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 251–275 of 348 papers

Title	Date	Tasks	Status
Are We Ready for Real-Time LiDAR Semantic Segmentation in Autonomous Driving?	Oct 10, 2024	3D Semantic SegmentationAutonomous Driving	—Unverified
Open-Set Semantic Segmentation for Point Clouds via Adversarial Prototype Framework	Jan 1, 2023	3D Semantic SegmentationSegmentation	—Unverified
Open-Vocabulary 3D Semantic Segmentation with Foundation Models	Jan 1, 2024	3D Semantic SegmentationOpen Vocabulary Semantic Segmentation	—Unverified
Open-Vocabulary 3D Semantic Segmentation with Text-to-Image Diffusion Models	Jul 18, 2024	3D Semantic SegmentationSemantic Segmentation	—Unverified
Overlap-Aware Feature Learning for Robust Unsupervised Domain Adaptation for 3D Semantic Segmentation	Apr 2, 2025	3D Semantic SegmentationAdversarial Attack	—Unverified
Understanding Imbalanced Semantic Segmentation Through Neural Collapse	Jan 3, 2023	3D Semantic SegmentationSegmentation	—Unverified
PanoSSC: Exploring Monocular Panoptic 3D Scene Reconstruction for Autonomous Driving	Jun 11, 2024	3D Instance Segmentation3D Scene Reconstruction	—Unverified
PCSCNet: Fast 3D Semantic Segmentation of LiDAR Point Cloud for Autonomous Car using Point Convolution and Sparse Convolution Network	Feb 21, 2022	3D Semantic SegmentationSegmentation	—Unverified
SUM Parts: Benchmarking Part-Level Semantic Segmentation of Urban Meshes	Mar 19, 2025	3D Semantic SegmentationBenchmarking	—Unverified
Point Cloud Based Scene Segmentation: A Survey	Mar 16, 2025	3D Object Detection3D Semantic Segmentation	—Unverified
Understanding the Challenges When 3D Semantic Segmentation Faces Class Imbalanced and OOD Data	Mar 1, 2022	3D Semantic SegmentationAutonomous Driving	—Unverified
3D Semantic Segmentation of Brain Tumor for Overall Survival Prediction	Aug 25, 2020	3D Semantic SegmentationDecoder	—Unverified
Point-MoE: Towards Cross-Domain Generalization in 3D Semantic Segmentation via Mixture-of-Experts	May 29, 2025	3D Semantic SegmentationDomain Generalization	—Unverified
3D Semantic Scene Completion: a Survey	Mar 12, 2021	3D Semantic Scene Completion3D Semantic Segmentation	—Unverified
Are We Hungry for 3D LiDAR Data for Semantic Segmentation? A Survey and Experimental Study	Jun 8, 2020	3D Semantic SegmentationAutonomous Driving	—Unverified
3D Can Be Explored In 2D: Pseudo-Label Generation for LiDAR Point Clouds Using Sensor-Intensity-Based 2D Semantic Segmentation	May 6, 2025	2D Semantic Segmentation3D Semantic Segmentation	—Unverified
APPT : Asymmetric Parallel Point Transformer for 3D Point Cloud Understanding	Mar 31, 2023	3D Part Segmentation3D Semantic Segmentation	—Unverified
An Unsupervised Optical Flow Estimation For LiDAR Image Sequences	May 28, 2021	3D Semantic SegmentationMotion Estimation	—Unverified
Pointwise Attention-Based Atrous Convolutional Neural Networks	Dec 27, 2019	3D Semantic SegmentationSegmentation	—Unverified
POP-3D: Open-Vocabulary 3D Occupancy Prediction from Images	Jan 17, 2024	3D Semantic Occupancy Prediction3D Semantic Segmentation	—Unverified
PSGformer: Enhancing 3D Point Cloud Instance Segmentation via Precise Semantic Guidance	Jul 15, 2023	3D Instance Segmentation3D Semantic Segmentation	—Unverified
Railway LiDAR semantic segmentation based on intelligent semi-automated data annotation	Oct 17, 2024	3D Semantic SegmentationActive Learning	—Unverified
3D Adversarial Augmentations for Robust Out-of-Domain Predictions	Aug 29, 2023	3D Object Detection3D Semantic Segmentation	—Unverified
The 2nd Place Solution from the 3D Semantic Segmentation Track in the 2024 Waymo Open Dataset Challenge	Jan 6, 2025	3D Semantic SegmentationAutonomous Vehicles	—Unverified
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration	Apr 9, 2025	3D Semantic SegmentationBenchmarking	—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