Benchmark Results - ScanNet Benchmark

This table lists the benchmark results for the ScanNet200 3D semantic label scenario.

Method	avg iou	head iou	common iou	tail iou	wall	chair	floor	table	door	couch	cabinet	shelf	desk	office chair	bed	pillow	sink	picture	window	toilet	bookshelf	monitor	curtain	book	coffee table	box	refrigerator	lamp	kitchen cabinet	towel	clothes	tv	nightstand	counter	dresser	stool	cushion	plant	ceiling	bathtub	end table	dining table	keyboard	bag	backpack	toilet paper	printer	tv stand	whiteboard	blanket	shower curtain	trash can	closet	stairs	microwave	stove	shoe	computer tower	bottle	bin	bench	board	washing machine	mirror	copier	basket	sofa chair	file cabinet	fan	laptop	shower	paper	person	paper towel dispenser	oven	blinds	rack	plate	blackboard	piano	suitcase	radiator	recycling bin	wardrobe	soap dispenser	telephone	bucket	clock	stand	light	laundry basket	pipe	clothes dryer	seat	speaker	column	bicycle	ladder	bathroom stall	shower wall	cup	jacket	storage bin	coffee maker	dishwasher	paper towel roll	machine	mat	windowsill	bar	toaster	bulletin board	ironing board	kitchen counter	doorframe	toilet paper dispenser	mini fridge	fire extinguisher	ball	hat	shower curtain rod	water cooler	paper cutter	tray	ledge	mouse	cart	storage container	scale	tissue box	light switch	power outlet	decoration	sign	projector	vacuum cleaner	candle	plunger	stuffed animal	headphones	dish rack	broom	range hood	water bottle	vent	shower floor	water pitcher	mailbox	bowl	paper bag	music stand	projector screen	laundry detergent	object	bathroom vanity	laundry hamper	bathroom stall door	ceiling light	trash bin	dumbbell	stair rail	tube	bathroom cabinet	closet rod	coffee kettle	structure	shower head	keyboard piano	case of water bottles	coat rack	storage organizer	folded chair	fire alarm	power strip	calendar	poster

PTv3 ScanNet200	0.393 1	0.592 1	0.330 1	0.216 1	0.851 1	0.687 4	0.971 1	0.586 1	0.755 1	0.752 5	0.505 1	0.404 4	0.575 2	0.000 10	0.848 1	0.616 2	0.761 1	0.349 1	0.738 1	0.978 1	0.546 4	0.860 6	0.926 1	0.346 2	0.654 3	0.384 4	0.828 1	0.523 3	0.699 1	0.583 3	0.387 6	0.822 1	0.688 1	0.118 4	0.474 1	0.603 4	0.000 1	0.832 3	0.903 1	0.753 8	0.140 6	0.000 7	0.650 2	0.109 2	0.520 1	0.457 1	0.497 7	0.871 3	0.281 2	0.192 2	0.887 2	0.748 1	0.168 1	0.727 3	0.733 1	0.740 1	0.644 1	0.714 3	0.190 8	0.000 3	0.256 2	0.449 6	0.914 1	0.514 1	0.759 10	0.337 1	0.172 4	0.692 4	0.617 1	0.636 1	0.325 4	0.000 1	0.641 1	0.782 1	0.000 4	0.065 2	0.000 1	0.000 3	0.842 1	0.903 1	0.661 2	0.662 2	0.612 1	0.405 2	0.731 1	0.566 1	0.000 3	0.000 5	0.000 1	0.017 10	0.301 1	0.088 4	0.941 1	0.000 1	0.077 2	0.000 8	0.717 3	0.790 1	0.310 9	0.026 12	0.264 2	0.349 1	0.220 2	0.397 8	0.366 1	0.115 8	0.000 3	0.337 1	0.463 5	0.000 1	0.531 2	0.218 1	0.593 1	0.455 1	0.469 1	0.708 2	0.210 1	0.592 2	0.108 11	0.000 1	0.728 1	0.682 2	0.671 4	0.000 1	0.000 7	0.407 1	0.136 2	0.022 2	0.575 1	0.436 4	0.259 2	0.428 1	0.048 3	0.000 1	0.000 1	0.879 5	0.000 1	0.480 2	0.000 1	0.133 5	0.597 1	0.000 1	0.690 1	0.000 1	0.000 1	0.009 11	0.000 10	0.921 2	0.000 5	0.151 2	0.000 1	0.000 5	0.000 1	0.109 6	0.494 9	0.622 2	0.394 6	0.073 10	0.141 7	0.798 1	0.528 3	0.026 1	0.000 1	0.551 3	0.000 2	0.000 2	0.134 5	0.717 5	0.000 2	0.000 1	0.000 1	0.188 3	0.000 4	0.000 2	0.791 1	0.000 1
Xiaoyang Wu, Li Jiang, Peng-Shuai Wang, Zhijian Liu, Xihui Liu, Yu Qiao, Wanli Ouyang, Tong He, Hengshuang Zhao: Point Transformer V3: Simpler, Faster, Stronger. CVPR 2024 (Oral)
BFANet ScanNet200	0.360 2	0.553 4	0.293 2	0.193 2	0.827 2	0.689 2	0.970 2	0.528 8	0.661 4	0.753 4	0.436 5	0.378 5	0.469 10	0.042 5	0.810 2	0.654 1	0.760 2	0.266 5	0.659 7	0.973 2	0.574 2	0.849 9	0.897 2	0.382 1	0.546 8	0.372 6	0.698 9	0.491 5	0.617 5	0.526 5	0.436 1	0.764 9	0.476 12	0.101 5	0.409 2	0.585 7	0.000 1	0.835 1	0.901 2	0.810 5	0.102 9	0.000 7	0.688 1	0.096 3	0.483 6	0.264 7	0.612 6	0.591 11	0.358 1	0.161 3	0.863 3	0.707 2	0.128 2	0.814 1	0.669 3	0.629 7	0.563 2	0.651 10	0.258 3	0.000 3	0.194 6	0.494 5	0.806 9	0.394 4	0.953 2	0.000 3	0.233 1	0.757 2	0.508 4	0.556 3	0.476 2	0.000 1	0.573 3	0.741 3	0.000 4	0.000 6	0.000 1	0.000 3	0.000 12	0.852 4	0.678 1	0.616 3	0.460 3	0.338 3	0.710 2	0.534 2	0.000 3	0.025 2	0.000 1	0.043 2	0.000 3	0.056 9	0.493 12	0.000 1	0.000 7	0.109 3	0.785 2	0.590 3	0.298 10	0.282 3	0.143 8	0.262 4	0.053 8	0.526 4	0.337 3	0.215 1	0.000 3	0.135 5	0.510 3	0.000 1	0.596 1	0.043 9	0.511 2	0.321 9	0.459 2	0.772 1	0.124 8	0.060 9	0.266 4	0.000 1	0.574 6	0.568 5	0.653 6	0.000 1	0.093 1	0.298 2	0.239 1	0.000 5	0.516 2	0.129 9	0.284 1	0.000 4	0.431 1	0.000 1	0.000 1	0.848 6	0.000 1	0.492 1	0.000 1	0.376 2	0.522 5	0.000 1	0.469 12	0.000 1	0.000 1	0.330 4	0.151 5	0.875 10	0.000 5	0.254 1	0.000 1	0.000 5	0.000 1	0.088 10	0.661 1	0.481 3	0.255 9	0.105 1	0.139 9	0.666 3	0.641 2	0.000 8	0.000 1	0.614 1	0.000 2	0.000 2	0.000 7	0.921 1	0.000 2	0.000 1	0.000 1	0.497 1	0.000 4	0.000 2	0.000 6	0.000 1

