3D Semantic Segmentation

3D Semantic Segmentation is a computer vision task that involves dividing a 3D point cloud or 3D mesh into semantically meaningful parts or regions. The goal of 3D semantic segmentation is to identify and label different objects and parts within a 3D scene, which can be used for applications such as robotics, autonomous driving, and augmented reality.

Papers

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Showing 226–250 of 348 papers

Title	Date	Tasks	Status
Augmented Efficiency: Reducing Memory Footprint and Accelerating Inference for 3D Semantic Segmentation through Hybrid Vision	Jul 23, 2024	2D Semantic Segmentation3D Semantic Segmentation	—Unverified
Weakly Supervised 3D Semantic Segmentation Using Cross-Image Consensus and Inter-Voxel Affinity Relations	Jan 1, 2021	3D Semantic SegmentationSegmentation	—Unverified
MFSeg: Efficient Multi-frame 3D Semantic Segmentation	May 7, 2025	3D Semantic SegmentationDecoder	—Unverified
4DContrast: Contrastive Learning with Dynamic Correspondences for 3D Scene Understanding	Dec 6, 2021	3D Instance Segmentation3D Semantic Segmentation	—Unverified
Transferring CLIP's Knowledge into Zero-Shot Point Cloud Semantic Segmentation	Dec 12, 2023	3D Semantic SegmentationPoint Cloud Segmentation	—Unverified
MM-TTA: Multi-Modal Test-Time Adaptation for 3D Semantic Segmentation	Apr 27, 2022	3D Semantic SegmentationPseudo Label	—Unverified
Model2Scene: Learning 3D Scene Representation via Contrastive Language-CAD Models Pre-training	Sep 29, 2023	3D Semantic SegmentationObject	—Unverified
TS40K: a 3D Point Cloud Dataset of Rural Terrain and Electrical Transmission System	May 22, 2024	3D Object Detection3D Semantic Segmentation	—Unverified
MOSE: Monocular Semantic Reconstruction Using NeRF-Lifted Noisy Priors	Sep 21, 2024	2D Semantic Segmentation3D Semantic Segmentation	—Unverified
Spatial Layout Consistency for 3D Semantic Segmentation	Mar 2, 2023	3D Semantic SegmentationSemantic Segmentation	—Unverified
TTT-KD: Test-Time Training for 3D Semantic Segmentation through Knowledge Distillation from Foundation Models	Mar 18, 2024	3D Semantic SegmentationKnowledge Distillation	—Unverified
Multi-Modal Continual Test-Time Adaptation for 3D Semantic Segmentation	Mar 18, 2023	3D Semantic SegmentationSemantic Segmentation	—Unverified
Spherical Interpolated Convolutional Network with Distance-Feature Density for 3D Semantic Segmentation of Point Clouds	Nov 27, 2020	3D Semantic SegmentationFeature Correlation	—Unverified
Multi Projection Fusion for Real-time Semantic Segmentation of 3D LiDAR Point Clouds	Nov 3, 2020	3D Semantic SegmentationLIDAR Semantic Segmentation	—Unverified
Multi-Sem Fusion: Multimodal Semantic Fusion for 3D Object Detection	Dec 10, 2022	2D Semantic Segmentation3D Object Detection	—Unverified
Multi-view PointNet for 3D Scene Understanding	Sep 30, 2019	3D Instance Segmentation3D Semantic Segmentation	—Unverified
Mx2M: Masked Cross-Modality Modeling in Domain Adaptation for 3D Semantic Segmentation	Jul 9, 2023	3D Semantic SegmentationDomain Adaptation	—Unverified
Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehicles	Feb 16, 2023	3D Semantic SegmentationActive Learning	—Unverified
NeSF: Neural Semantic Fields for Generalizable Semantic Segmentation of 3D Scenes	Nov 25, 2021	3D Semantic SegmentationSegmentation	—Unverified
Novel class discovery meets foundation models for 3D semantic segmentation	Dec 6, 2023	3D Semantic SegmentationNovel Class Discovery	—Unverified
Number-Adaptive Prototype Learning for 3D Point Cloud Semantic Segmentation	Oct 18, 2022	3D Semantic SegmentationScene Understanding	—Unverified
OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semantic Segmentation	Mar 21, 2024	3D Semantic SegmentationLIDAR Semantic Segmentation	—Unverified
Attention Models for Point Clouds in Deep Learning: A Survey	Feb 22, 2021	3D Pose Estimation3D Semantic Segmentation	—Unverified
A Robotic 3D Perception System for Operating Room Environment Awareness	Mar 20, 2020	3D Semantic SegmentationScene Segmentation	—Unverified
OpenLex3D: A New Evaluation Benchmark for Open-Vocabulary 3D Scene Representations	Mar 25, 2025	3D Semantic SegmentationScene Understanding	—Unverified

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All datasets SemanticKITTI ScanNet200 DALES KITTI-360 ScanNet SensatUrban Toronto-3D PartNet S3DIS ScribbleKITTI STPLS3D RELLIS-3D Dataset

