3D on ScanNetV2

Metric: mAP@0.5 (higher is better)

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#	Model↕	mAP@0.5▼	Augmentations	Paper	Date↕	Code
1	DEST (based on V-DETR) (TTA)	67.9	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
2	UniDet3D	66.1	No	UniDet3D: Multi-dataset Indoor 3D Object Detection	2024-09-06	Code
3	V-DETR	65.9	No	V-DETR: DETR with Vertex Relative Position Encod...	2023-08-08	Code
4	UDeerMvDETR	65.8	No	MV-DETR: Multi-modality indoor object detection ...	2024-08-13	-
5	OneFormer3D	65.3	No	OneFormer3D: One Transformer for Unified Point C...	2023-11-24	Code
6	BFL	65.3	No	-	-	-
7	Swin3D-L+CAGroup3D	63.2	Yes	Swin3D: A Pretrained Transformer Backbone for 3D...	2023-04-14	Code
8	QueryFormer	61.7	No	-	-	-
9	CAGroup3D	61.3	No	CAGroup3D: Class-Aware Grouping for 3D Object De...	2022-10-09	Code
10	PBNet	60.1	No	Divide and Conquer: 3D Point Cloud Instance Segm...	2022-07-22	Code
11	SPGroup3D	59.6	No	SPGroup3D: Superpoint Grouping Network for Indoo...	2023-12-21	Code
12	Point-GCC+TR3D	59.6	No	Point-GCC: Universal Self-supervised 3D Scene Pr...	2023-05-31	Code
13	SoftGroup	59.4	No	SoftGroup for 3D Instance Segmentation on Point ...	2022-03-03	Code
14	TR3D	59.3	No	TR3D: Towards Real-Time Indoor 3D Object Detection	2023-02-06	-
15	DEST (based on GroupFree3D)	58.1	No	State Space Model Meets Transformer: A New Parad...	2025-03-18	Code
16	FCAF3D	57.3	No	FCAF3D: Fully Convolutional Anchor-Free 3D Objec...	2021-12-01	Code
17	RBGNet	55.2	No	RBGNet: Ray-based Grouping for 3D Object Detection	2022-04-05	Code
18	RepSurf-U	54.8	No	Surface Representation for Point Clouds	2022-05-11	Code
19	TokenFusion	54.2	No	Multimodal Token Fusion for Vision Transformers	2022-04-19	Code
20	GroupFree3D	52.8	No	Group-Free 3D Object Detection via Transformers	2021-04-01	Code
21	BRNet	50.9	No	Back-tracing Representative Points for Voting-ba...	2021-04-13	Code
22	3D-MPA	49.2	No	3D-MPA: Multi Proposal Aggregation for 3D Semant...	2020-03-30	Code
23	H3DNet	48.1	No	H3DNet: 3D Object Detection Using Hybrid Geometr...	2020-06-10	Code
24	3DETR-m	47	No	An End-to-End Transformer Model for 3D Object De...	2021-09-16	Code
25	VoteNet (PC-FractalDB)	39.9	Yes	-	-	Code
26	GSDN	34.8	No	Generative Sparse Detection Networks for 3D Sing...	2020-06-22	Code
27	HGNet	34.4	No	-	-	-
28	VoteNet	33.5	No	Deep Hough Voting for 3D Object Detection in Poi...	2019-04-21	Code
29	ImGeoNet (RGB only)	28.4	No	ImGeoNet: Image-induced Geometry-aware Voxel Rep...	2023-08-17	Code
30	ImVoxelNet (RGB only)	22.7	No	ImVoxelNet: Image to Voxels Projection for Monoc...	2021-06-02	Code
31	3D-SIS	22.5	No	3D-SIS: 3D Semantic Instance Segmentation of RGB...	2018-12-17	Code
32	GSPN	17.7	No	GSPN: Generative Shape Proposal Network for 3D I...	2018-12-08	Code