PonderV2 ScanNet200	0.346 3	0.552 5	0.270 5	0.175 4	0.810 5	0.682 5	0.950 3	0.560 4	0.641 7	0.761 1	0.398 8	0.357 7	0.570 5	0.113 2	0.804 4	0.603 4	0.750 4	0.283 2	0.681 4	0.952 3	0.548 3	0.874 3	0.852 8	0.290 7	0.700 2	0.356 8	0.792 3	0.445 7	0.545 8	0.436 7	0.351 8	0.787 5	0.611 5	0.050 7	0.290 9	0.519 9	0.000 1	0.825 5	0.888 3	0.842 3	0.259 2	0.100 2	0.558 4	0.070 9	0.497 5	0.247 9	0.457 8	0.889 2	0.248 6	0.106 7	0.817 8	0.691 4	0.094 5	0.729 2	0.636 4	0.620 9	0.503 8	0.660 9	0.243 5	0.000 3	0.212 5	0.590 3	0.860 6	0.400 3	0.881 4	0.000 3	0.202 2	0.622 7	0.408 6	0.499 7	0.261 7	0.000 1	0.385 6	0.636 6	0.000 4	0.000 6	0.000 1	0.000 3	0.433 11	0.843 5	0.660 4	0.574 9	0.481 2	0.336 4	0.677 4	0.486 3	0.000 3	0.030 1	0.000 1	0.034 5	0.000 3	0.080 5	0.869 7	0.000 1	0.000 7	0.000 8	0.540 5	0.727 2	0.232 12	0.115 6	0.186 5	0.193 6	0.000 11	0.403 7	0.326 4	0.103 9	0.000 3	0.290 3	0.392 7	0.000 1	0.346 5	0.062 7	0.424 3	0.375 4	0.431 4	0.667 3	0.115 9	0.082 7	0.239 5	0.000 1	0.504 9	0.606 4	0.584 7	0.000 1	0.002 5	0.186 5	0.104 7	0.000 5	0.394 3	0.384 6	0.083 5	0.000 4	0.007 6	0.000 1	0.000 1	0.880 4	0.000 1	0.377 7	0.000 1	0.263 3	0.565 2	0.000 1	0.608 6	0.000 1	0.000 1	0.304 5	0.009 6	0.924 1	0.000 5	0.000 6	0.000 1	0.000 5	0.000 1	0.128 2	0.584 2	0.475 5	0.412 5	0.076 9	0.269 3	0.621 4	0.509 4	0.010 3	0.000 1	0.491 7	0.063 1	0.000 2	0.472 3	0.880 2	0.000 2	0.000 1	0.000 1	0.179 4	0.125 1	0.000 2	0.441 5	0.000 1
Haoyi Zhu, Honghui Yang, Xiaoyang Wu, Di Huang, Sha Zhang, Xianglong He, Tong He, Hengshuang Zhao, Chunhua Shen, Yu Qiao, Wanli Ouyang: PonderV2: Pave the Way for 3D Foundataion Model with A Universal Pre-training Paradigm.
CeCo	0.340 4	0.551 6	0.247 8	0.181 3	0.784 8	0.661 9	0.939 8	0.564 3	0.624 8	0.721 7	0.484 3	0.429 2	0.575 2	0.027 6	0.774 7	0.503 9	0.753 3	0.242 8	0.656 8	0.945 5	0.534 5	0.865 5	0.860 6	0.177 12	0.616 5	0.400 2	0.818 2	0.579 1	0.615 6	0.367 9	0.408 5	0.726 10	0.633 2	0.162 1	0.360 4	0.619 2	0.000 1	0.828 4	0.873 7	0.924 2	0.109 8	0.083 3	0.564 3	0.057 12	0.475 8	0.266 6	0.781 1	0.767 6	0.257 5	0.100 8	0.825 6	0.663 7	0.048 11	0.620 9	0.551 7	0.595 10	0.532 5	0.692 6	0.246 4	0.000 3	0.213 4	0.615 1	0.861 5	0.376 5	0.900 3	0.000 3	0.102 11	0.660 5	0.321 10	0.547 4	0.226 8	0.000 1	0.311 8	0.742 2	0.011 3	0.006 5	0.000 1	0.000 3	0.546 10	0.824 7	0.345 9	0.665 1	0.450 4	0.435 1	0.683 3	0.411 5	0.338 1	0.000 5	0.000 1	0.030 6	0.000 3	0.068 6	0.892 5	0.000 1	0.063 3	0.000 8	0.257 8	0.304 10	0.387 3	0.079 9	0.228 3	0.190 7	0.000 11	0.586 1	0.347 2	0.133 5	0.000 3	0.037 8	0.377 8	0.000 1	0.384 4	0.006 11	0.003 8	0.421 2	0.410 8	0.643 4	0.171 4	0.121 4	0.142 9	0.000 1	0.510 8	0.447 7	0.474 9	0.000 1	0.000 7	0.286 3	0.083 8	0.000 5	0.000 7	0.603 1	0.096 4	0.063 3	0.000 8	0.000 1	0.000 1	0.898 3	0.000 1	0.429 4	0.000 1	0.400 1	0.550 3	0.000 1	0.633 4	0.000 1	0.000 1	0.377 3	0.000 10	0.916 3	0.000 5	0.000 6	0.000 1	0.000 5	0.000 1	0.102 9	0.499 7	0.296 9	0.463 3	0.089 5	0.304 1	0.740 2	0.401 11	0.010 3	0.000 1	0.560 2	0.000 2	0.000 2	0.709 1	0.652 7	0.000 2	0.000 1	0.000 1	0.143 7	0.000 4	0.000 2	0.609 2	0.000 1
Zhisheng Zhong, Jiequan Cui, Yibo Yang, Xiaoyang Wu, Xiaojuan Qi, Xiangyu Zhang, Jiaya Jia: Understanding Imbalanced Semantic Segmentation Through Neural Collapse. CVPR 2023
L3DETR-ScanNet_200	0.336 5	0.533 8	0.279 3	0.155 5	0.801 7	0.689 2	0.946 4	0.539 6	0.660 5	0.759 2	0.380 9	0.333 9	0.583 1	0.000 10	0.788 6	0.529 7	0.740 5	0.261 7	0.679 6	0.940 8	0.525 8	0.860 6	0.883 4	0.226 8	0.613 6	0.397 3	0.720 8	0.512 4	0.565 7	0.620 1	0.417 4	0.775 8	0.629 3	0.158 2	0.298 7	0.579 8	0.000 1	0.835 1	0.883 4	0.927 1	0.114 7	0.079 4	0.511 7	0.073 8	0.508 3	0.312 3	0.629 3	0.861 4	0.192 11	0.098 10	0.908 1	0.636 8	0.032 12	0.563 12	0.514 10	0.664 3	0.505 7	0.697 5	0.225 7	0.000 3	0.264 1	0.411 8	0.860 6	0.321 8	0.960 1	0.058 2	0.109 9	0.776 1	0.526 3	0.557 2	0.303 6	0.000 1	0.339 7	0.712 4	0.000 4	0.014 4	0.000 1	0.000 3	0.638 7	0.856 3	0.641 5	0.579 8	0.107 12	0.119 10	0.661 6	0.416 4	0.000 3	0.000 5	0.000 1	0.007 12	0.000 3	0.067 7	0.910 3	0.000 1	0.000 7	0.000 8	0.463 6	0.448 5	0.294 11	0.324 1	0.293 1	0.211 5	0.108 5	0.448 6	0.068 12	0.141 4	0.000 3	0.330 2	0.699 1	0.000 1	0.256 6	0.192 3	0.000 10	0.355 5	0.418 5	0.209 12	0.146 7	0.679 1	0.101 12	0.000 1	0.503 10	0.687 1	0.671 4	0.000 1	0.000 7	0.174 6	0.117 3	0.000 5	0.122 5	0.515 2	0.104 3	0.259 2	0.312 2	0.000 1	0.000 1	0.765 8	0.000 1	0.369 9	0.000 1	0.183 4	0.422 9	0.000 1	0.646 2	0.000 1	0.000 1	0.565 1	0.001 9	0.125 12	0.010 3	0.002 5	0.000 1	0.487 1	0.000 1	0.075 11	0.548 3	0.420 6	0.233 11	0.082 7	0.138 10	0.430 9	0.427 8	0.000 8	0.000 1	0.549 4	0.000 2	0.000 2	0.074 6	0.409 11	0.000 2	0.000 1	0.000 1	0.152 6	0.051 2	0.000 2	0.598 3	0.000 1
Yanmin Wu, Qiankun Gao, Renrui Zhang, Jian Zhang: Language-Assisted 3D Scene Understanding. arXiv23.12
OA-CNN-L_ScanNet200	0.333 6	0.558 2	0.269 6	0.124 8	0.821 3	0.703 1	0.946 4	0.569 2	0.662 2	0.748 6	0.487 2	0.455 1	0.572 4	0.000 10	0.789 5	0.534 6	0.736 6	0.271 3	0.713 2	0.949 4	0.498 11	0.877 2	0.860 6	0.332 4	0.706 1	0.474 1	0.788 5	0.406 8	0.637 3	0.495 6	0.355 7	0.805 3	0.592 9	0.015 11	0.396 3	0.602 5	0.000 1	0.799 6	0.876 5	0.713 12	0.276 1	0.000 7	0.493 8	0.080 6	0.448 10	0.363 2	0.661 2	0.833 5	0.262 4	0.125 4	0.823 7	0.665 6	0.076 7	0.720 4	0.557 6	0.637 6	0.517 6	0.672 8	0.227 6	0.000 3	0.158 8	0.496 4	0.843 8	0.352 7	0.835 8	0.000 3	0.103 10	0.711 3	0.527 2	0.526 5	0.320 5	0.000 1	0.568 4	0.625 7	0.067 1	0.000 6	0.000 1	0.001 2	0.806 3	0.836 6	0.621 7	0.591 5	0.373 6	0.314 5	0.668 5	0.398 6	0.003 2	0.000 5	0.000 1	0.016 11	0.024 2	0.043 10	0.906 4	0.000 1	0.052 4	0.000 8	0.384 7	0.330 9	0.342 5	0.100 7	0.223 4	0.183 8	0.112 4	0.476 5	0.313 5	0.130 7	0.196 2	0.112 7	0.370 9	0.000 1	0.234 7	0.071 6	0.160 4	0.403 3	0.398 9	0.492 10	0.197 2	0.076 8	0.272 3	0.000 1	0.200 12	0.560 6	0.735 3	0.000 1	0.000 7	0.000 7	0.110 5	0.002 4	0.021 6	0.412 5	0.000 7	0.000 4	0.000 8	0.000 1	0.000 1	0.794 7	0.000 1	0.445 3	0.000 1	0.022 6	0.509 6	0.000 1	0.517 10	0.000 1	0.000 1	0.001 12	0.245 2	0.915 4	0.024 2	0.089 3	0.000 1	0.262 2	0.000 1	0.103 8	0.524 5	0.392 8	0.515 2	0.013 12	0.251 4	0.411 10	0.662 1	0.001 7	0.000 1	0.473 8	0.000 2	0.000 2	0.150 4	0.699 6	0.000 2	0.000 1	0.000 1	0.166 5	0.000 4	0.024 1	0.000 6	0.000 1

