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LiDAR Semantic Segmentation research benchmarks – Page 2 · SOTA2 Research

LiDAR Semantic Segmentation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

SemanticKITTI (50%)

62.3mIoU

11

Feb 26, 2026

SemanticKITTI (20%)

61.9mIoU

11

Feb 26, 2026

73.2mIoU

11

Feb 26, 2026

71.8mIoU

11

Feb 26, 2026

SemanticSTF (val)

53.2mIoU (D-fog)

10

May 14, 2026

SemanticPOSS (test)

53.5mIoU

8

Feb 26, 2026

ISPRS Vaihingen

0.867Ground IoU

6

Feb 26, 2026

95.29Ground IoU

6

Feb 26, 2026

91.03mCE

6

Feb 26, 2026

DAPS-3D Full labels

86mIoU

6

Feb 26, 2026

DAPS-3D Half labels

82.08mIoU

6

Feb 26, 2026

SynLiDAR 10% label ratio

49.93mIoU

6

Feb 26, 2026

SynLiDAR 1% label ratio

44.1mIoU

6

Feb 26, 2026

SemanticSTF Full labels

55.42mIoU

6

Feb 26, 2026

SemanticSTF Half labels

53.78mIoU

6

Feb 26, 2026

SemanticPOSS Full labels

57.17mIoU

6

Feb 26, 2026

SemanticPOSS Half labels

0.536mIoU

6

Feb 26, 2026

RELLIS-3D 10% label ratio

55.05mIoU

6

Feb 26, 2026

RELLIS-3D 1% label ratio

51.27mIoU

6

Feb 26, 2026

nuScenes Beam-32 (100%)

75.52mIoU

4

May 14, 2026

nuScenes Beam-32 (20%)

69.62mIoU

4

May 14, 2026

nuScenes Beam-32 (10%)

64.11mIoU

4

May 14, 2026

nuScenes Beam-32 (1%)

39.68mIoU

4

May 14, 2026

nuScenes (unseen scenes)

HyperLiDAR-full

67.3mIoU

4

Apr 15, 2026

SemanticKITTI (unseen scene)

56.9mIoU

4

Apr 15, 2026

Page 2 of 3

Popular datasets

nuScenes SemanticKITTI Place3D SemanticSTF ScribbleKITTI

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