 81.7 | 77.7 | 92 | 66.8 | 76.2 | 45.8 | 92.5 | 69.6 | 78.6 | 68 | 63.1 | 64 | 73.3 | 94.3 | — | |
| WaffleIronSpConv free=true2023.01 | 70.8 | — | 70 | 69.8 | 40.4 | 59.6 | 77.1 | 75.5 | 41.5 | 90.6 | 70.4 | 93.5 | 76.4 | 38.9 | 72.3 | 86.7 | 75.7 | 71.7 | 66.2 | 71.9 | 97.2 | — | |
| (AF)2-S3Net2023.12 | 70.8 | — | 63 | 81.4 | 40.2 | 40 | 76.4 | 81.7 | 77.7 | 92 | 66.8 | 76.2 | 45.8 | 92.5 | 69.6 | 78.6 | 68 | 63.1 | 64 | 73.3 | 94.3 | — | |
| AF2S3NetTraining Protocol=Trained from scratch2023.12 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WaffleIronYear=20232023.08 | 70.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LinKInput representation=Voxel2023.03 | 70.7 | — | 58.4 | 56.6 | 52.9 | 64.2 | 72.3 | 77 | 69.1 | 90.6 | 68.2 | 76.2 | 34.5 | 92 | 68.8 | 85.7 | 74.3 | 70.5 | 64.8 | 69.5 | 97.4 | — | |
| GASNSpConv free=false2023.01 | 70.7 | — | 65.8 | 58 | 59.3 | 61 | 80.4 | 82.7 | 46.3 | 89.8 | 66.2 | 92.3 | 74.6 | 30.1 | 69.6 | 87.3 | 73 | 72.5 | 66.1 | 71.6 | 96.9 | — | |
| SDSeg3DSpConv free=false2023.01 | 70.4 | — | 58.7 | 54.2 | 54.9 | 65.2 | 70.2 | 74.4 | 52.2 | 90.9 | 69.4 | 93.2 | 76.7 | 41.9 | 71.1 | 86.1 | 74.3 | 71.1 | 65.4 | 70.6 | 97.4 | — | |
| RPVNetType=Fusion Network, Voxel resolution=0.05m, Augmentation=instance CutMix2021.03 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 73.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| RPVNet2023.03 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 43.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| RPVNetInput representation=Range map + Point cloud + Voxel2023.03 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 73.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| RPVNetSpConv free=false2023.01 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 43.4 | 93.4 | 70.3 | 93.5 | 80.7 | 33.3 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| RPVNet2023.12 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 43.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| RPVNet2026.05 | 70.3 | — | 68.4 | 68.7 | 44.2 | 61.1 | 75.9 | 74.4 | 43.4 | 93.4 | 70.3 | 80.7 | 33.3 | 93.5 | 72.1 | 86.5 | 75.1 | 71.7 | 64.8 | 61.4 | 97.6 | — | |
| (AF)2-S3Net2021.02 | 69.7 | — | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 72.5 | 53.5 | 87.9 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | 94.5 | — | |
| AF2S3Type=Voxel-based2021.03 | 69.7 | — | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 72.5 | 53.5 | 87.9 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | 94.5 | — | |
| (AF)2-S3NetInput representation=Voxel2023.03 | 69.7 | — | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 72.5 | 53.5 | 87.9 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | 94.5 | — | |
| (AF)^2-S3NetSpConv free=false2023.01 | 69.7 | — | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 87.9 | 72.5 | 53.5 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | 94.5 | — | |
| (AF)2-S3NetApproach Type=3D Voxel Based2023.11 | 69.7 | — | 65.4 | 86.8 | 39.2 | 41.1 | 80.7 | 80.4 | 74.3 | 91.3 | 68.8 | 72.5 | 53.5 | 87.9 | 63.2 | 70.2 | 68.5 | 53.7 | 61.5 | 71 | 94.5 | — | |