PPT-SpUNet-F.T.	0.332 7	0.556 3	0.270 4	0.123 9	0.816 4	0.682 5	0.946 4	0.549 5	0.657 6	0.756 3	0.459 4	0.376 6	0.550 6	0.001 9	0.807 3	0.616 2	0.727 7	0.267 4	0.691 3	0.942 7	0.530 7	0.872 4	0.874 5	0.330 5	0.542 9	0.374 5	0.792 3	0.400 9	0.673 2	0.572 4	0.433 2	0.793 4	0.623 4	0.008 12	0.351 5	0.594 6	0.000 1	0.783 8	0.876 5	0.833 4	0.213 3	0.000 7	0.537 5	0.091 4	0.519 2	0.304 4	0.620 5	0.942 1	0.264 3	0.124 5	0.855 4	0.695 3	0.086 6	0.646 6	0.506 11	0.658 4	0.535 4	0.715 2	0.314 1	0.000 3	0.241 3	0.608 2	0.897 2	0.359 6	0.858 6	0.000 3	0.076 12	0.611 8	0.392 7	0.509 6	0.378 3	0.000 1	0.579 2	0.565 11	0.000 4	0.000 6	0.000 1	0.000 3	0.755 4	0.806 8	0.661 2	0.572 10	0.350 7	0.181 7	0.660 7	0.300 9	0.000 3	0.000 5	0.000 1	0.023 7	0.000 3	0.042 11	0.930 2	0.000 1	0.000 7	0.077 5	0.584 4	0.392 7	0.339 6	0.185 5	0.171 7	0.308 2	0.006 10	0.563 3	0.256 6	0.150 2	0.000 3	0.002 11	0.345 10	0.000 1	0.045 9	0.197 2	0.063 6	0.323 8	0.453 3	0.600 6	0.163 6	0.037 10	0.349 2	0.000 1	0.672 2	0.679 3	0.753 1	0.000 1	0.000 7	0.000 7	0.117 3	0.000 5	0.000 7	0.291 8	0.000 7	0.000 4	0.039 4	0.000 1	0.000 1	0.899 2	0.000 1	0.374 8	0.000 1	0.000 8	0.545 4	0.000 1	0.634 3	0.000 1	0.000 1	0.074 8	0.223 3	0.914 5	0.000 5	0.021 4	0.000 1	0.000 5	0.000 1	0.112 4	0.498 8	0.649 1	0.383 7	0.095 2	0.135 11	0.449 8	0.432 7	0.008 5	0.000 1	0.518 5	0.000 2	0.000 2	0.000 7	0.796 3	0.000 2	0.000 1	0.000 1	0.138 9	0.000 4	0.000 2	0.000 6	0.000 1
Xiaoyang Wu, Zhuotao Tian, Xin Wen, Bohao Peng, Xihui Liu, Kaicheng Yu, Hengshuang Zhao: Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training. CVPR 2024
OctFormer ScanNet200	0.326 8	0.539 7	0.265 7	0.131 7	0.806 6	0.670 8	0.943 7	0.535 7	0.662 2	0.705 11	0.423 6	0.407 3	0.505 8	0.003 8	0.765 8	0.582 5	0.686 10	0.227 11	0.680 5	0.943 6	0.601 1	0.854 8	0.892 3	0.335 3	0.417 12	0.357 7	0.724 7	0.453 6	0.632 4	0.596 2	0.432 3	0.783 6	0.512 11	0.021 10	0.244 10	0.637 1	0.000 1	0.787 7	0.873 7	0.743 10	0.000 12	0.000 7	0.534 6	0.110 1	0.499 4	0.289 5	0.626 4	0.620 9	0.168 12	0.204 1	0.849 5	0.679 5	0.117 3	0.633 7	0.684 2	0.650 5	0.552 3	0.684 7	0.312 2	0.000 3	0.175 7	0.429 7	0.865 3	0.413 2	0.837 7	0.000 3	0.145 6	0.626 6	0.451 5	0.487 8	0.513 1	0.000 1	0.529 5	0.613 8	0.000 4	0.033 3	0.000 1	0.000 3	0.828 2	0.871 2	0.622 6	0.587 6	0.411 5	0.137 9	0.645 9	0.343 7	0.000 3	0.000 5	0.000 1	0.022 8	0.000 3	0.026 12	0.829 8	0.000 1	0.022 5	0.089 4	0.842 1	0.253 11	0.318 8	0.296 2	0.178 6	0.291 3	0.224 1	0.584 2	0.200 9	0.132 6	0.000 3	0.128 6	0.227 11	0.000 1	0.230 8	0.047 8	0.149 5	0.331 7	0.412 7	0.618 5	0.164 5	0.102 6	0.522 1	0.000 1	0.655 3	0.378 8	0.469 10	0.000 1	0.000 7	0.000 7	0.105 6	0.000 5	0.000 7	0.483 3	0.000 7	0.000 4	0.028 5	0.000 1	0.000 1	0.906 1	0.000 1	0.339 10	0.000 1	0.000 8	0.457 7	0.000 1	0.612 5	0.000 1	0.000 1	0.408 2	0.000 10	0.900 6	0.000 5	0.000 6	0.000 1	0.029 4	0.000 1	0.074 12	0.455 10	0.479 4	0.427 4	0.079 8	0.140 8	0.496 6	0.414 9	0.022 2	0.000 1	0.471 9	0.000 2	0.000 2	0.000 7	0.722 4	0.000 2	0.000 1	0.000 1	0.138 9	0.000 4	0.000 2	0.000 6	0.000 1
Peng-Shuai Wang: OctFormer: Octree-based Transformers for 3D Point Clouds. SIGGRAPH 2023
AWCS	0.305 9	0.508 9	0.225 9	0.142 6	0.782 9	0.634 12	0.937 9	0.489 10	0.578 9	0.721 7	0.364 10	0.355 8	0.515 7	0.023 7	0.764 9	0.523 8	0.707 9	0.264 6	0.633 9	0.922 9	0.507 10	0.886 1	0.804 10	0.179 10	0.436 11	0.300 9	0.656 11	0.529 2	0.501 10	0.394 8	0.296 11	0.820 2	0.603 6	0.131 3	0.179 12	0.619 2	0.000 1	0.707 11	0.865 9	0.773 6	0.171 4	0.010 6	0.484 9	0.063 10	0.463 9	0.254 8	0.332 11	0.649 8	0.220 8	0.100 8	0.729 10	0.613 10	0.071 9	0.582 10	0.628 5	0.702 2	0.424 10	0.749 1	0.137 10	0.000 3	0.142 9	0.360 9	0.863 4	0.305 9	0.877 5	0.000 3	0.173 3	0.606 9	0.337 9	0.478 9	0.154 10	0.000 1	0.253 9	0.664 5	0.000 4	0.000 6	0.000 1	0.000 3	0.626 8	0.782 9	0.302 11	0.602 4	0.185 10	0.282 6	0.651 8	0.317 8	0.000 3	0.000 5	0.000 1	0.022 8	0.000 3	0.154 1	0.876 6	0.000 1	0.014 6	0.063 7	0.029 12	0.553 4	0.467 2	0.084 8	0.124 9	0.157 11	0.049 9	0.373 9	0.252 7	0.097 10	0.000 3	0.219 4	0.542 2	0.000 1	0.392 3	0.172 5	0.000 10	0.339 6	0.417 6	0.533 9	0.093 10	0.115 5	0.195 7	0.000 1	0.516 7	0.288 11	0.741 2	0.000 1	0.001 6	0.233 4	0.056 9	0.000 5	0.159 4	0.334 7	0.077 6	0.000 4	0.000 8	0.000 1	0.000 1	0.749 9	0.000 1	0.411 5	0.000 1	0.008 7	0.452 8	0.000 1	0.595 7	0.000 1	0.000 1	0.220 7	0.006 7	0.894 8	0.006 4	0.000 6	0.000 1	0.000 5	0.000 1	0.112 4	0.504 6	0.404 7	0.551 1	0.093 4	0.129 12	0.484 7	0.381 12	0.000 8	0.000 1	0.396 10	0.000 2	0.000 2	0.620 2	0.402 12	0.000 2	0.000 1	0.000 1	0.142 8	0.000 4	0.000 2	0.512 4	0.000 1

LGround	0.272 10	0.485 10	0.184 10	0.106 10	0.778 10	0.676 7	0.932 10	0.479 12	0.572 10	0.718 9	0.399 7	0.265 10	0.453 11	0.085 3	0.745 10	0.446 10	0.726 8	0.232 10	0.622 10	0.901 10	0.512 9	0.826 10	0.786 11	0.178 11	0.549 7	0.277 10	0.659 10	0.381 10	0.518 9	0.295 12	0.323 9	0.777 7	0.599 7	0.028 8	0.321 6	0.363 11	0.000 1	0.708 10	0.858 10	0.746 9	0.063 10	0.022 5	0.457 10	0.077 7	0.476 7	0.243 10	0.402 9	0.397 12	0.233 7	0.077 12	0.720 12	0.610 11	0.103 4	0.629 8	0.437 12	0.626 8	0.446 9	0.702 4	0.190 8	0.005 1	0.058 11	0.322 10	0.702 11	0.244 10	0.768 9	0.000 3	0.134 8	0.552 10	0.279 11	0.395 10	0.147 11	0.000 1	0.207 10	0.612 9	0.000 4	0.000 6	0.000 1	0.000 3	0.658 6	0.566 10	0.323 10	0.525 12	0.229 9	0.179 8	0.467 12	0.154 11	0.000 3	0.002 3	0.000 1	0.051 1	0.000 3	0.127 2	0.703 9	0.000 1	0.000 7	0.216 1	0.112 11	0.358 8	0.547 1	0.187 4	0.092 11	0.156 12	0.055 7	0.296 10	0.252 7	0.143 3	0.000 3	0.014 9	0.398 6	0.000 1	0.028 11	0.173 4	0.000 10	0.265 11	0.348 10	0.415 11	0.179 3	0.019 11	0.218 6	0.000 1	0.597 5	0.274 12	0.565 8	0.000 1	0.012 4	0.000 7	0.039 11	0.022 2	0.000 7	0.117 10	0.000 7	0.000 4	0.000 8	0.000 1	0.000 1	0.324 11	0.000 1	0.384 6	0.000 1	0.000 8	0.251 12	0.000 1	0.566 8	0.000 1	0.000 1	0.066 9	0.404 1	0.886 9	0.199 1	0.000 6	0.000 1	0.059 3	0.000 1	0.136 1	0.540 4	0.127 12	0.295 8	0.085 6	0.143 6	0.514 5	0.413 10	0.000 8	0.000 1	0.498 6	0.000 2	0.000 2	0.000 7	0.623 8	0.000 2	0.000 1	0.000 1	0.132 11	0.000 4	0.000 2	0.000 6	0.000 1
David Rozenberszki, Or Litany, Angela Dai: Language-Grounded Indoor 3D Semantic Segmentation in the Wild. arXiv
Minkowski 34D	0.253 11	0.463 11	0.154 12	0.102 11	0.771 11	0.650 11	0.932 10	0.483 11	0.571 11	0.710 10	0.331 11	0.250 11	0.492 9	0.044 4	0.703 11	0.419 12	0.606 12	0.227 11	0.621 11	0.865 12	0.531 6	0.771 12	0.813 9	0.291 6	0.484 10	0.242 11	0.612 12	0.282 12	0.440 12	0.351 10	0.299 10	0.622 11	0.593 8	0.027 9	0.293 8	0.310 12	0.000 1	0.757 9	0.858 10	0.737 11	0.150 5	0.164 1	0.368 12	0.084 5	0.381 12	0.142 12	0.357 10	0.720 7	0.214 9	0.092 11	0.724 11	0.596 12	0.056 10	0.655 5	0.525 9	0.581 12	0.352 12	0.594 11	0.056 12	0.000 3	0.014 12	0.224 11	0.772 10	0.205 12	0.720 11	0.000 3	0.159 5	0.531 11	0.163 12	0.294 11	0.136 12	0.000 1	0.169 11	0.589 10	0.000 4	0.000 6	0.000 1	0.002 1	0.663 5	0.466 12	0.265 12	0.582 7	0.337 8	0.016 11	0.559 10	0.084 12	0.000 3	0.000 5	0.000 1	0.036 4	0.000 3	0.125 3	0.670 10	0.000 1	0.102 1	0.071 6	0.164 10	0.406 6	0.386 4	0.046 11	0.068 12	0.159 10	0.117 3	0.284 11	0.111 11	0.094 11	0.000 3	0.000 12	0.197 12	0.000 1	0.044 10	0.013 10	0.002 9	0.228 12	0.307 12	0.588 7	0.025 12	0.545 3	0.134 10	0.000 1	0.655 3	0.302 10	0.282 12	0.000 1	0.060 2	0.000 7	0.035 12	0.000 5	0.000 7	0.097 12	0.000 7	0.000 4	0.005 7	0.000 1	0.000 1	0.096 12	0.000 1	0.334 11	0.000 1	0.000 8	0.274 11	0.000 1	0.513 11	0.000 1	0.000 1	0.280 6	0.194 4	0.897 7	0.000 5	0.000 6	0.000 1	0.000 5	0.000 1	0.108 7	0.279 12	0.189 11	0.141 12	0.059 11	0.272 2	0.307 12	0.445 5	0.003 6	0.000 1	0.353 11	0.000 2	0.026 1	0.000 7	0.581 10	0.001 1	0.000 1	0.000 1	0.093 12	0.002 3	0.000 2	0.000 6	0.000 1
C. Choy, J. Gwak, S. Savarese: 4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks. CVPR 2019
CSC-Pretrain	0.249 12	0.455 12	0.171 11	0.079 12	0.766 12	0.659 10	0.930 12	0.494 9	0.542 12	0.700 12	0.314 12	0.215 12	0.430 12	0.121 1	0.697 12	0.441 11	0.683 11	0.235 9	0.609 12	0.895 11	0.476 12	0.816 11	0.770 12	0.186 9	0.634 4	0.216 12	0.734 6	0.340 11	0.471 11	0.307 11	0.293 12	0.591 12	0.542 10	0.076 6	0.205 11	0.464 10	0.000 1	0.484 12	0.832 12	0.766 7	0.052 11	0.000 7	0.413 11	0.059 11	0.418 11	0.222 11	0.318 12	0.609 10	0.206 10	0.112 6	0.743 9	0.625 9	0.076 7	0.579 11	0.548 8	0.590 11	0.371 11	0.552 12	0.081 11	0.003 2	0.142 9	0.201 12	0.638 12	0.233 11	0.686 12	0.000 3	0.142 7	0.444 12	0.375 8	0.247 12	0.198 9	0.000 1	0.128 12	0.454 12	0.019 2	0.097 1	0.000 1	0.000 3	0.553 9	0.557 11	0.373 8	0.545 11	0.164 11	0.014 12	0.547 11	0.174 10	0.000 3	0.002 3	0.000 1	0.037 3	0.000 3	0.063 8	0.664 11	0.000 1	0.000 7	0.130 2	0.170 9	0.152 12	0.335 7	0.079 9	0.110 10	0.175 9	0.098 6	0.175 12	0.166 10	0.045 12	0.207 1	0.014 9	0.465 4	0.000 1	0.001 12	0.001 12	0.046 7	0.299 10	0.327 11	0.537 8	0.033 11	0.012 12	0.186 8	0.000 1	0.205 11	0.377 9	0.463 11	0.000 1	0.058 3	0.000 7	0.055 10	0.041 1	0.000 7	0.105 11	0.000 7	0.000 4	0.000 8	0.000 1	0.000 1	0.398 10	0.000 1	0.308 12	0.000 1	0.000 8	0.319 10	0.000 1	0.543 9	0.000 1	0.000 1	0.062 10	0.004 8	0.862 11	0.000 5	0.000 6	0.000 1	0.000 5	0.000 1	0.123 3	0.316 11	0.225 10	0.250 10	0.094 3	0.180 5	0.332 11	0.441 6	0.000 8	0.000 1	0.310 12	0.000 2	0.000 2	0.000 7	0.592 9	0.000 2	0.000 1	0.000 1	0.203 2	0.000 4	0.000 2	0.000 6	0.000 1
Ji Hou, Benjamin Graham, Matthias Nießner, Saining Xie: Exploring Data-Efficient 3D Scene Understanding with Contrastive Scene Contexts. CVPR 2021

