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Papers Benchmarks Datasets Tasks

3D Semantic Segmentation research benchmarks – Page 2 · SOTA2 Research

3D Semantic Segmentation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

ScanNet200 (val)

PPT (joint-training)

37.5mIoU (All Classes)

25

Jul 2, 2026

ScanNet20 v2 (test)

PTv3 + PPT (Ours)

79.8mIoU

24

Feb 26, 2026

VirtualKITTI to SemanticKITTI target (test)

80.1mIoU

22

Feb 26, 2026

nuScenes-Lidarseg USA to Singapore target (test)

79.6mIoU

22

Feb 26, 2026

A2D2 to SemanticKITTI (target)

73.6mIoU

22

Feb 26, 2026

DAPS-3D 1.0 (test)

89.08mIoU

20

Jun 19, 2026

SemSTF 1.0 (test)

58.11mIoU

20

Jun 19, 2026

Rellis-3D 1.0 (test)

62.88mIoU

20

Jun 19, 2026

SemiKITTI 1.0 (test)

59.02mIoU

20

Jun 19, 2026

69.9hIoU

20

Feb 27, 2026

6,850hIoU

20

Feb 27, 2026

nuScenes 1.0 (val)

80.4mIoU

19

May 21, 2026

97.4bed Score

19

May 29, 2026

ScanNet online benchmark

69.1mIoU

19

Feb 26, 2026

65.4hIoU

19

Feb 27, 2026

4,680hIoU

19

Feb 27, 2026

77.7Semantics mIoU

19

Apr 8, 2026

S3DIS (Area 5 test (Fold #1))

Virtual Multi-view Fusion

65.38mIoU

19

Feb 26, 2026

Fully supervised

72mIoU

18

Jun 23, 2026

Matterport3D K=160 (test)

11.6mIoU

17

Mar 30, 2026

Matterport3D K=80 (test)

22mIoU

17

Mar 30, 2026

Matterport3D K=40 (test)

38.5mIoU

17

Mar 30, 2026

47.78mIoU (10 classes)

17

Mar 26, 2026

ScanNet 15 classes

EmbodiedSplat (FastSAM + OpenSeg)

55.18mIoU

17

Mar 19, 2026

ScanNet 10 classes

EmbodiedSplat (FastSAM + LSeg)

57.48mIoU

17

Mar 19, 2026

Page 2 of 7

Popular datasets

ScanNet S3DIS nuScenes Matterport3D SemanticSTF

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