Semantic Segmentation on S3DIS

Metric: Mean IoU (higher is better)

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#	Model↕	Mean IoU▼	Extra Data	Paper	Date↕	Code
1	Sonata + PTv3	82.3	Yes	Sonata: Self-Supervised Learning of Reliable Poi...	2025-03-20	Code
2	PTv3 + PPT	80.8	Yes	Point Transformer V3: Simpler, Faster, Stronger	2023-12-15	Code
3	PonderV2 + SparseUNet	79.9	Yes	PonderV2: Pave the Way for 3D Foundation Model w...	2023-10-12	Code
4	Swin3D-L	79.8	Yes	Swin3D: A Pretrained Transformer Backbone for 3D...	2023-04-14	Code
5	PointVector-XL	78.4	No	PointVector: A Vector Representation In Point Cl...	2022-05-21	Code
6	PPT + SparseUNet	78.1	Yes	Towards Large-scale 3D Representation Learning w...	2023-08-18	Code
7	WindowNorm+StratifiedTransformer	77.6	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
8	EQ-Net	77.5	No	A Unified Query-based Paradigm for Point Cloud U...	2022-03-02	Code
9	PointMetaBase-XXL	77	No	Meta Architecture for Point Cloud Analysis	2022-11-26	Code
10	Superpoint Transformer	76	No	Efficient 3D Semantic Segmentation with Superpoi...	2023-06-13	Code
11	SuperCluster	75.3	No	Scalable 3D Panoptic Segmentation As Superpoint ...	2024-01-12	Code
12	PointNeXt-XL	74.9	No	PointNeXt: Revisiting PointNet++ with Improved T...	2022-06-09	Code
13	DeepViewAgg	74.7	No	Learning Multi-View Aggregation In the Wild for ...	2022-04-15	Code
14	RepSurf-U	74.3	No	Surface Representation for Point Clouds	2022-05-11	Code
15	WindowNorm+PointTransformer	74.1	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
16	PointNeXt-L	73.9	No	PointNeXt: Revisiting PointNet++ with Improved T...	2022-06-09	Code
17	PointTransformer	73.5	No	Point Transformer	2020-12-16	Code
18	CBL	73.1	No	Contrastive Boundary Learning for Point Cloud Se...	2022-03-10	Code
19	BAAF-Net	72.2	No	Semantic Segmentation for Real Point Cloud Scene...	2021-03-12	Code
20	SCF-Net	71.6	No	-	-	Code
21	Feature Geometric Net (FG-Net)	70.8	No	FG-Net: Fast Large-Scale LiDAR Point Clouds Unde...	2020-12-17	Code
22	RPNet	70.8	No	Learning Inner-Group Relations on Point Clouds	2021-08-27	Code
23	KPConv	70.6	No	Point Transformer	2020-12-16	Code
24	KPConv	70.6	No	Point Transformer	2020-12-16	Code
25	FastPointTrans. (small)	70.3	No	Fast Point Transformer	2021-12-09	Code
26	MuGNet	69.8	No	Multi-Resolution Graph Neural Network for Large-...	2020-09-18	Code
27	PointASNL	68.7	No	PointASNL: Robust Point Clouds Processing using ...	2020-03-01	Code
28	SSP+SPG	68.4	No	Point Cloud Oversegmentation with Graph-Structur...	2019-04-03	Code
29	FKAConv	68.4	No	FKAConv: Feature-Kernel Alignment for Point Clou...	2020-04-09	Code
30	ConvPoint	68.2	No	ConvPoint: Continuous Convolutions for Point Clo...	2019-04-04	Code
31	JSENet	67.7	No	JSENet: Joint Semantic Segmentation and Edge Det...	2020-07-14	Code
32	CT2	67.4	No	Cloud Transformers: A Universal Approach To Poin...	2020-07-22	-
33	ShellNet	66.8	No	ShellNet: Efficient Point Cloud Convolutional Ne...	2019-08-17	Code
34	PointWeb	66.7	No	-	-	Code
35	PointCNN	65.4	No	Point Transformer	2020-12-16	Code