This table lists the benchmark results for the ScanNet200 3D semantic instance scenario.

Method	avg ap	head ap	common ap	tail ap	chair	table	door	couch	cabinet	shelf	desk	office chair	bed	pillow	sink	picture	window	toilet	bookshelf	monitor	curtain	book	coffee table	box	refrigerator	lamp	kitchen cabinet	towel	clothes	tv	nightstand	counter	dresser	stool	cushion	plant	ceiling	bathtub	end table	dining table	keyboard	bag	backpack	toilet paper	printer	tv stand	whiteboard	blanket	shower curtain	trash can	closet	stairs	microwave	stove	shoe	computer tower	bottle	bin	bench	board	washing machine	mirror	copier	basket	sofa chair	file cabinet	fan	laptop	shower	paper	person	paper towel dispenser	oven	blinds	rack	plate	blackboard	piano	suitcase	radiator	recycling bin	wardrobe	soap dispenser	telephone	bucket	clock	stand	light	laundry basket	pipe	clothes dryer	seat	speaker	column	bicycle	ladder	bathroom stall	shower wall	cup	jacket	storage bin	coffee maker	dishwasher	paper towel roll	machine	mat	windowsill	bar	toaster	bulletin board	ironing board	kitchen counter	doorframe	toilet paper dispenser	mini fridge	fire extinguisher	ball	hat	shower curtain rod	water cooler	paper cutter	tray	ledge	mouse	cart	storage container	scale	tissue box	light switch	power outlet	decoration	sign	projector	vacuum cleaner	candle	plunger	stuffed animal	headphones	dish rack	broom	range hood	water bottle	vent	shower floor	water pitcher	mailbox	bowl	paper bag	music stand	projector screen	laundry detergent	object	bathroom vanity	laundry hamper	bathroom stall door	ceiling light	trash bin	dumbbell	stair rail	tube	bathroom cabinet	closet rod	coffee kettle	structure	shower head	keyboard piano	case of water bottles	coat rack	storage organizer	folded chair	fire alarm	power strip	calendar	poster