| xModel-KD2026.05 | 69.1 | — | 55 | 73.8 | 78.5 | 55.5 | 75.5 | 59 | 55 | 92.9 | 54 | 79.4 | 50 | 89.9 | 57.5 | 87.9 | 71.4 | 74.1 | 58.2 | 50.4 | 96.2 | — | |
| Cylinder3D2023.03 | 68.9 | — | 67.6 | 63.8 | 50.8 | 58.5 | 73.7 | 69.2 | 48 | 92.2 | 65 | 77 | 32.3 | 90.7 | 66.5 | 85.6 | 72.5 | 69.8 | 62.4 | 66.2 | 97.1 | — | |
| Cylinder3D2023.12 | 68.9 | — | 67.6 | 63.8 | 50.8 | 58.5 | 73.7 | 69.2 | 48 | 92.2 | 65 | 77 | 32.3 | 90.7 | 66.5 | 85.6 | 72.5 | 69.8 | 62.4 | 66.2 | 97.1 | — | |
| Cylinder3D2026.05 | 68.9 | — | 67.6 | 63.8 | 50.8 | 58.5 | 73.7 | 69.2 | 48 | 92.2 | 65 | 77 | 32.3 | 90.7 | 66.5 | 85.6 | 72.5 | 69.8 | 62.4 | 66.2 | 97.1 | — | |
| MinkInput representation=Voxel2023.03 | 68 | — | 51.8 | 56.4 | 43.3 | 56.8 | 70.2 | 75.7 | 51.8 | 89.9 | 67.8 | 74.8 | 32.9 | 91.5 | 66.5 | 86.2 | 74.6 | 71 | 63.5 | 70 | 97.1 | — | |
| Cylinder3Dpost-processing=applied, test ensemble (flip & rotation)=applied2020.11 | 67.8 | — | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DType=Voxel-based2021.03 | 67.8 | — | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DInput representation=Voxel2023.03 | 67.8 | — | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DRepresentation Type=Voxel-based2023.01 | 67.8 | — | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DSpConv free=false2023.01 | 67.8 | — | 67.6 | 64 | 50.8 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 91 | 75.5 | 32.3 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DTraining Protocol=Trained from scratch2023.12 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DYear=20212023.08 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DParams.=26.1M2023.08 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3DApproach Type=3D Voxel Based2023.11 | 67.8 | — | 67.6 | 64 | 59 | 58.6 | 73.9 | 67.9 | 36 | 91.4 | 65.1 | 75.5 | 32.3 | 91 | 66.5 | 85.4 | 71.8 | 68.5 | 62.6 | 65.6 | 97.1 | — | |
| Cylinder3DModality=3D-only2025.03 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Cylinder3D#Params=26.1M, Joint training=false2026.04 | 67.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DRINetInput representation=Point cloud + Voxel2023.03 | 67.5 | — | 57 | 56 | 43.3 | 54.5 | 69.4 | 75.1 | 58.9 | 90.7 | 65 | 75.2 | 26.2 | 91.5 | 67.3 | 85.2 | 72.6 | 68.8 | 63.5 | 66 | 96.9 | — | |
| 2DPASS* (baseline)SpConv free=false, inputs=lidar data only2023.01 | 67.4 | — | 51.1 | 55.8 | 54.9 | 51.6 | 76.8 | 79.8 | 30.3 | 89.8 | 62.1 | 91.9 | 73.8 | 33.5 | 68.7 | 86.5 | 72.3 | 71.3 | 63.7 | 70.2 | 96.3 | — | |
| SPVNASArchitecture Group=multi-view fusion networks2020.12 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| SPVNAS2021.02 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| SPVNASType=Fusion Network2021.03 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| SPVNAS2023.03 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| SPVNASInput representation=Point cloud + Voxel2023.03 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| SPVNAS2023.12 | 67 | — | 50.6 | 50.4 | 56.6 | 58 | 67.4 | 67.1 | 50.3 | 90.2 | 67.6 | 75.4 | 21.8 | 91.6 | 66.9 | 86.1 | 73.4 | 71 | 64.3 | 67.3 | 97.2 | — | |
