Semantic Segmentation on Toronto-3D benchmark leaderboard · SOTA2 Research

Semantic Segmentation on Toronto-3D

81.13Mean IoU (mIoU)EyeNet

Evaluation Results

Method	Links
EyeNet2023.01		81.13	94.63	96.98	65.02	97.83	93.51	86.77	84.86	94.02	30.01	—
RandLA2023.01		77.71	92.95	94.61	42.62	96.89	93.01	86.51	78.07	92.85	37.12	—
MappingConvSeg2023.01		77.57	93.17	95.02	39.27	96.77	93.32	86.37	79.11	89.81	40.89	—
global-local fusion framework2026.04		73.71	—	94.59	0	96	91.85	86.82	82.24	92.27	45.88	—
global-local fusion framework2026.04		72.53	—	94.33	0	95.41	90.99	86.61	79.1	88.26	45.55	—
global-local fusion framework2026.04		72.51	—	94.59	0	95.8	92.28	86.77	81.91	91.34	37.41	—
PTv32026.04		70.86	—	94.58	0	95.38	92.73	86.19	79.83	89.73	28.46	—
MS-TGNet2023.01		70.5	95.71	94.41	17.19	95.72	88.83	76.01	73.97	94.24	23.64	—
MinkUNet34C2026.04		69.56	—	94.48	0	95.34	89.53	83.28	77.57	89.64	26.61	—
KPConv2023.01		69.11	95.39	94.62	0.06	96.07	91.51	87.68	81.56	85.66	15.72	—
SpUNet2026.04		68.87	—	94.62	0	95.9	91.35	82.38	76.25	86.17	24.3	—
PLOVIS2026.04		68.3	—	—	—	—	—	—	—	—	—	78.4
Rim et al.2023.01		66.87	72.55	92.74	14.75	88.66	93.52	81.03	67.71	39.65	56.9	—
MS-PCNN2023.01		65.89	90.03	93.84	3.83	93.46	82.59	67.8	71.95	91.12	22.5	—
Full fine-tuning2026.04		63.5	—	—	—	—	—	—	—	—	—	73.4
MLP probing2026.04		63.4	—	—	—	—	—	—	—	—	—	72.2
Decoder probing2026.04		63.3	—	—	—	—	—	—	—	—	—	74.1
AAD-Net2026.04		63.1	—	—	—	—	—	—	—	—	—	71.4
ERDA2026.04		63.1	—	—	—	—	—	—	—	—	—	72.3
DG-Net2026.04		62.7	—	—	—	—	—	—	—	—	—	70.7
OctFormer2026.04		62.05	—	92.5	0	92.59	81.89	80.99	66.98	62.85	18.63	—
DGCNN2023.01		61.79	94.24	93.88	0	91.25	80.39	62.4	62.32	88.26	15.81	—
TGNet2023.01		61.34	94.08	93.54	0	90.83	81.57	65.26	62.98	88.73	7.85	—
MS-TGNet2020.03		60.96	91.69	90.89	18.78	92.18	80.62	69.36	71.22	51.05	13.59	—
KPFCNN2020.03		60.3	91.71	90.2	0	86.79	86.83	81.08	73.06	42.85	21.57	—
PointNet++2023.01		59.47	92.56	92.9	0	86.13	82.15	60.96	62.81	76.41	14.43	—
TGNet2020.03		58.34	91.64	91.39	10.62	91.02	76.93	68.27	66.25	54.1	8.16	—
MS-PCNN2020.03		58.01	91.53	91.22	3.5	90.48	77.3	62.3	68.54	53.63	17.12	—
PointNet++2020.03		56.55	91.21	91.44	7.59	89.8	74	68.6	59.53	53.97	7.54	—
PointNet++2020.03		53.12	90.58	90.67	0	86.68	75.78	56.2	60.89	44.51	10.19	—
Stratified Transformer2026.04		51.27	—	93.81	0	86.54	73.02	57.62	28.01	67.95	3.17	—
DGCNN2020.03		49.6	89	90.63	0.44	81.25	63.95	47.05	56.86	49.26	7.32	—
PTv22026.04		44.26	—	87.34	0	75.39	60.77	21.09	38.7	56.23	14.55	—