LIDAR Semantic Segmentation on nuScenes

Metric: test mIoU (higher is better)

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Results

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#	Model↕	test mIoU▼	Extra Data	Paper	Date↕	Code
1	DITR	0.851	No	DINO in the Room: Leveraging 2D Foundation Model...	2025-03-24	Code
2	PTv3 + PPT	0.83	Yes	Point Transformer V3: Simpler, Faster, Stronger	2023-12-15	Code
3	PTv2	0.826	No	Point Transformer V2: Grouped Vector Attention a...	2022-10-11	Code
4	FRNet	0.825	No	FRNet: Frustum-Range Networks for Scalable LiDAR...	2023-12-07	Code
5	SphereFormer	0.819	No	Spherical Transformer for LiDAR-based 3D Recogni...	2023-03-22	Code
6	SPVCNN++	0.811	No	Searching Efficient 3D Architectures with Sparse...	2020-07-31	Code
7	2DPASS	0.81	No	2DPASS: 2D Priors Assisted Semantic Segmentation...	2022-07-10	Code
8	RangeFormer	0.81	No	Rethinking Range View Representation for LiDAR S...	2023-03-09	-
9	SFPNet	0.802	No	SFPNet: Sparse Focal Point Network for Semantic ...	2024-07-16	Code
10	2D3DNet	0.8	No	Learning 3D Semantic Segmentation with only 2D I...	2021-10-21	-
11	GU-Net	0.8	No	-	-	-
12	DRINet++: Efficient Voxel-as-point Point Cloud Segmentation	0.8	No	-	-	-
13	AF2S3Net	0.78	No	(AF)2-S3Net: Attentive Feature Fusion with Adapt...	2021-02-08	-
14	Cylinder3D++	0.78	No	Cylinder3D: An Effective 3D Framework for Drivin...	2020-08-04	Code
15	CPFusion	0.78	No	-	-	-
16	SPVNAS	0.77	No	Searching Efficient 3D Architectures with Sparse...	2020-07-31	Code
17	AMVNet	0.77	No	AMVNet: Assertion-based Multi-View Fusion Networ...	2020-12-09	-
18	Cylinder3D+InstanceAug	0.77	No	Cylindrical and Asymmetrical 3D Convolution Netw...	2020-11-19	Code
19	PMF-ResNet50	0.77	No	EPMF: Efficient Perception-aware Multi-sensor Fu...	2021-06-21	Code
20	LIFusion	0.76	No	-	-	-
21	GFNet	0.76	No	GFNet: Geometric Flow Network for 3D Point Cloud...	2022-07-06	Code
22	OrangeNet	0.75	No	-	-	-
23	JS3C-Net	0.74	No	Sparse Single Sweep LiDAR Point Cloud Segmentati...	2020-12-07	Code
24	Open_world_incremental	0.74	No	-	-	-
25	PolarStream-1	0.73	No	PolarStream: Streaming Lidar Object Detection an...	2021-06-14	-
26	DB-Unet	0.7	No	-	-	-
27	Vis-PolarNet	0.7	No	-	-	-
28	PolarNet	0.69	No	PolarNet: An Improved Grid Representation for On...	2020-03-31	Code
29	EfficientLPS	0.68	No	-	-	-
30	Camera-LiDAR Fusion + HTC + Map	0.44	No	-	-	-