Mask3D Scannet200	0.278 1	0.383 1	0.263 1	0.168 1	0.661 2	0.465 1	0.572 1	0.665 3	0.391 1	0.121 4	0.304 1	0.015 2	0.647 1	0.349 1	0.474 1	0.489 1	0.321 1	0.816 5	0.351 3	0.722 1	0.402 4	0.195 1	0.515 3	0.082 1	0.795 1	0.215 2	0.396 1	0.377 1	0.082 4	0.724 1	0.586 1	0.015 2	0.277 1	0.377 5	0.201 1	0.475 2	0.572 1	0.778 3	0.089 1	0.759 1	0.556 1	0.068 1	0.506 1	0.467 1	0.323 3	0.778 2	0.427 1	0.027 2	0.789 1	0.744 1	0.003 1	0.570 2	0.561 1	0.337 1	0.265 1	0.711 1	0.258 1	0.031 1	0.569 1	0.311 1	0.441 1	0.179 1	1.000 1	0.000 1	0.233 2	0.411 2	0.283 2	0.380 1	0.667 1	0.016 1	0.048 3	0.418 2	0.139 1	0.173 1	0.000 1	0.086 1	0.014 2	0.500 1	0.384 1	0.497 1	0.044 3	0.032 2	0.752 1	0.287 1	0.003 1	0.000 1	0.007 1	0.208 1	0.000 1	0.001 2	0.349 1	0.008 2	0.014 2	0.509 1	0.500 1	0.323 1	0.023 2	0.176 1	0.107 1	0.105 3	0.000 1	0.605 1	0.378 1	0.016 1	0.000 1	0.400 1	0.192 1	0.000 1	0.048 2	0.037 2	0.000 1	0.275 1	0.119 1	0.810 1	0.258 1	0.006 3	0.083 5	0.000 1	0.568 2	0.377 2	0.708 1	0.000 1	0.005 2	0.147 1	0.014 2	0.000 2	0.556 1	0.085 1	0.325 1	0.500 1	0.083 1	0.004 2	0.000 1	0.590 1	0.000 1	0.365 1	0.000 1	0.116 1	0.491 1	0.000 1	0.626 1	0.000 1	0.000 1	0.579 1	0.391 1	0.050 4	0.000 1	0.028 1	0.000 1	0.222 1	0.000 1	0.063 1	0.302 1	0.356 1	0.149 4	0.573 1	0.415 1	0.013 5	0.002 4	0.004 1	0.000 1	0.005 4	0.000 1	0.000 1	0.444 1	0.514 1	0.000 1	0.028 1	0.000 2	0.156 2	0.267 1	0.000 2	1.000 1	0.000 1
Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, Bastian Leibe: Mask3D for 3D Semantic Instance Segmentation. ICRA 2023
TD3D Scannet200	0.211 2	0.332 2	0.177 2	0.103 2	0.662 1	0.413 2	0.463 2	0.705 1	0.192 3	0.145 1	0.266 2	0.215 1	0.452 4	0.209 2	0.222 5	0.219 5	0.315 2	0.893 1	0.380 2	0.617 2	0.439 2	0.047 4	0.646 1	0.080 2	0.610 3	0.253 1	0.237 2	0.293 2	0.135 1	0.379 5	0.494 2	0.048 1	0.252 2	0.451 2	0.184 2	0.483 1	0.395 2	0.852 1	0.083 2	0.551 2	0.278 2	0.036 2	0.337 2	0.266 2	0.544 1	0.963 1	0.079 5	0.039 1	0.740 2	0.604 2	0.000 2	0.586 1	0.283 2	0.282 2	0.059 2	0.633 3	0.028 2	0.004 2	0.559 2	0.309 2	0.420 2	0.028 5	1.000 1	0.000 1	0.456 1	0.411 1	0.372 1	0.060 4	0.046 4	0.000 2	0.040 4	0.694 1	0.083 2	0.000 2	0.000 1	0.000 2	0.000 3	0.083 4	0.252 2	0.260 5	0.200 1	0.160 1	0.669 2	0.111 2	0.000 2	0.000 1	0.006 2	0.169 2	0.000 1	0.007 1	0.296 2	0.032 1	0.074 1	0.139 3	0.000 2	0.321 2	0.031 1	0.108 2	0.088 2	0.157 1	0.000 1	0.231 5	0.026 5	0.000 2	0.000 1	0.356 2	0.052 2	0.000 1	0.240 1	0.147 1	0.000 1	0.015 2	0.046 3	0.144 3	0.073 3	0.414 1	0.222 4	0.000 1	0.806 1	0.343 3	0.486 3	0.000 1	0.008 1	0.038 2	0.083 1	0.002 1	0.028 2	0.074 2	0.032 2	0.150 2	0.039 2	0.008 1	0.000 1	0.250 4	0.000 1	0.125 4	0.000 1	0.052 2	0.260 3	0.000 1	0.143 5	0.000 1	0.000 1	0.543 2	0.207 2	0.404 1	0.000 1	0.003 2	0.000 1	0.000 2	0.000 1	0.037 2	0.093 4	0.272 2	0.342 1	0.039 4	0.281 2	0.249 3	0.224 1	0.000 2	0.000 1	0.074 1	0.000 1	0.000 1	0.000 2	0.278 2	0.000 1	0.000 2	0.889 1	0.323 1	0.000 2	0.014 1	0.000 2	0.000 1
Maksim Kolodiazhnyi, Anna Vorontsova, Anton Konushin, Danila Rukhovich: Top-Down Beats Bottom-Up in 3D Instance Segmentation. WACV 2024
LGround Inst.	0.154 3	0.275 3	0.108 3	0.060 3	0.573 3	0.381 3	0.434 3	0.654 4	0.190 4	0.141 2	0.097 3	0.000 3	0.503 3	0.180 3	0.252 3	0.242 4	0.242 3	0.881 3	0.448 1	0.494 3	0.429 3	0.078 2	0.364 5	0.024 3	0.654 2	0.213 4	0.222 3	0.239 3	0.099 3	0.616 2	0.363 3	0.000 3	0.092 3	0.444 3	0.000 3	0.383 4	0.209 5	0.815 2	0.030 3	0.000 3	0.166 3	0.002 4	0.295 5	0.099 4	0.364 2	0.778 2	0.177 3	0.001 4	0.427 5	0.585 4	0.000 2	0.470 3	0.268 5	0.205 3	0.045 3	0.642 2	0.007 3	0.000 3	0.333 5	0.148 3	0.407 3	0.130 2	1.000 1	0.000 1	0.156 4	0.189 3	0.097 4	0.169 2	0.000 5	0.000 2	0.056 2	0.400 3	0.000 3	0.000 2	0.000 1	0.000 2	0.556 1	0.278 3	0.203 3	0.323 4	0.019 4	0.000 3	0.402 4	0.026 3	0.000 2	0.000 1	0.000 3	0.044 3	0.000 1	0.000 3	0.037 4	0.000 3	0.000 3	0.181 2	0.000 2	0.127 3	0.006 4	0.028 4	0.023 3	0.115 2	0.000 1	0.327 2	0.267 2	0.000 2	0.000 1	0.000 4	0.028 3	0.000 1	0.000 3	0.000 3	0.000 1	0.003 3	0.048 2	0.135 4	0.222 2	0.089 2	0.278 1	0.000 1	0.514 3	0.333 4	0.611 2	0.000 1	0.000 3	0.000 3	0.000 3	0.000 2	0.000 3	0.037 3	0.000 3	0.000 3	0.000 3	0.000 3	0.000 1	0.322 2	0.000 1	0.209 2	0.000 1	0.000 3	0.278 2	0.000 1	0.302 3	0.000 1	0.000 1	0.143 3	0.148 3	0.000 5	0.000 1	0.000 3	0.000 1	0.000 2	0.000 1	0.015 3	0.064 5	0.000 3	0.272 2	0.031 5	0.000 4	0.257 2	0.028 2	0.000 2	0.000 1	0.041 2	0.000 1	0.000 1	0.000 2	0.222 5	0.000 1	0.000 2	0.000 2	0.000 5	0.000 2	0.000 2	0.000 2	0.000 1
David Rozenberszki, Or Litany, Angela Dai: Language-Grounded Indoor 3D Semantic Segmentation in the Wild.
Minkowski 34D Inst.	0.130 4	0.246 4	0.083 4	0.043 5	0.547 5	0.236 4	0.415 4	0.672 2	0.141 5	0.133 3	0.067 4	0.000 3	0.521 2	0.114 5	0.238 4	0.289 2	0.232 4	0.883 2	0.182 5	0.373 5	0.486 1	0.076 3	0.488 4	0.022 4	0.529 4	0.199 5	0.110 4	0.217 4	0.100 2	0.460 4	0.319 4	0.000 3	0.025 5	0.472 1	0.000 3	0.394 3	0.210 4	0.537 4	0.004 4	0.000 3	0.083 5	0.000 5	0.299 4	0.061 5	0.201 5	0.761 4	0.084 4	0.008 3	0.720 3	0.557 5	0.000 2	0.317 5	0.280 3	0.094 5	0.020 5	0.564 5	0.000 4	0.000 3	0.400 3	0.048 4	0.259 4	0.101 3	1.000 1	0.000 1	0.190 3	0.142 5	0.094 5	0.137 3	0.089 3	0.000 2	0.101 1	0.355 5	0.000 3	0.000 2	0.000 1	0.000 2	0.000 3	0.444 2	0.082 5	0.384 2	0.000 5	0.000 3	0.334 5	0.004 5	0.000 2	0.000 1	0.000 3	0.041 4	0.000 1	0.000 3	0.026 5	0.000 3	0.000 3	0.000 4	0.000 2	0.082 5	0.022 3	0.000 5	0.021 4	0.088 4	0.000 1	0.241 4	0.033 4	0.000 2	0.000 1	0.067 3	0.000 5	0.000 1	0.000 3	0.000 3	0.000 1	0.000 4	0.026 4	0.262 2	0.016 4	0.000 4	0.278 1	0.000 1	0.500 4	0.394 1	0.028 5	0.000 1	0.000 3	0.000 3	0.000 3	0.000 2	0.000 3	0.019 4	0.000 3	0.000 3	0.000 3	0.000 3	0.000 1	0.156 5	0.000 1	0.032 5	0.000 1	0.000 3	0.194 5	0.000 1	0.248 4	0.000 1	0.000 1	0.099 4	0.019 4	0.308 2	0.000 1	0.000 3	0.000 1	0.000 2	0.000 1	0.007 4	0.122 2	0.000 3	0.175 3	0.063 2	0.000 4	0.271 1	0.000 5	0.000 2	0.000 1	0.000 5	0.000 1	0.000 1	0.000 2	0.278 2	0.000 1	0.000 2	0.000 2	0.111 3	0.000 2	0.000 2	0.000 2	0.000 1
C. Choy, J. Gwak, S. Savarese: 4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks. CVPR 2019
CSC-Pretrain Inst.	0.123 5	0.223 5	0.082 5	0.046 4	0.564 4	0.152 5	0.394 5	0.578 5	0.235 2	0.116 5	0.034 5	0.000 3	0.348 5	0.119 4	0.297 2	0.285 3	0.202 5	0.838 4	0.323 4	0.407 4	0.184 5	0.037 5	0.516 2	0.013 5	0.424 5	0.214 3	0.093 5	0.105 5	0.078 5	0.542 3	0.250 5	0.000 3	0.064 4	0.444 3	0.000 3	0.224 5	0.231 3	0.537 4	0.001 5	0.000 3	0.126 4	0.004 3	0.308 3	0.193 3	0.244 4	0.343 5	0.228 2	0.000 5	0.441 4	0.588 3	0.000 2	0.338 4	0.275 4	0.189 4	0.030 4	0.600 4	0.000 4	0.000 3	0.378 4	0.000 5	0.108 5	0.098 4	1.000 1	0.000 1	0.096 5	0.172 4	0.144 3	0.011 5	0.125 2	0.000 2	0.000 5	0.376 4	0.000 3	0.000 2	0.000 1	0.000 2	0.000 3	0.042 5	0.141 4	0.377 3	0.051 2	0.000 3	0.483 3	0.017 4	0.000 2	0.000 1	0.000 3	0.022 5	0.000 1	0.000 3	0.065 3	0.000 3	0.000 3	0.000 4	0.000 2	0.094 4	0.000 5	0.042 3	0.000 5	0.064 5	0.000 1	0.259 3	0.089 3	0.000 2	0.000 1	0.000 4	0.022 4	0.000 1	0.000 3	0.000 3	0.000 1	0.000 4	0.018 5	0.111 5	0.000 5	0.000 4	0.278 1	0.000 1	0.444 5	0.333 4	0.333 4	0.000 1	0.000 3	0.000 3	0.000 3	0.000 2	0.000 3	0.000 5	0.000 3	0.000 3	0.000 3	0.000 3	0.000 1	0.267 3	0.000 1	0.184 3	0.000 1	0.000 3	0.211 4	0.000 1	0.378 2	0.000 1	0.000 1	0.063 5	0.000 5	0.275 3	0.000 1	0.000 3	0.000 1	0.000 2	0.000 1	0.007 5	0.105 3	0.000 3	0.032 5	0.045 3	0.198 3	0.171 4	0.028 2	0.000 2	0.000 1	0.006 3	0.000 1	0.000 1	0.000 2	0.278 2	0.000 1	0.000 2	0.000 2	0.044 4	0.000 2	0.000 2	0.000 2	0.000 1
Ji Hou, Benjamin Graham, Matthias Nießner, Saining Xie: Exploring Data-Efficient 3D Scene Understanding with Contrastive Scene Contexts. CVPR 2021

ScanNet Benchmark

This table lists the benchmark results for the 3D semantic label scenario.

Method	avg iou	bathtub	bed	bookshelf	cabinet	chair	counter	curtain	desk	door	floor	otherfurniture	picture	refrigerator	shower curtain	sink	sofa	table	toilet	wall	window

PTv3 ScanNet	0.794 1	0.941 3	0.813 18	0.851 7	0.782 6	0.890 2	0.597 1	0.916 2	0.696 8	0.713 3	0.979 1	0.635 1	0.384 2	0.793 2	0.907 8	0.821 4	0.790 30	0.696 11	0.967 3	0.903 1	0.805 1
Xiaoyang Wu, Li Jiang, Peng-Shuai Wang, Zhijian Liu, Xihui Liu, Yu Qiao, Wanli Ouyang, Tong He, Hengshuang Zhao: Point Transformer V3: Simpler, Faster, Stronger. CVPR 2024 (Oral)
PonderV2	0.785 2	0.978 1	0.800 26	0.833 22	0.788 4	0.853 16	0.545 16	0.910 5	0.713 1	0.705 4	0.979 1	0.596 7	0.390 1	0.769 11	0.832 41	0.821 4	0.792 29	0.730 1	0.975 1	0.897 4	0.785 4
Haoyi Zhu, Honghui Yang, Xiaoyang Wu, Di Huang, Sha Zhang, Xianglong He, Tong He, Hengshuang Zhao, Chunhua Shen, Yu Qiao, Wanli Ouyang: PonderV2: Pave the Way for 3D Foundataion Model with A Universal Pre-training Paradigm.
Mix3D	0.781 3	0.964 2	0.855 1	0.843 16	0.781 7	0.858 12	0.575 6	0.831 32	0.685 14	0.714 2	0.979 1	0.594 8	0.310 26	0.801 1	0.892 16	0.841 2	0.819 4	0.723 4	0.940 13	0.887 6	0.725 23
Alexey Nekrasov, Jonas Schult, Or Litany, Bastian Leibe, Francis Engelmann: Mix3D: Out-of-Context Data Augmentation for 3D Scenes. 3DV 2021 (Oral)
Swin3D	0.779 4	0.861 20	0.818 14	0.836 19	0.790 3	0.875 4	0.576 5	0.905 6	0.704 5	0.739 1	0.969 10	0.611 2	0.349 10	0.756 21	0.958 1	0.702 44	0.805 14	0.708 7	0.916 31	0.898 3	0.801 2