36	PointCNN	65.4	No	Point Transformer	2020-12-16	Code
37	MinkowskiNet	65.4	No	4D Spatio-Temporal ConvNets: Minkowski Convoluti...	2019-04-18	Code
38	DSPoint	63.3	No	DSPoint: Dual-scale Point Cloud Recognition with...	2021-11-19	Code
39	A-CNN	62.9	No	A-CNN: Annularly Convolutional Neural Networks o...	2019-04-16	Code
40	SPG	62.1	No	Large-scale Point Cloud Semantic Segmentation wi...	2017-11-27	Code
41	SPGraph	62.1	No	Point Transformer	2020-12-16	Code
42	SPGraph	62.1	No	Point Transformer	2020-12-16	Code
43	JSNet	61.7	No	JSNet: Joint Instance and Semantic Segmentation ...	2019-12-20	Code
44	DeepGCN	60	No	DeepGCNs: Making GCNs Go as Deep as CNNs	2019-10-15	Code
45	ASIS	59.3	No	Associatively Segmenting Instances and Semantics...	2019-02-26	Code
46	RSNet	56.5	No	Recurrent Slice Networks for 3D Segmentation of ...	2018-02-13	Code
47	3P-RNN	56.3	No	A-CNN: Annularly Convolutional Neural Networks o...	2019-04-16	Code
48	Point-PlaneNet	54.8	No	-	-	Code
49	SMS	51.74	No	Self-supervised Point Cloud Representation Learn...	2021-09-01	Code
50	PointNet	47.6	No	Point Transformer	2020-12-16	Code
51	PointNet	47.6	No	Point Transformer	2020-12-16	Code

#1Sonata + PTv3SOTA
82.3
Mean IoU· Extra Data· 2025-03-20
Sonata: Self-Supervised Learning of Reliable Point Representations Code
#2PTv3 + PPTSOTA
80.8
Mean IoU· Extra Data· 2023-12-15
Point Transformer V3: Simpler, Faster, Stronger Code
#3PonderV2 + SparseUNetSOTA
79.9
Mean IoU· Extra Data· 2023-10-12
PonderV2: Pave the Way for 3D Foundation Model with A Universal Pre-training Paradigm Code
#4Swin3D-LSOTA
79.8
Mean IoU· Extra Data· 2023-04-14
Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding Code
#5PointVector-XLSOTA
78.4
Mean IoU· 2022-05-21
PointVector: A Vector Representation In Point Cloud Analysis Code
#6PPT + SparseUNet
78.1
Mean IoU· Extra Data· 2023-08-18
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training Code
#7WindowNorm+StratifiedTransformer
77.6
Mean IoU· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#8EQ-NetSOTA
77.5
Mean IoU· 2022-03-02
A Unified Query-based Paradigm for Point Cloud Understanding Code
#9PointMetaBase-XXL
77
Mean IoU· 2022-11-26
Meta Architecture for Point Cloud Analysis Code
#10Superpoint Transformer
76
Mean IoU· 2023-06-13
Efficient 3D Semantic Segmentation with Superpoint Transformer Code
#11SuperCluster
75.3
Mean IoU· 2024-01-12
Scalable 3D Panoptic Segmentation As Superpoint Graph Clustering Code
#12PointNeXt-XL
74.9
Mean IoU· 2022-06-09
PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies Code
#13DeepViewAgg
74.7
Mean IoU· 2022-04-15
Learning Multi-View Aggregation In the Wild for Large-Scale 3D Semantic Segmentation Code
#14RepSurf-U
74.3
Mean IoU· 2022-05-11
Surface Representation for Point Clouds Code
#15WindowNorm+PointTransformer
74.1
Mean IoU· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#16PointNeXt-L
73.9
Mean IoU· 2022-06-09
PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies Code
#17PointTransformerSOTA
73.5
Mean IoU· 2020-12-16
Point Transformer Code
#18CBL
73.1