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	LSK3DNet	test mIoU	75.6	—	Unverified
2	PPT+PTv3	test mIoU	75.5	—	Unverified
3	UniSeg	test mIoU	75.2	—	Unverified
4	SphereFormer	test mIoU	74.8	—	Unverified
5	DITR	test mIoU	74.4	—	Unverified
6	RangeFormer	test mIoU	73.3	—	Unverified
7	FRNet	test mIoU	73.3	—	Unverified
8	2DPASS	test mIoU	72.9	—	Unverified
9	PTv2	test mIoU	72.6	—	Unverified
10	PPT+SparseUNet	val mIoU	71.4	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DITR	val mIoU	41.2	—	Unverified
2	ODIN	val mIoU	40.5	—	Unverified
3	PTv3 ArKitLabelmaker	val mIoU	40.3	—	Unverified
4	BFANet	val mIoU	37.3	—	Unverified
5	Sonata + PTv3	val mIoU	36.8	—	Unverified
6	Pamba	val mIoU	36.3	—	Unverified
7	PTv3 + PPT	val mIoU	36	—	Unverified
8	OA-CNNs	val mIoU	33.3	—	Unverified
9	LSK3DNet	val mIoU	33.1	—	Unverified
10	OctFormer	val mIoU	32.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	KPConv	mIoU	81.1	—	Unverified
2	Superpoint Transformer	mIoU	79.6	—	Unverified
3	EyeNet	mIoU	79.6	—	Unverified
4	SuperCluster	mIoU	77.3	—	Unverified
5	PointNet++	mIoU	68.3	—	Unverified
6	ConvPoint	mIoU	67.4	—	Unverified
7	SPG	mIoU	60.6	—	Unverified
8	PointCNN	mIoU	58.4	—	Unverified
9	ShellNet	mIoU	57.4	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DA-supervised	miou Val	64.1	—	Unverified
2	CLOUDSPAM	miou Val	63.6	—	Unverified
3	Superpoint Transformer	miou Val	63.5	—	Unverified
4	SuperCluster	miou Val	62.1	—	Unverified
5	DeepViewAgg	miou	58.3	—	Unverified
6	MinkowskiNet	miou	53.92	—	Unverified
7	PointNet++	miou	35.66	—	Unverified
8	PointNet	miou	13.07	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DITR	Top-1 IoU	0.53	—	Unverified
2	Sonata	Top-1 IoU	0.5	—	Unverified
3	PTv3	Top-1 IoU	0.49	—	Unverified
4	CAC	Top-1 IoU	0.48	—	Unverified
5	OA-CNN	Top-1 IoU	0.47	—	Unverified
6	OctFormer	Top-1 IoU	0.46	—	Unverified
7	SpUNet (MinkowskiNet)	Top-1 IoU	0.46	—	Unverified
8	PTv2	Top-1 IoU	0.45	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	LCPFormer	mIoU	63.4	—	Unverified
2	EyeNet	mIoU	62.3	—	Unverified
3	BEV-Seg3D-Net	mIoU	61.7	—	Unverified
4	KPConv	mIoU	57.58	—	Unverified
5	SCF-Net	mIoU	55.1	—	Unverified
6	SparseConv	mIoU	42.66	—	Unverified
7	SPGraph	mIoU	37.29	—	Unverified
8	TangentConv	mIoU	33.3	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SCF-Net	OA	95.5	—	Unverified
2	RandLANet	OA	93.5	—	Unverified
3	KPFCNN	OA	91.71	—	Unverified
4	TGNet	OA	91.64	—	Unverified
5	MS-PCNN	OA	91.53	—	Unverified
6	PointNet++	OA	91.21	—	Unverified
7	DGCNN	OA	89	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	CSN	mIOU	62.1	—	Unverified
2	MID-Net	mIOU	60.8	—	Unverified
3	FG-Net	mIOU	58.2	—	Unverified
4	closerlook3D	mIOU	53.8	—	Unverified
5	DeepGCN	mIOU	45.1	—	Unverified
6	PartNet	mIOU	43.2	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Superpoint Transformer	mIoU (6-Fold)	76	—	Unverified
2	OneFormer3D	mIoU (Area-5)	72.4	—	Unverified
3	PointTransformerV2	mIoU (Area-5)	71.6	—	Unverified
4	PointNext	mIoU (Area-5)	70.5	—	Unverified
5	PointTransformer	mIoU (Area-5)	70.4	—	Unverified
6	PVCNN++	mIoU (6-Fold)	58.98	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	IGNet	mIoU	62	—	Unverified
2	SSLSS with Cylinder3D	mIoU	61.3	—	Unverified
3	Cylinder3D	mIoU	57	—	Unverified
4	LiM3D	mIoU-1%	57	—	Unverified
5	LiM3D+SDSC	mIoU-1%	55.8	—	Unverified
6	MinkowskiNet	mIoU	55	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	KpConv	mIOU	53.73	—	Unverified
2	PointCT	mIOU	53.2	—	Unverified
3	MinkowskiNet	mIOU	51.3	—	Unverified
4	SCF-Net	mIOU	50.65	—	Unverified
5	Point transformer	mIOU	47.64	—	Unverified
6	PointNet++	mIOU	15.92	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Cylinder3D	Mean IoU (class)	46.07	—	Unverified
2	salsanext	Mean IoU (class)	43.07	—	Unverified
3	Sphereformer	Mean IoU (class)	42.19	—	Unverified
4	kpconv	Mean IoU (class)	19.97	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Cylinder3D	mIoU	40.07	—	Unverified
2	SPVCNN	mIoU	36.78	—	Unverified
3	MinkUNet	mIoU	36.53	—	Unverified
4	SphereFormer	mIoU	33.97	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	PTv2	mIoU	82.6	—	Unverified
2	FRNet	mIoU	82.5	—	Unverified
3	AF2S3Net	mIoU	78.3	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	PointVector-XL	mIoU	76.5	—	Unverified
2	PointMetaBase-XXL	mIoU	75.8	—	Unverified
3	PointNeXt-XL	mIoU	70.6	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	PanopticNDT (10cm)	mIoU	45.43	—	Unverified
2	SemanticNDT (10cm)	mIoU	44.31	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DITR	mIoU	73.3	—	Unverified
2	vFusedSeg3D	mIoU	72.46	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	2D–3D + 3 × 3 × 3	Mean IoU (test)	0.45	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Res16UNet14C	F1	0.85	—	Unverified