TTT-KD	0.773 5	0.646 90	0.818 14	0.809 34	0.774 9	0.878 3	0.581 2	0.943 1	0.687 12	0.704 5	0.978 4	0.607 5	0.336 15	0.775 8	0.912 6	0.838 3	0.823 2	0.694 12	0.967 3	0.899 2	0.794 3
Lisa Weijler, Muhammad Jehanzeb Mirza, Leon Sick, Can Ekkazan, Pedro Hermosilla: TTT-KD: Test-Time Training for 3D Semantic Segmentation through Knowledge Distillation from Foundation Models.
ResLFE_HDS	0.772 6	0.939 4	0.824 6	0.854 6	0.771 10	0.840 30	0.564 10	0.900 8	0.686 13	0.677 11	0.961 16	0.537 30	0.348 11	0.769 11	0.903 10	0.785 10	0.815 6	0.676 21	0.939 14	0.880 11	0.772 8

PPT-SpUNet-Joint	0.766 7	0.932 5	0.794 32	0.829 24	0.751 22	0.854 14	0.540 20	0.903 7	0.630 33	0.672 14	0.963 14	0.565 21	0.357 8	0.788 3	0.900 12	0.737 25	0.802 15	0.685 16	0.950 7	0.887 6	0.780 5
Xiaoyang Wu, Zhuotao Tian, Xin Wen, Bohao Peng, Xihui Liu, Kaicheng Yu, Hengshuang Zhao: Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training. CVPR 2024
OctFormer	0.766 7	0.925 7	0.808 22	0.849 9	0.786 5	0.846 26	0.566 9	0.876 14	0.690 10	0.674 13	0.960 17	0.576 17	0.226 66	0.753 23	0.904 9	0.777 12	0.815 6	0.722 5	0.923 27	0.877 13	0.776 7
Peng-Shuai Wang: OctFormer: Octree-based Transformers for 3D Point Clouds. SIGGRAPH 2023
CU-Hybrid Net	0.764 9	0.924 8	0.819 12	0.840 17	0.757 17	0.853 16	0.580 3	0.848 25	0.709 3	0.643 23	0.958 20	0.587 12	0.295 32	0.753 23	0.884 20	0.758 19	0.815 6	0.725 3	0.927 24	0.867 21	0.743 14

OccuSeg+Semantic	0.764 9	0.758 58	0.796 30	0.839 18	0.746 24	0.907 1	0.562 11	0.850 24	0.680 16	0.672 14	0.978 4	0.610 3	0.335 17	0.777 6	0.819 44	0.847 1	0.830 1	0.691 14	0.972 2	0.885 8	0.727 21

O-CNN	0.762 11	0.924 8	0.823 7	0.844 15	0.770 11	0.852 18	0.577 4	0.847 27	0.711 2	0.640 27	0.958 20	0.592 9	0.217 72	0.762 16	0.888 17	0.758 19	0.813 10	0.726 2	0.932 22	0.868 20	0.744 13
Peng-Shuai Wang, Yang Liu, Yu-Xiao Guo, Chun-Yu Sun, Xin Tong: O-CNN: Octree-based Convolutional Neural Networks for 3D Shape Analysis. SIGGRAPH 2017
DTC	0.757 12	0.843 26	0.820 10	0.847 12	0.791 2	0.862 10	0.511 32	0.870 16	0.707 4	0.652 19	0.954 34	0.604 6	0.279 43	0.760 17	0.942 2	0.734 26	0.766 43	0.701 10	0.884 53	0.874 18	0.736 15

OA-CNN-L_ScanNet20	0.756 13	0.783 44	0.826 5	0.858 4	0.776 8	0.837 33	0.548 15	0.896 11	0.649 25	0.675 12	0.962 15	0.586 13	0.335 17	0.771 10	0.802 48	0.770 15	0.787 32	0.691 14	0.936 17	0.880 11	0.761 10

ConDaFormer	0.755 14	0.927 6	0.822 8	0.836 19	0.801 1	0.849 21	0.516 30	0.864 21	0.651 24	0.680 10	0.958 20	0.584 15	0.282 40	0.759 19	0.855 31	0.728 28	0.802 15	0.678 18	0.880 58	0.873 19	0.756 11
Lunhao Duan, Shanshan Zhao, Nan Xue, Mingming Gong, Guisong Xia, Dacheng Tao: ConDaFormer : Disassembled Transformer with Local Structure Enhancement for 3D Point Cloud Understanding. Neurips, 2023
PNE	0.755 14	0.786 42	0.835 4	0.834 21	0.758 15	0.849 21	0.570 8	0.836 31	0.648 26	0.668 16	0.978 4	0.581 16	0.367 6	0.683 34	0.856 29	0.804 6	0.801 19	0.678 18	0.961 5	0.889 5	0.716 28
P. Hermosilla: Point Neighborhood Embeddings.
DMF-Net	0.752 16	0.906 12	0.793 34	0.802 40	0.689 39	0.825 45	0.556 12	0.867 17	0.681 15	0.602 43	0.960 17	0.555 26	0.365 7	0.779 5	0.859 26	0.747 22	0.795 26	0.717 6	0.917 30	0.856 29	0.764 9
C.Yang, Y.Yan, W.Zhao, J.Ye, X.Yang, A.Hussain, B.Dong, K.Huang: Towards Deeper and Better Multi-view Feature Fusion for 3D Semantic Segmentation. ICONIP 2023
PointTransformerV2	0.752 16	0.742 66	0.809 21	0.872 1	0.758 15	0.860 11	0.552 13	0.891 12	0.610 40	0.687 6	0.960 17	0.559 24	0.304 29	0.766 14	0.926 4	0.767 16	0.797 22	0.644 32	0.942 11	0.876 16	0.722 25
Xiaoyang Wu, Yixing Lao, Li Jiang, Xihui Liu, Hengshuang Zhao: Point Transformer V2: Grouped Vector Attention and Partition-based Pooling. NeurIPS 2022
PointConvFormer	0.749 18	0.793 40	0.790 35	0.807 36	0.750 23	0.856 13	0.524 26	0.881 13	0.588 52	0.642 26	0.977 8	0.591 10	0.274 46	0.781 4	0.929 3	0.804 6	0.796 23	0.642 33	0.947 9	0.885 8	0.715 29
Wenxuan Wu, Qi Shan, Li Fuxin: PointConvFormer: Revenge of the Point-based Convolution.
BPNet	0.749 18	0.909 10	0.818 14	0.811 32	0.752 20	0.839 32	0.485 46	0.842 28	0.673 17	0.644 22	0.957 24	0.528 36	0.305 28	0.773 9	0.859 26	0.788 8	0.818 5	0.693 13	0.916 31	0.856 29	0.723 24
Wenbo Hu, Hengshuang Zhao, Li Jiang, Jiaya Jia, Tien-Tsin Wong: Bidirectional Projection Network for Cross Dimension Scene Understanding. CVPR 2021 (Oral)
MSP	0.748 20	0.623 93	0.804 24	0.859 3	0.745 25	0.824 47	0.501 36	0.912 4	0.690 10	0.685 8	0.956 25	0.567 20	0.320 23	0.768 13	0.918 5	0.720 33	0.802 15	0.676 21	0.921 28	0.881 10	0.779 6

StratifiedFormer	0.747 21	0.901 13	0.803 25	0.845 14	0.757 17	0.846 26	0.512 31	0.825 35	0.696 8	0.645 21	0.956 25	0.576 17	0.262 57	0.744 28	0.861 25	0.742 23	0.770 41	0.705 8	0.899 43	0.860 26	0.734 16
Xin Lai, Jianhui Liu, Li Jiang, Liwei Wang, Hengshuang Zhao, Shu Liu, Xiaojuan Qi, Jiaya Jia: Stratified Transformer for 3D Point Cloud Segmentation. CVPR 2022
VMNet	0.746 22	0.870 18	0.838 2	0.858 4	0.729 30	0.850 20	0.501 36	0.874 15	0.587 53	0.658 18	0.956 25	0.564 22	0.299 30	0.765 15	0.900 12	0.716 36	0.812 11	0.631 38	0.939 14	0.858 27	0.709 30
Zeyu HU, Xuyang Bai, Jiaxiang Shang, Runze Zhang, Jiayu Dong, Xin Wang, Guangyuan Sun, Hongbo Fu, Chiew-Lan Tai: VMNet: Voxel-Mesh Network for Geodesic-Aware 3D Semantic Segmentation. ICCV 2021 (Oral)
Virtual MVFusion	0.746 22	0.771 52	0.819 12	0.848 11	0.702 36	0.865 9	0.397 84	0.899 9	0.699 6	0.664 17	0.948 54	0.588 11	0.330 19	0.746 27	0.851 35	0.764 17	0.796 23	0.704 9	0.935 18	0.866 22	0.728 19
Abhijit Kundu, Xiaoqi Yin, Alireza Fathi, David Ross, Brian Brewington, Thomas Funkhouser, Caroline Pantofaru: Virtual Multi-view Fusion for 3D Semantic Segmentation. ECCV 2020
Retro-FPN	0.744 24	0.842 27	0.800 26	0.767 54	0.740 26	0.836 35	0.541 18	0.914 3	0.672 18	0.626 31	0.958 20	0.552 27	0.272 48	0.777 6	0.886 19	0.696 45	0.801 19	0.674 24	0.941 12	0.858 27	0.717 26
Peng Xiang, Xin Wen, Yu-Shen Liu, Hui Zhang, Yi Fang, Zhizhong Han: Retrospective Feature Pyramid Network for Point Cloud Semantic Segmentation. ICCV 2023
EQ-Net	0.743 25	0.620 94	0.799 29	0.849 9	0.730 29	0.822 49	0.493 43	0.897 10	0.664 19	0.681 9	0.955 28	0.562 23	0.378 3	0.760 17	0.903 10	0.738 24	0.801 19	0.673 25	0.907 35	0.877 13	0.745 12
Zetong Yang, Li Jiang, Yanan Sun, Bernt Schiele, Jiaya JIa: A Unified Query-based Paradigm for Point Cloud Understanding. CVPR 2022
SAT	0.742 26	0.860 21	0.765 48	0.819 27	0.769 12	0.848 23	0.533 22	0.829 33	0.663 20	0.631 30	0.955 28	0.586 13	0.274 46	0.753 23	0.896 14	0.729 27	0.760 49	0.666 27	0.921 28	0.855 31	0.733 17

LRPNet	0.742 26	0.816 35	0.806 23	0.807 36	0.752 20	0.828 43	0.575 6	0.839 30	0.699 6	0.637 28	0.954 34	0.520 39	0.320 23	0.755 22	0.834 39	0.760 18	0.772 38	0.676 21	0.915 33	0.862 24	0.717 26