| BaselineModel type=LiDAR-only2026.05 | 67 | — | 55 | 58 | 60 | 51.6 | 76.8 | 55 | 55 | 89.8 | 57 | 73.8 | 52 | 91.9 | 68.7 | 86.5 | 65 | 71.3 | 60 | 49.3 | 96.3 | — | |
| SPVNAS#Params (M)=12.5, #MAdds (G)=73.8, Latency (ms)=259.92020.07 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS#Params (M)=12.5, #MACs (G)=73.8, Latency (ms)=2592020.07 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASpost-processing=applied, test ensemble (flip & rotation)=applied2020.11 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASSpConv free=false2023.01 | 66.4 | — | 51.5 | 50.8 | 59.8 | 58.8 | 65.7 | 65.2 | 43.7 | 90.2 | 67.6 | 91.3 | 75.2 | 16.9 | 65.9 | 86.1 | 73.4 | 71 | 64.2 | 66.9 | 97.3 | — | |
| SPVNASTraining Protocol=Trained from scratch2023.12 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASYear=20202023.08 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASParams.=10.8M2023.08 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNASModality=3D-only2025.03 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS#Params=10.8M, Joint training=false2026.04 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SPVNAS#Params (M)=7.5, #MAdds (G)=34.1, Latency (ms)=166.12020.07 | 66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| JS3C-NetSize=50K pts2020.12 | 66 | — | 59.3 | 52.9 | 54.3 | 46 | 69.5 | 65.4 | 39.9 | 88.9 | 61.9 | 72.1 | 31.9 | 92.5 | 70.8 | 84.5 | 69.8 | 67.9 | 60.7 | 68.7 | 95.8 | — | |
| JS3C-Net2023.03 | 66 | — | 59.3 | 52.9 | 54.3 | 46 | 69.5 | 65.4 | 39.9 | 88.9 | 61.9 | 72.1 | 31.9 | 92.5 | 70.8 | 84.5 | 69.8 | 67.9 | 60.7 | 68.7 | 95.8 | — | |
| JS3C-NetSpConv free=false2023.01 | 66 | — | 59.3 | 52.9 | 54.3 | 46 | 69.5 | 65.4 | 39.9 | 88.8 | 61.9 | 92.5 | 72.1 | 31.9 | 70.8 | 84.5 | 69.8 | 68 | 60.7 | 68.7 | 95.8 | — | |
| JS3C-Net2023.12 | 66 | — | 59.3 | 52.9 | 54.3 | 46 | 69.5 | 65.4 | 39.9 | 88.9 | 61.9 | 72.1 | 31.9 | 92.5 | 70.8 | 84.5 | 69.8 | 67.9 | 60.7 | 68.7 | 95.8 | — | |
| GFNetSpConv free=true2023.01 | 65.4 | — | 53.2 | 48.3 | 31.7 | 47.3 | 62.8 | 57.3 | 44.7 | 93.6 | 72.5 | 94 | 80.8 | 31.2 | 73.9 | 85.2 | 71.1 | 69.3 | 61.8 | 68 | 96 | — | |
| AMVNetArchitecture Group=multi-view fusion networks2020.12 | 65.3 | — | 59.9 | 54.2 | 48.8 | 45.7 | 71 | 65.7 | 11 | 90.1 | 71 | 75.8 | 32.4 | 92.4 | 69.1 | 85.6 | 71.7 | 69.6 | 62.7 | 67.2 | 96.2 | — | |
| AMVNetType=Fusion Network2021.03 | 65.3 | — | 59.9 | 54.2 | 48.8 | 45.7 | 71 | 65.7 | 11 | 90.1 | 71 | 75.8 | 32.4 | 92.4 | 69.1 | 85.6 | 71.7 | 69.6 | 62.7 | 67.2 | 96.2 | — | |
| AMVNetSpConv free=true2023.01 | 65.3 | — | 59.9 | 54.2 | 48.8 | 45.7 | 71 | 65.7 | 11 | 90.1 | 71 | 92.4 | 75.8 | 32.4 | 69.1 | 85.6 | 71.7 | 69.6 | 62.7 | 67.2 | 96.2 | — | |
| SPVNAS#Params (M)=5.1, #MAdds (G)=24.4, Latency (ms)=144.32020.07 | 65.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SVASegSpConv free=false2023.01 | 65.2 | — | 56.4 | 57 | 49.1 | 56.3 | 70.6 | 67 | 15.4 | 92.3 | 65.9 | 91.4 | 76.5 | 23.6 | 66.1 | 85.2 | 72.9 | 67.8 | 63.9 | 65.2 | 96.7 | — |