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

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 26–50 of 348 papers

Title	Date	Tasks	Status	Hype	Score
Towards Generating Realistic 3D Semantic Training Data for Autonomous Driving	Mar 27, 2025	3D Semantic SegmentationAutonomous Driving	CodeCode Available	2	5
ARKit LabelMaker: A New Scale for Indoor 3D Scene Understanding	Oct 17, 2024	3D Semantic SegmentationImage Generation	CodeCode Available	2	5
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation	Mar 24, 2025	3D Semantic SegmentationLIDAR Semantic Segmentation	CodeCode Available	2	5
DeepGCNs: Making GCNs Go as Deep as CNNs	Oct 15, 2019	3D Point Cloud Classification3D Semantic Segmentation	CodeCode Available	2	5
RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds	Nov 25, 2019	3D Semantic SegmentationLIDAR Semantic Segmentation	CodeCode Available	2	5
Image-to-Lidar Self-Supervised Distillation for Autonomous Driving Data	Mar 30, 2022	3D Object Detection3D Semantic Segmentation	CodeCode Available	2	5
OctFormer: Octree-based Transformers for 3D Point Clouds	May 4, 2023	3D Object Detection3D Semantic Segmentation	CodeCode Available	2	5
Swin UNETR: Swin Transformers for Semantic Segmentation of Brain Tumors in MRI Images	Jan 4, 2022	3D Semantic SegmentationBrain Tumor Segmentation	CodeCode Available	2	5
LSK3DNet: Towards Effective and Efficient 3D Perception with Large Sparse Kernels	Mar 22, 2024	3D Semantic SegmentationLIDAR Semantic Segmentation	CodeCode Available	2	5
Atlas: End-to-End 3D Scene Reconstruction from Posed Images	Mar 23, 2020	3D Reconstruction3D Scene Reconstruction	CodeCode Available	2	5
4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks	Apr 18, 2019	3D Semantic Segmentation4D Spatio Temporal Semantic Segmentation	CodeCode Available	2	5
Efficient 3D Semantic Segmentation with Superpoint Transformer	Jun 13, 2023	3D Semantic SegmentationGPU	CodeCode Available	2	5
On Deep Learning for Geometric and Semantic Scene Understanding Using On-Vehicle 3D LiDAR	Nov 1, 2024	3D Semantic SegmentationAutonomous Driving	CodeCode Available	2	5
DODA: Data-oriented Sim-to-Real Domain Adaptation for 3D Semantic Segmentation	Apr 4, 2022	3D Semantic SegmentationDomain Adaptation	CodeCode Available	1	5
ARCH2S: Dataset, Benchmark and Challenges for Learning Exterior Architectural Structures from Point Clouds	Jun 3, 2024	3D Scene Reconstruction3D Semantic Segmentation	CodeCode Available	1	5
GFNet: Geometric Flow Network for 3D Point Cloud Semantic Segmentation	Jul 6, 2022	3D Semantic SegmentationLIDAR Semantic Segmentation	CodeCode Available	1	5
DLA-Net: Learning Dual Local Attention Features for Semantic Segmentation of Large-Scale Building Facade Point Clouds	Jun 1, 2021	3D Semantic SegmentationDecoder	CodeCode Available	1	5
Domain generalization of 3D semantic segmentation in autonomous driving	Dec 7, 2022	3D Semantic SegmentationAutonomous Driving	CodeCode Available	1	5
GNeSF: Generalizable Neural Semantic Fields	Oct 24, 2023	3D Semantic SegmentationScene Segmentation	CodeCode Available	1	5
Depth Based Semantic Scene Completion with Position Importance Aware Loss	Jan 29, 2020	3D Semantic SegmentationPosition	CodeCode Available	1	5
AMAES: Augmented Masked Autoencoder Pretraining on Public Brain MRI Data for 3D-Native Segmentation	Aug 1, 2024	3D Semantic SegmentationDomain Generalization	CodeCode Available	1	5
Fully Automated Scan-to-BIM Via Point Cloud Instance Segmentation	Sep 11, 2023	3D Instance Segmentation3D Semantic Segmentation	CodeCode Available	1	5
BuildingNet: Learning to Label 3D Buildings	Oct 11, 2021	2k3D Building Mesh Labeling	CodeCode Available	1	5
3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds	Apr 3, 2023	3D Semantic SegmentationAutonomous Driving	CodeCode Available	1	5
blob loss: instance imbalance aware loss functions for semantic segmentation	May 17, 2022	3D Semantic SegmentationSegmentation	CodeCode Available	1	5

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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