LIDAR Semantic Segmentation on nuScenes

Metric: val mIoU (higher is better)

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#	Model↕	val mIoU▼	Extra Data	Paper	Date↕	Code
1	DITR	0.842	No	DINO in the Room: Leveraging 2D Foundation Model...	2025-03-24	Code
2	PTv3 + PPT	0.812	Yes	Point Transformer V3: Simpler, Faster, Stronger	2023-12-15	Code
3	Serialized Piont Mamba	0.806	No	Serialized Point Mamba: A Serialized Point Cloud...	2024-07-17	-
4	PTv2	0.802	No	Point Transformer V2: Grouped Vector Attention a...	2022-10-11	Code
5	SFPNet	0.801	No	SFPNet: Sparse Focal Point Network for Semantic ...	2024-07-16	Code
6	LSK3DNet	0.801	No	LSK3DNet: Towards Effective and Efficient 3D Per...	2024-03-22	Code
7	SphereFormer	0.795	No	Spherical Transformer for LiDAR-based 3D Recogni...	2023-03-22	Code
8	WaffleIron	0.791	No	Using a Waffle Iron for Automotive Point Cloud S...	2023-01-24	Code
9	FRNet	0.79	No	FRNet: Frustum-Range Networks for Scalable LiDAR...	2023-12-07	Code
10	OA-CNNs	0.789	No	OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semant...	2024-03-21	Code
11	PPT+SparseUNet	0.786	Yes	Towards Large-scale 3D Representation Learning w...	2023-08-18	Code
12	Point-to-Voxel KD	0.76	No	Point-to-Voxel Knowledge Distillation for LiDAR ...	2022-06-05	-

#1DITRSOTA
0.842
val mIoU· 2025-03-24
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation Code
#2PTv3 + PPTSOTA
0.812
val mIoU· Extra Data· 2023-12-15
Point Transformer V3: Simpler, Faster, Stronger Code
#3Serialized Piont Mamba
0.806
val mIoU· 2024-07-17
Serialized Point Mamba: A Serialized Point Cloud Mamba Segmentation Model
#4PTv2SOTA
0.802
val mIoU· 2022-10-11
Point Transformer V2: Grouped Vector Attention and Partition-based Pooling Code
#5SFPNet
0.801
val mIoU· 2024-07-16
SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds Code
#6LSK3DNet
0.801
val mIoU· 2024-03-22
LSK3DNet: Towards Effective and Efficient 3D Perception with Large Sparse Kernels Code
#7SphereFormer
0.795
val mIoU· 2023-03-22
Spherical Transformer for LiDAR-based 3D Recognition Code
#8WaffleIron
0.791
val mIoU· 2023-01-24
Using a Waffle Iron for Automotive Point Cloud Semantic Segmentation Code
#9FRNet
0.79
val mIoU· 2023-12-07
FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation Code
#10OA-CNNs
0.789
val mIoU· 2024-03-21
OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semantic Segmentation Code
#11PPT+SparseUNet
0.786
val mIoU· Extra Data· 2023-08-18
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training Code
#12Point-to-Voxel KDSOTA
0.76
val mIoU· 2022-06-05
Point-to-Voxel Knowledge Distillation for LiDAR Semantic Segmentation