Semantic Segmentation on S3DIS

Metric: mAcc (higher is better)

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#	Model↕	mAcc▼	Extra Data	Paper	Date↕	Code
1	Sonata + PTv3	89.9	Yes	Sonata: Self-Supervised Learning of Reliable Poi...	2025-03-20	Code
2	Swin3D-L	88	Yes	Swin3D: A Pretrained Transformer Backbone for 3D...	2023-04-14	Code
3	PTv3 + PPT	87.7	Yes	Point Transformer V3: Simpler, Faster, Stronger	2023-12-15	Code
4	PonderV2 + SparseUNet	86.5	Yes	PonderV2: Pave the Way for 3D Foundation Model w...	2023-10-12	Code
5	PointVector-XL	86.1	No	PointVector: A Vector Representation In Point Cl...	2022-05-21	Code
6	WindowNorm+StratifiedTransformer	85.8	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
7	Superpoint Transformer	85.8	No	Efficient 3D Semantic Segmentation with Superpoi...	2023-06-13	Code
8	Superpoint Transformer	85.8	No	Efficient 3D Semantic Segmentation with Superpoi...	2023-06-13	Code
9	PPT + SparseUNet	85.4	Yes	Towards Large-scale 3D Representation Learning w...	2023-08-18	Code
10	DeepViewAgg	83.8	No	Learning Multi-View Aggregation In the Wild for ...	2022-04-15	Code
11	BAAF-Net	83.1	No	Semantic Segmentation for Real Point Cloud Scene...	2021-03-12	Code
12	PointNeXt-XL	83	No	PointNeXt: Revisiting PointNet++ with Improved T...	2022-06-09	Code
13	Feature Geometric Net (FG-Net)	82.9	No	FG-Net: Fast Large-Scale LiDAR Point Clouds Unde...	2020-12-17	Code
14	SCF-Net	82.7	No	-	-	Code
15	RepSurf-U	82.6	No	Surface Representation for Point Clouds	2022-05-11	Code
16	WindowNorm+PointTransformer	82.5	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
17	PointNeXt-L	82.2	No	PointNeXt: Revisiting PointNet++ with Improved T...	2022-06-09	Code
18	PointTransformer	81.9	No	Point Transformer	2020-12-16	Code
19	RandLA-Net	81.5	No	RandLA-Net: Efficient Semantic Segmentation of L...	2019-11-25	Code
20	CBL	79.4	No	Contrastive Boundary Learning for Point Cloud Se...	2022-03-10	Code
21	KPConv	79.1	No	KPConv: Flexible and Deformable Convolution for ...	2019-04-18	Code
22	PointASNL	79	No	PointASNL: Robust Point Clouds Processing using ...	2020-03-01	Code
23	SSP+SPG	78.3	No	Point Cloud Oversegmentation with Graph-Structur...	2019-04-03	Code
24	PointWeb	76.2	No	-	-	Code
25	SPG	73	No	Large-scale Point Cloud Semantic Segmentation wi...	2017-11-27	Code
26	JSNet	71.7	No	JSNet: Joint Instance and Semantic Segmentation ...	2019-12-20	Code
27	DSPoint	70.9	No	DSPoint: Dual-scale Point Cloud Recognition with...	2021-11-19	Code
28	RSNet	66.5	No	Recurrent Slice Networks for 3D Segmentation of ...	2018-02-13	Code
29	PointNet	66.2	No	PointNet: Deep Learning on Point Sets for 3D Cla...	2016-12-02	Code

#1Sonata + PTv3SOTA
89.9
mAcc· Extra Data· 2025-03-20
Sonata: Self-Supervised Learning of Reliable Point Representations Code
#2Swin3D-LSOTA
88
mAcc· Extra Data· 2023-04-14
Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding Code
#3PTv3 + PPT
87.7
mAcc· Extra Data· 2023-12-15
Point Transformer V3: Simpler, Faster, Stronger Code
#4PonderV2 + SparseUNet
86.5
mAcc· Extra Data· 2023-10-12
PonderV2: Pave the Way for 3D Foundation Model with A Universal Pre-training Paradigm Code
#5PointVector-XLSOTA
86.1
mAcc· 2022-05-21
PointVector: A Vector Representation In Point Cloud Analysis Code
#6WindowNorm+StratifiedTransformer
85.8
mAcc· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#7Superpoint Transformer
85.8
mAcc· 2023-06-13
Efficient 3D Semantic Segmentation with Superpoint Transformer Code
#8Superpoint Transformer
85.8
mAcc· 2023-06-13
Efficient 3D Semantic Segmentation with Superpoint Transformer Code
#9PPT + SparseUNet
85.4
mAcc· Extra Data· 2023-08-18
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training Code
#10DeepViewAggSOTA
83.8
mAcc· 2022-04-15
Learning Multi-View Aggregation In the Wild for Large-Scale 3D Semantic Segmentation Code
#11BAAF-NetSOTA
83.1
mAcc· 2021-03-12
Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion Code
#12PointNeXt-XL
83
mAcc· 2022-06-09
PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies Code
#13Feature Geometric Net (FG-Net)SOTA
82.9
mAcc· 2020-12-17
FG-Net: Fast Large-Scale LiDAR Point Clouds Understanding Network Leveraging Correlated Feature Mining and Geometric-Aware Modelling Code
#14SCF-Net
82.7
mAcc
No paperCode
#15RepSurf-U
82.6
mAcc· 2022-05-11
Surface Representation for Point Clouds Code
#16WindowNorm+PointTransformer
82.5
mAcc· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#17PointNeXt-L
82.2
mAcc· 2022-06-09
PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies Code
#18PointTransformerSOTA
81.9
mAcc· 2020-12-16
Point Transformer Code
#19RandLA-NetSOTA
81.5
mAcc· 2019-11-25
RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds Code
#20CBL
79.4
mAcc· 2022-03-10
Contrastive Boundary Learning for Point Cloud Segmentation Code
#21KPConvSOTA
79.1
mAcc· 2019-04-18
KPConv: Flexible and Deformable Convolution for Point Clouds Code
#22PointASNL
79
mAcc· 2020-03-01
PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling Code
#23SSP+SPGSOTA
78.3
mAcc· 2019-04-03
Point Cloud Oversegmentation with Graph-Structured Deep Metric Learning Code
#24PointWeb
76.2
mAcc
No paperCode
#25SPGSOTA
73
mAcc· 2017-11-27
Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs Code
#26JSNet
71.7
mAcc· 2019-12-20
JSNet: Joint Instance and Semantic Segmentation of 3D Point Clouds Code
#27DSPoint
70.9
mAcc· 2021-11-19
DSPoint: Dual-scale Point Cloud Recognition with High-frequency Fusion Code
#28RSNet
66.5
mAcc· 2018-02-13
Recurrent Slice Networks for 3D Segmentation of Point Clouds Code
#29PointNetSOTA
66.2
mAcc· 2016-12-02
PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation Code