LIDAR Semantic Segmentation on nuScenes

Metric: test mIoU (higher is better)

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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	-	-	-

#1DITRSOTA
0.851
test mIoU· 2025-03-24
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation Code
#2PTv3 + PPTSOTA
0.83
test mIoU· Extra Data· 2023-12-15
Point Transformer V3: Simpler, Faster, Stronger Code
#3PTv2SOTA
0.826
test mIoU· 2022-10-11
Point Transformer V2: Grouped Vector Attention and Partition-based Pooling Code
#4FRNet
0.825
test mIoU· 2023-12-07
FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation Code
#5SphereFormer
0.819
test mIoU· 2023-03-22
Spherical Transformer for LiDAR-based 3D Recognition Code
#6SPVCNN++SOTA
0.811
test mIoU· 2020-07-31
Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution Code
#72DPASS
0.81
test mIoU· 2022-07-10
2DPASS: 2D Priors Assisted Semantic Segmentation on LiDAR Point Clouds Code
#8RangeFormer
0.81
test mIoU· 2023-03-09
Rethinking Range View Representation for LiDAR Segmentation
#9SFPNet
0.802
test mIoU· 2024-07-16
SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds Code
#102D3DNet
0.8
test mIoU· 2021-10-21
Learning 3D Semantic Segmentation with only 2D Image Supervision
#11GU-Net
0.8
test mIoU
No paper
#12DRINet++: Efficient Voxel-as-point Point Cloud Segmentation
0.8
test mIoU
No paper
#13AF2S3Net
0.78
test mIoU· 2021-02-08
(AF)2-S3Net: Attentive Feature Fusion with Adaptive Feature Selection for Sparse Semantic Segmentation Network
#14Cylinder3D++
0.78
test mIoU· 2020-08-04
Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation Code
#15CPFusion
0.78
test mIoU
No paper
#16SPVNAS
0.77
test mIoU· 2020-07-31
Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution Code
#17AMVNet
0.77
test mIoU· 2020-12-09
AMVNet: Assertion-based Multi-View Fusion Network for LiDAR Semantic Segmentation
#18Cylinder3D+InstanceAug
0.77
test mIoU· 2020-11-19
Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation Code
#19PMF-ResNet50
0.77
test mIoU· 2021-06-21
EPMF: Efficient Perception-aware Multi-sensor Fusion for 3D Semantic Segmentation Code
#20LIFusion
0.76
test mIoU
No paper
#21GFNet
0.76
test mIoU· 2022-07-06
GFNet: Geometric Flow Network for 3D Point Cloud Semantic Segmentation Code
#22OrangeNet
0.75
test mIoU
No paper
#23JS3C-Net
0.74
test mIoU· 2020-12-07
Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion Code
#24Open_world_incremental
0.74
test mIoU
No paper
#25PolarStream-1
0.73
test mIoU· 2021-06-14
PolarStream: Streaming Lidar Object Detection and Segmentation with Polar Pillars
#26DB-Unet
0.7
test mIoU
No paper
#27Vis-PolarNet
0.7
test mIoU
No paper
#28PolarNetSOTA
0.69
test mIoU· 2020-03-31
PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation Code
#29EfficientLPS
0.68
test mIoU
No paper
#30Camera-LiDAR Fusion + HTC + Map
0.44
test mIoU
No paper