LargeKernel3D	0.739 28	0.909 10	0.820 10	0.806 38	0.740 26	0.852 18	0.545 16	0.826 34	0.594 51	0.643 23	0.955 28	0.541 29	0.263 56	0.723 32	0.858 28	0.775 14	0.767 42	0.678 18	0.933 20	0.848 36	0.694 35
Yukang Chen, Jianhui Liu, Xiangyu Zhang, Xiaojuan Qi, Jiaya Jia: LargeKernel3D: Scaling up Kernels in 3D Sparse CNNs. CVPR 2023
MinkowskiNet	0.736 29	0.859 22	0.818 14	0.832 23	0.709 34	0.840 30	0.521 28	0.853 23	0.660 22	0.643 23	0.951 44	0.544 28	0.286 38	0.731 30	0.893 15	0.675 54	0.772 38	0.683 17	0.874 65	0.852 34	0.727 21
C. Choy, J. Gwak, S. Savarese: 4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks. CVPR 2019
RPN	0.736 29	0.776 48	0.790 35	0.851 7	0.754 19	0.854 14	0.491 45	0.866 19	0.596 50	0.686 7	0.955 28	0.536 31	0.342 13	0.624 49	0.869 22	0.787 9	0.802 15	0.628 39	0.927 24	0.875 17	0.704 32

IPCA	0.731 31	0.890 14	0.837 3	0.864 2	0.726 31	0.873 5	0.530 25	0.824 36	0.489 86	0.647 20	0.978 4	0.609 4	0.336 15	0.624 49	0.733 57	0.758 19	0.776 36	0.570 64	0.949 8	0.877 13	0.728 19

SparseConvNet	0.725 32	0.647 89	0.821 9	0.846 13	0.721 32	0.869 6	0.533 22	0.754 57	0.603 46	0.614 35	0.955 28	0.572 19	0.325 21	0.710 33	0.870 21	0.724 31	0.823 2	0.628 39	0.934 19	0.865 23	0.683 38

PointTransformer++	0.725 32	0.727 74	0.811 20	0.819 27	0.765 13	0.841 29	0.502 35	0.814 41	0.621 36	0.623 33	0.955 28	0.556 25	0.284 39	0.620 51	0.866 23	0.781 11	0.757 53	0.648 30	0.932 22	0.862 24	0.709 30

MatchingNet	0.724 34	0.812 37	0.812 19	0.810 33	0.735 28	0.834 37	0.495 42	0.860 22	0.572 60	0.602 43	0.954 34	0.512 41	0.280 42	0.757 20	0.845 37	0.725 30	0.780 34	0.606 49	0.937 16	0.851 35	0.700 34

INS-Conv-semantic	0.717 35	0.751 61	0.759 51	0.812 31	0.704 35	0.868 7	0.537 21	0.842 28	0.609 42	0.608 39	0.953 38	0.534 33	0.293 33	0.616 52	0.864 24	0.719 35	0.793 27	0.640 34	0.933 20	0.845 40	0.663 44

PointMetaBase	0.714 36	0.835 28	0.785 37	0.821 25	0.684 41	0.846 26	0.531 24	0.865 20	0.614 37	0.596 47	0.953 38	0.500 44	0.246 62	0.674 35	0.888 17	0.692 46	0.764 45	0.624 41	0.849 80	0.844 41	0.675 40

contrastBoundary	0.705 37	0.769 55	0.775 42	0.809 34	0.687 40	0.820 52	0.439 72	0.812 42	0.661 21	0.591 49	0.945 62	0.515 40	0.171 90	0.633 46	0.856 29	0.720 33	0.796 23	0.668 26	0.889 50	0.847 37	0.689 36
Liyao Tang, Yibing Zhan, Zhe Chen, Baosheng Yu, Dacheng Tao: Contrastive Boundary Learning for Point Cloud Segmentation. CVPR2022
ClickSeg_Semantic	0.703 38	0.774 50	0.800 26	0.793 45	0.760 14	0.847 25	0.471 50	0.802 45	0.463 93	0.634 29	0.968 12	0.491 47	0.271 50	0.726 31	0.910 7	0.706 40	0.815 6	0.551 76	0.878 59	0.833 42	0.570 76

RFCR	0.702 39	0.889 15	0.745 62	0.813 30	0.672 44	0.818 56	0.493 43	0.815 40	0.623 34	0.610 37	0.947 56	0.470 56	0.249 61	0.594 55	0.848 36	0.705 41	0.779 35	0.646 31	0.892 48	0.823 48	0.611 59
Jingyu Gong, Jiachen Xu, Xin Tan, Haichuan Song, Yanyun Qu, Yuan Xie, Lizhuang Ma: Omni-Supervised Point Cloud Segmentation via Gradual Receptive Field Component Reasoning. CVPR2021
One Thing One Click	0.701 40	0.825 32	0.796 30	0.723 61	0.716 33	0.832 39	0.433 74	0.816 38	0.634 31	0.609 38	0.969 10	0.418 82	0.344 12	0.559 67	0.833 40	0.715 37	0.808 13	0.560 70	0.902 40	0.847 37	0.680 39

JSENet	0.699 41	0.881 17	0.762 49	0.821 25	0.667 45	0.800 68	0.522 27	0.792 48	0.613 38	0.607 40	0.935 82	0.492 46	0.205 77	0.576 60	0.853 33	0.691 48	0.758 51	0.652 29	0.872 68	0.828 45	0.649 48
Zeyu HU, Mingmin Zhen, Xuyang BAI, Hongbo Fu, Chiew-lan Tai: JSENet: Joint Semantic Segmentation and Edge Detection Network for 3D Point Clouds. ECCV 2020
One-Thing-One-Click	0.693 42	0.743 65	0.794 32	0.655 84	0.684 41	0.822 49	0.497 41	0.719 67	0.622 35	0.617 34	0.977 8	0.447 69	0.339 14	0.750 26	0.664 73	0.703 43	0.790 30	0.596 54	0.946 10	0.855 31	0.647 49
Zhengzhe Liu, Xiaojuan Qi, Chi-Wing Fu: One Thing One Click: A Self-Training Approach for Weakly Supervised 3D Semantic Segmentation. CVPR 2021
PicassoNet-II	0.692 43	0.732 70	0.772 43	0.786 46	0.677 43	0.866 8	0.517 29	0.848 25	0.509 79	0.626 31	0.952 42	0.536 31	0.225 68	0.545 73	0.704 64	0.689 51	0.810 12	0.564 69	0.903 39	0.854 33	0.729 18
Huan Lei, Naveed Akhtar, Mubarak Shah, and Ajmal Mian: Geometric feature learning for 3D meshes.
Feature_GeometricNet	0.690 44	0.884 16	0.754 55	0.795 43	0.647 52	0.818 56	0.422 76	0.802 45	0.612 39	0.604 41	0.945 62	0.462 59	0.189 85	0.563 66	0.853 33	0.726 29	0.765 44	0.632 37	0.904 37	0.821 51	0.606 63
Kangcheng Liu, Ben M. Chen: https://arxiv.org/abs/2012.09439. arXiv Preprint
FusionNet	0.688 45	0.704 79	0.741 66	0.754 58	0.656 47	0.829 41	0.501 36	0.741 62	0.609 42	0.548 57	0.950 48	0.522 38	0.371 4	0.633 46	0.756 52	0.715 37	0.771 40	0.623 42	0.861 76	0.814 54	0.658 45
Feihu Zhang, Jin Fang, Benjamin Wah, Philip Torr: Deep FusionNet for Point Cloud Semantic Segmentation. ECCV 2020
Feature-Geometry Net	0.685 46	0.866 19	0.748 59	0.819 27	0.645 54	0.794 71	0.450 62	0.802 45	0.587 53	0.604 41	0.945 62	0.464 58	0.201 80	0.554 69	0.840 38	0.723 32	0.732 63	0.602 52	0.907 35	0.822 50	0.603 66

KP-FCNN	0.684 47	0.847 25	0.758 53	0.784 48	0.647 52	0.814 59	0.473 49	0.772 51	0.605 44	0.594 48	0.935 82	0.450 67	0.181 88	0.587 56	0.805 47	0.690 49	0.785 33	0.614 45	0.882 55	0.819 52	0.632 55
H. Thomas, C. Qi, J. Deschaud, B. Marcotegui, F. Goulette, L. Guibas.: KPConv: Flexible and Deformable Convolution for Point Clouds. ICCV 2019
VACNN++	0.684 47	0.728 73	0.757 54	0.776 51	0.690 37	0.804 66	0.464 55	0.816 38	0.577 59	0.587 50	0.945 62	0.508 43	0.276 45	0.671 36	0.710 62	0.663 59	0.750 57	0.589 59	0.881 56	0.832 44	0.653 47

DGNet	0.684 47	0.712 78	0.784 38	0.782 50	0.658 46	0.835 36	0.499 40	0.823 37	0.641 28	0.597 46	0.950 48	0.487 49	0.281 41	0.575 61	0.619 77	0.647 67	0.764 45	0.620 44	0.871 71	0.846 39	0.688 37

PointContrast_LA_SEM	0.683 50	0.757 59	0.784 38	0.786 46	0.639 56	0.824 47	0.408 79	0.775 50	0.604 45	0.541 59	0.934 86	0.532 34	0.269 52	0.552 70	0.777 50	0.645 70	0.793 27	0.640 34	0.913 34	0.824 47	0.671 41

Superpoint Network	0.683 50	0.851 24	0.728 70	0.800 42	0.653 49	0.806 64	0.468 52	0.804 43	0.572 60	0.602 43	0.946 59	0.453 66	0.239 65	0.519 78	0.822 42	0.689 51	0.762 48	0.595 56	0.895 46	0.827 46	0.630 56

VI-PointConv	0.676 52	0.770 54	0.754 55	0.783 49	0.621 60	0.814 59	0.552 13	0.758 55	0.571 62	0.557 55	0.954 34	0.529 35	0.268 54	0.530 76	0.682 68	0.675 54	0.719 66	0.603 51	0.888 51	0.833 42	0.665 43
Xingyi Li, Wenxuan Wu, Xiaoli Z. Fern, Li Fuxin: The Devils in the Point Clouds: Studying the Robustness of Point Cloud Convolutions.
ROSMRF3D	0.673 53	0.789 41	0.748 59	0.763 56	0.635 58	0.814 59	0.407 81	0.747 59	0.581 57	0.573 52	0.950 48	0.484 50	0.271 50	0.607 53	0.754 53	0.649 64	0.774 37	0.596 54	0.883 54	0.823 48	0.606 63

SALANet	0.670 54	0.816 35	0.770 46	0.768 53	0.652 50	0.807 63	0.451 59	0.747 59	0.659 23	0.545 58	0.924 92	0.473 55	0.149 100	0.571 63	0.811 46	0.635 73	0.746 58	0.623 42	0.892 48	0.794 67	0.570 76