Mean IoU· 2022-03-10
Contrastive Boundary Learning for Point Cloud Segmentation Code
#19BAAF-Net
72.2
Mean IoU· 2021-03-12
Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion Code
#20SCF-Net
71.6
Mean IoU
No paperCode
#21Feature Geometric Net (FG-Net)
70.8
Mean IoU· 2020-12-17
FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Code
#22RPNet
70.8
Mean IoU· 2021-08-27
Learning Inner-Group Relations on Point Clouds Code
#23KPConv
70.6
Mean IoU· 2020-12-16
Point Transformer Code
#24KPConv
70.6
Mean IoU· 2020-12-16
Point Transformer Code
#25FastPointTrans. (small)
70.3
Mean IoU· 2021-12-09
Fast Point Transformer Code
#26MuGNetSOTA
69.8
Mean IoU· 2020-09-18
Multi-Resolution Graph Neural Network for Large-Scale Pointcloud Segmentation Code
#27PointASNLSOTA
68.7
Mean IoU· 2020-03-01
PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling Code
#28SSP+SPGSOTA
68.4
Mean IoU· 2019-04-03
Point Cloud Oversegmentation with Graph-Structured Deep Metric Learning Code
#29FKAConv
68.4
Mean IoU· 2020-04-09
FKAConv: Feature-Kernel Alignment for Point Cloud Convolution Code
#30ConvPoint
68.2
Mean IoU· 2019-04-04
ConvPoint: Continuous Convolutions for Point Cloud Processing Code
#31JSENet
67.7
Mean IoU· 2020-07-14
JSENet: Joint Semantic Segmentation and Edge Detection Network for 3D Point Clouds Code
#32CT2
67.4
Mean IoU· 2020-07-22
Cloud Transformers: A Universal Approach To Point Cloud Processing Tasks
#33ShellNet
66.8
Mean IoU· 2019-08-17
ShellNet: Efficient Point Cloud Convolutional Neural Networks using Concentric Shells Statistics Code
#34PointWeb
66.7
Mean IoU
No paperCode
#35PointCNN
65.4
Mean IoU· 2020-12-16
Point Transformer Code
#36PointCNN
65.4
Mean IoU· 2020-12-16
Point Transformer Code
#37MinkowskiNet
65.4
Mean IoU· 2019-04-18
4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks Code
#38DSPoint
63.3
Mean IoU· 2021-11-19
DSPoint: Dual-scale Point Cloud Recognition with High-frequency Fusion Code
#39A-CNN
62.9
Mean IoU· 2019-04-16
A-CNN: Annularly Convolutional Neural Networks on Point Clouds Code
#40SPGSOTA
62.1
Mean IoU· 2017-11-27
Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs Code
#41SPGraph
62.1
Mean IoU· 2020-12-16
Point Transformer Code
#42SPGraph
62.1
Mean IoU· 2020-12-16
Point Transformer Code
#43JSNet
61.7
Mean IoU· 2019-12-20
JSNet: Joint Instance and Semantic Segmentation of 3D Point Clouds Code
#44DeepGCN
60
Mean IoU· 2019-10-15
DeepGCNs: Making GCNs Go as Deep as CNNs Code
#45ASIS
59.3
Mean IoU· 2019-02-26
Associatively Segmenting Instances and Semantics in Point Clouds Code
#46RSNet
56.5
Mean IoU· 2018-02-13
Recurrent Slice Networks for 3D Segmentation of Point Clouds Code
#473P-RNN
56.3
Mean IoU· 2019-04-16
A-CNN: Annularly Convolutional Neural Networks on Point Clouds Code
#48Point-PlaneNet
54.8
Mean IoU
No paperCode
#49SMS
51.74
Mean IoU· 2021-09-01
Self-supervised Point Cloud Representation Learning via Separating Mixed Shapes Code
#50PointNet
47.6
Mean IoU· 2020-12-16
Point Transformer Code
#51PointNet
47.6
Mean IoU· 2020-12-16
Point Transformer Code