#1DEST (based on V-DETR) (TTA)SOTA
67.9
mAP@0.5· 2025-03-18
State Space Model Meets Transformer: A New Paradigm for 3D Object Detection Code
#2UniDet3DSOTA
66.1
mAP@0.5· 2024-09-06
UniDet3D: Multi-dataset Indoor 3D Object Detection Code
#3V-DETRSOTA
65.9
mAP@0.5· 2023-08-08
V-DETR: DETR with Vertex Relative Position Encoding for 3D Object Detection Code
#4UDeerMvDETR
65.8
mAP@0.5· 2024-08-13
MV-DETR: Multi-modality indoor object detection by Multi-View DEtecton TRansformers
#5OneFormer3D
65.3
mAP@0.5· 2023-11-24
OneFormer3D: One Transformer for Unified Point Cloud Segmentation Code
#6BFL
65.3
mAP@0.5
No paper
#7Swin3D-L+CAGroup3DSOTA
63.2
mAP@0.5· Augmentations· 2023-04-14
Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding Code
#8QueryFormer
61.7
mAP@0.5
No paper
#9CAGroup3DSOTA
61.3
mAP@0.5· 2022-10-09
CAGroup3D: Class-Aware Grouping for 3D Object Detection on Point Clouds Code
#10PBNetSOTA
60.1
mAP@0.5· 2022-07-22
Divide and Conquer: 3D Point Cloud Instance Segmentation With Point-Wise Binarization Code
#11SPGroup3D
59.6
mAP@0.5· 2023-12-21
SPGroup3D: Superpoint Grouping Network for Indoor 3D Object Detection Code
#12Point-GCC+TR3D
59.6
mAP@0.5· 2023-05-31
Point-GCC: Universal Self-supervised 3D Scene Pre-training via Geometry-Color Contrast Code
#13SoftGroupSOTA
59.4
mAP@0.5· 2022-03-03
SoftGroup for 3D Instance Segmentation on Point Clouds Code
#14TR3D
59.3
mAP@0.5· 2023-02-06
TR3D: Towards Real-Time Indoor 3D Object Detection
#15DEST (based on GroupFree3D)
58.1
mAP@0.5· 2025-03-18
State Space Model Meets Transformer: A New Paradigm for 3D Object Detection Code
#16FCAF3DSOTA
57.3
mAP@0.5· 2021-12-01
FCAF3D: Fully Convolutional Anchor-Free 3D Object Detection Code
#17RBGNet
55.2
mAP@0.5· 2022-04-05
RBGNet: Ray-based Grouping for 3D Object Detection Code
#18RepSurf-U
54.8
mAP@0.5· 2022-05-11
Surface Representation for Point Clouds Code
#19TokenFusion
54.2
mAP@0.5· 2022-04-19
Multimodal Token Fusion for Vision Transformers Code
#20GroupFree3DSOTA
52.8
mAP@0.5· 2021-04-01
Group-Free 3D Object Detection via Transformers Code
#21BRNet
50.9
mAP@0.5· 2021-04-13
Back-tracing Representative Points for Voting-based 3D Object Detection in Point Clouds Code
#223D-MPASOTA
49.2
mAP@0.5· 2020-03-30
3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation Code
#23H3DNet
48.1
mAP@0.5· 2020-06-10
H3DNet: 3D Object Detection Using Hybrid Geometric Primitives Code
#243DETR-m
47
mAP@0.5· 2021-09-16
An End-to-End Transformer Model for 3D Object Detection Code
#25VoteNet (PC-FractalDB)
39.9
mAP@0.5· Augmentations
No paperCode
#26GSDN
34.8
mAP@0.5· 2020-06-22
Generative Sparse Detection Networks for 3D Single-shot Object Detection Code
#27HGNet
34.4
mAP@0.5
No paper
#28VoteNetSOTA
33.5
mAP@0.5· 2019-04-21
Deep Hough Voting for 3D Object Detection in Point Clouds Code
#29ImGeoNet (RGB only)
28.4
mAP@0.5· 2023-08-17
ImGeoNet: Image-induced Geometry-aware Voxel Representation for Multi-view 3D Object Detection Code
#30ImVoxelNet (RGB only)
22.7
mAP@0.5· 2021-06-02
ImVoxelNet: Image to Voxels Projection for Monocular and Multi-View General-Purpose 3D Object Detection Code
#313D-SISSOTA
22.5
mAP@0.5· 2018-12-17
3D-SIS: 3D Semantic Instance Segmentation of RGB-D Scans Code
#32GSPNSOTA
17.7
mAP@0.5· 2018-12-08
GSPN: Generative Shape Proposal Network for 3D Instance Segmentation in Point Cloud Code