Semantic Segmentation on SemanticKITTI v1.0 (test)
75.5mIoUPTv3
Evaluation results
| Method | Links | |
|---|---|---|
| PTv3Year=2024, Pre-training=PPT2023.12 | 75.5 | |
| PTv3Year=2024, Pre-training=M3Net2023.12 | 75.1 | |
| SphereFormerYear=20232023.12 | 74.8 | |
| PTv3Year=20242023.12 | 74.2 | |
| RangeFormerYear=20232023.12 | 73.3 | |
| 2DPASSYear=20222023.12 | 72.9 | |
| PTv2Year=20222023.12 | 72.6 | |
| PVKDYear=20222023.12 | 71.2 | |
| WaffleIronYear=20232023.12 | 70.8 | |
| LaserMix++Modality=Lidar+Camera, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 68.6 | |
| Cylinder3DYear=20212023.12 | 67.8 | |
| LaserMix++Modality=Lidar+Camera, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 67.7 | |
| HiLoTsModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 67.6 | |
| LaserMix++Modality=Lidar+Camera, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 67.5 | |
| DDSemiModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 67 | |
| HiLoTsModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 66.5 | |
| SPVNASYear=20202023.12 | 66.4 | |
| DDSemiModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 66.3 | |
| CyMix+IPSLModality=Lidar+Camera, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 65.9 | |
| HiLoTsModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 65.7 | |
| FRNetModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 65.4 | |
| FRNetModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 65.2 | |
| DDSemiModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 65.1 | |
| CyMix+IPSLModality=Lidar+Camera, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 64.9 | |
| IGNetModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 64.8 | |
| FRNetModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 64.8 | |
| CyMix+IPSLModality=Lidar+Camera, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 64.8 | |
| ImageTo360Modality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 64.2 | |
| PolarMixModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 63.8 | |
| LiM3DModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 63.6 | |
| LaserMix++Modality=Lidar+Camera, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 63.2 | |
| LiM3DModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 63.1 | |
| IGNetModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 63.1 | |
| SphereFormerModality=Lidar, Labeling Ratio=50%, Supervision=Fully-supervised, reproduced=true2025.03 | 62.4 | |
| LaserMixModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 62.3 | |
| LiM3DModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 62.2 | |
| PolarMixModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 62 | |
| LaserMixModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 61.9 | |
| MarS3DModality=Lidar, Labeling Ratio=50%, Supervision=Fully-supervised, reproduced=true2025.03 | 61.7 | |
| ImageTo360Modality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 61.4 | |
| IGNetModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 61.3 | |
| PolarMixModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 60.9 | |
| SphereFormerModality=Lidar, Labeling Ratio=20%, Supervision=Fully-supervised, reproduced=true2025.03 | 60.6 | |
| MarS3DModality=Lidar, Labeling Ratio=20%, Supervision=Fully-supervised, reproduced=true2025.03 | 60.2 | |
| LaserMixModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 60 | |
| GPCModality=Lidar, Labeling Ratio=50%, Supervision=Semi-supervised2025.03 | 59.9 | |
| SphereFormerModality=Lidar, Labeling Ratio=10%, Supervision=Fully-supervised, reproduced=true2025.03 | 59.8 | |
| DDSemiModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 59.3 | |
| RangeViTModality=Lidar, Labeling Ratio=50%, Supervision=Fully-supervised, reproduced=true2025.03 | 58.8 | |
| GPCModality=Lidar, Labeling Ratio=20%, Supervision=Semi-supervised2025.03 | 58.8 | |
| Cylinder3DModality=Lidar, Labeling Ratio=50%, Supervision=Fully-supervised, reproduced=false2025.03 | 58.7 | |
| MarS3DModality=Lidar, Labeling Ratio=10%, Supervision=Fully-supervised, reproduced=true2025.03 | 58.6 | |
| ImageTo360Modality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 58.6 | |
| HiLoTsModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 58.6 | |
| LiM3DModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 58.4 | |
| Cylinder3DModality=Lidar, Labeling Ratio=20%, Supervision=Fully-supervised, reproduced=false2025.03 | 57.8 | |
| RangeViTModality=Lidar, Labeling Ratio=20%, Supervision=Fully-supervised, reproduced=true2025.03 | 56.6 | |
| Cylinder3DModality=Lidar, Labeling Ratio=10%, Supervision=Fully-supervised, reproduced=false2025.03 | 56.1 | |
| FRNetModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 55.8 | |
| ImageTo360Modality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 54.5 | |
| RangeViTModality=Lidar, Labeling Ratio=10%, Supervision=Fully-supervised, reproduced=true2025.03 | 53.4 | |
| CyMix+IPSLModality=Lidar+Camera, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 52.8 | |
| LaserMixModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 50.6 | |
| PolarMixModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 50.1 | |
| GPCModality=Lidar, Labeling Ratio=10%, Supervision=Semi-supervised2025.03 | 49.9 | |
| IGNetModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 49 | |
| Cylinder3DModality=Lidar, Labeling Ratio=1%, Supervision=Fully-supervised, reproduced=false2025.03 | 45.4 | |
| MarS3DModality=Lidar, Labeling Ratio=1%, Supervision=Fully-supervised, reproduced=true2025.03 | 44.5 | |
| RangeViTModality=Lidar, Labeling Ratio=1%, Supervision=Fully-supervised, reproduced=true2025.03 | 43.8 | |
| GPCModality=Lidar, Labeling Ratio=1%, Supervision=Semi-supervised2025.03 | 41.8 | |
| SphereFormerModality=Lidar, Labeling Ratio=1%, Supervision=Fully-supervised, reproduced=true2025.03 | 41.2 |