O3DSeg	0.668 55	0.822 33	0.771 45	0.496 104	0.651 51	0.833 38	0.541 18	0.761 54	0.555 68	0.611 36	0.966 13	0.489 48	0.370 5	0.388 98	0.580 80	0.776 13	0.751 55	0.570 64	0.956 6	0.817 53	0.646 50

PointConv	0.666 56	0.781 45	0.759 51	0.699 69	0.644 55	0.822 49	0.475 48	0.779 49	0.564 65	0.504 75	0.953 38	0.428 76	0.203 79	0.586 58	0.754 53	0.661 60	0.753 54	0.588 60	0.902 40	0.813 56	0.642 51
Wenxuan Wu, Zhongang Qi, Li Fuxin: PointConv: Deep Convolutional Networks on 3D Point Clouds. CVPR 2019
PointASNL	0.666 56	0.703 80	0.781 40	0.751 60	0.655 48	0.830 40	0.471 50	0.769 52	0.474 89	0.537 61	0.951 44	0.475 54	0.279 43	0.635 44	0.698 67	0.675 54	0.751 55	0.553 75	0.816 87	0.806 58	0.703 33
Xu Yan, Chaoda Zheng, Zhen Li, Sheng Wang, Shuguang Cui: PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling. CVPR 2020
PPCNN++	0.663 58	0.746 63	0.708 73	0.722 62	0.638 57	0.820 52	0.451 59	0.566 95	0.599 48	0.541 59	0.950 48	0.510 42	0.313 25	0.648 41	0.819 44	0.616 78	0.682 81	0.590 58	0.869 72	0.810 57	0.656 46
Pyunghwan Ahn, Juyoung Yang, Eojindl Yi, Chanho Lee, Junmo Kim: Projection-based Point Convolution for Efficient Point Cloud Segmentation. IEEE Access
MVF-GNN	0.658 59	0.558 101	0.751 57	0.655 84	0.690 37	0.722 93	0.453 58	0.867 17	0.579 58	0.576 51	0.893 104	0.523 37	0.293 33	0.733 29	0.571 82	0.692 46	0.659 88	0.606 49	0.875 62	0.804 60	0.668 42

DCM-Net	0.658 59	0.778 46	0.702 76	0.806 38	0.619 61	0.813 62	0.468 52	0.693 75	0.494 82	0.524 67	0.941 74	0.449 68	0.298 31	0.510 80	0.821 43	0.675 54	0.727 65	0.568 67	0.826 85	0.803 61	0.637 53
Jonas Schult, Francis Engelmann, Theodora Kontogianni, Bastian Leibe: DualConvMesh-Net: Joint Geodesic and Euclidean Convolutions on 3D Meshes. CVPR 2020 [Oral]
HPGCNN	0.656 61	0.698 82	0.743 64	0.650 86	0.564 78	0.820 52	0.505 34	0.758 55	0.631 32	0.479 79	0.945 62	0.480 52	0.226 66	0.572 62	0.774 51	0.690 49	0.735 61	0.614 45	0.853 79	0.776 82	0.597 69
Jisheng Dang, Qingyong Hu, Yulan Guo, Jun Yang: HPGCNN.
SAFNet-seg	0.654 62	0.752 60	0.734 68	0.664 82	0.583 73	0.815 58	0.399 83	0.754 57	0.639 29	0.535 63	0.942 72	0.470 56	0.309 27	0.665 37	0.539 84	0.650 63	0.708 71	0.635 36	0.857 78	0.793 69	0.642 51
Linqing Zhao, Jiwen Lu, Jie Zhou: Similarity-Aware Fusion Network for 3D Semantic Segmentation. IROS 2021
RandLA-Net	0.645 63	0.778 46	0.731 69	0.699 69	0.577 74	0.829 41	0.446 64	0.736 63	0.477 88	0.523 69	0.945 62	0.454 63	0.269 52	0.484 88	0.749 56	0.618 76	0.738 59	0.599 53	0.827 84	0.792 72	0.621 58

PointConv-SFPN	0.641 64	0.776 48	0.703 75	0.721 63	0.557 81	0.826 44	0.451 59	0.672 80	0.563 66	0.483 78	0.943 71	0.425 79	0.162 95	0.644 42	0.726 58	0.659 61	0.709 70	0.572 63	0.875 62	0.786 77	0.559 82

MVPNet	0.641 64	0.831 29	0.715 71	0.671 79	0.590 69	0.781 77	0.394 85	0.679 77	0.642 27	0.553 56	0.937 79	0.462 59	0.256 58	0.649 40	0.406 98	0.626 74	0.691 78	0.666 27	0.877 60	0.792 72	0.608 62
Maximilian Jaritz, Jiayuan Gu, Hao Su: Multi-view PointNet for 3D Scene Understanding. GMDL Workshop, ICCV 2019
PointMRNet	0.640 66	0.717 77	0.701 77	0.692 72	0.576 75	0.801 67	0.467 54	0.716 68	0.563 66	0.459 85	0.953 38	0.429 75	0.169 92	0.581 59	0.854 32	0.605 79	0.710 68	0.550 77	0.894 47	0.793 69	0.575 74

FPConv	0.639 67	0.785 43	0.760 50	0.713 67	0.603 64	0.798 69	0.392 86	0.534 100	0.603 46	0.524 67	0.948 54	0.457 61	0.250 60	0.538 74	0.723 60	0.598 83	0.696 76	0.614 45	0.872 68	0.799 62	0.567 79
Yiqun Lin, Zizheng Yan, Haibin Huang, Dong Du, Ligang Liu, Shuguang Cui, Xiaoguang Han: FPConv: Learning Local Flattening for Point Convolution. CVPR 2020
PD-Net	0.638 68	0.797 39	0.769 47	0.641 92	0.590 69	0.820 52	0.461 56	0.537 99	0.637 30	0.536 62	0.947 56	0.388 89	0.206 76	0.656 38	0.668 71	0.647 67	0.732 63	0.585 61	0.868 73	0.793 69	0.473 102

PointSPNet	0.637 69	0.734 69	0.692 84	0.714 66	0.576 75	0.797 70	0.446 64	0.743 61	0.598 49	0.437 90	0.942 72	0.403 85	0.150 99	0.626 48	0.800 49	0.649 64	0.697 75	0.557 73	0.846 81	0.777 81	0.563 80

SConv	0.636 70	0.830 30	0.697 80	0.752 59	0.572 77	0.780 79	0.445 66	0.716 68	0.529 72	0.530 64	0.951 44	0.446 70	0.170 91	0.507 83	0.666 72	0.636 72	0.682 81	0.541 83	0.886 52	0.799 62	0.594 70

Supervoxel-CNN	0.635 71	0.656 87	0.711 72	0.719 64	0.613 62	0.757 88	0.444 69	0.765 53	0.534 71	0.566 53	0.928 90	0.478 53	0.272 48	0.636 43	0.531 86	0.664 58	0.645 92	0.508 90	0.864 75	0.792 72	0.611 59

joint point-based	0.634 72	0.614 95	0.778 41	0.667 81	0.633 59	0.825 45	0.420 77	0.804 43	0.467 91	0.561 54	0.951 44	0.494 45	0.291 35	0.566 64	0.458 93	0.579 89	0.764 45	0.559 72	0.838 82	0.814 54	0.598 68
Hung-Yueh Chiang, Yen-Liang Lin, Yueh-Cheng Liu, Winston H. Hsu: A Unified Point-Based Framework for 3D Segmentation. 3DV 2019
PointMTL	0.632 73	0.731 71	0.688 87	0.675 76	0.591 68	0.784 76	0.444 69	0.565 96	0.610 40	0.492 76	0.949 52	0.456 62	0.254 59	0.587 56	0.706 63	0.599 82	0.665 87	0.612 48	0.868 73	0.791 75	0.579 73

3DSM_DMMF	0.631 74	0.626 92	0.745 62	0.801 41	0.607 63	0.751 89	0.506 33	0.729 66	0.565 64	0.491 77	0.866 107	0.434 71	0.197 83	0.595 54	0.630 76	0.709 39	0.705 73	0.560 70	0.875 62	0.740 92	0.491 97

PointNet2-SFPN	0.631 74	0.771 52	0.692 84	0.672 77	0.524 86	0.837 33	0.440 71	0.706 73	0.538 70	0.446 87	0.944 68	0.421 81	0.219 71	0.552 70	0.751 55	0.591 85	0.737 60	0.543 82	0.901 42	0.768 84	0.557 83

APCF-Net	0.631 74	0.742 66	0.687 89	0.672 77	0.557 81	0.792 74	0.408 79	0.665 81	0.545 69	0.508 72	0.952 42	0.428 76	0.186 86	0.634 45	0.702 65	0.620 75	0.706 72	0.555 74	0.873 66	0.798 64	0.581 72
Haojia, Lin: Adaptive Pyramid Context Fusion for Point Cloud Perception. GRSL
FusionAwareConv	0.630 77	0.604 97	0.741 66	0.766 55	0.590 69	0.747 90	0.501 36	0.734 64	0.503 81	0.527 65	0.919 96	0.454 63	0.323 22	0.550 72	0.420 97	0.678 53	0.688 79	0.544 80	0.896 45	0.795 66	0.627 57
Jiazhao Zhang, Chenyang Zhu, Lintao Zheng, Kai Xu: Fusion-Aware Point Convolution for Online Semantic 3D Scene Segmentation. CVPR 2020
DenSeR	0.628 78	0.800 38	0.625 100	0.719 64	0.545 83	0.806 64	0.445 66	0.597 89	0.448 96	0.519 70	0.938 78	0.481 51	0.328 20	0.489 87	0.499 91	0.657 62	0.759 50	0.592 57	0.881 56	0.797 65	0.634 54

SegGroup_sem	0.627 79	0.818 34	0.747 61	0.701 68	0.602 65	0.764 85	0.385 90	0.629 86	0.490 84	0.508 72	0.931 89	0.409 84	0.201 80	0.564 65	0.725 59	0.618 76	0.692 77	0.539 84	0.873 66	0.794 67	0.548 86
An Tao, Yueqi Duan, Yi Wei, Jiwen Lu, Jie Zhou: SegGroup: Seg-Level Supervision for 3D Instance and Semantic Segmentation. TIP 2022
SIConv	0.625 80	0.830 30	0.694 82	0.757 57	0.563 79	0.772 83	0.448 63	0.647 84	0.520 75	0.509 71	0.949 52	0.431 74	0.191 84	0.496 85	0.614 78	0.647 67	0.672 85	0.535 86	0.876 61	0.783 78	0.571 75

dtc_net	0.625 80	0.703 80	0.751 57	0.794 44	0.535 84	0.848 23	0.480 47	0.676 79	0.528 73	0.469 82	0.944 68	0.454 63	0.004 113	0.464 90	0.636 75	0.704 42	0.758 51	0.548 79	0.924 26	0.787 76	0.492 96

HPEIN	0.618 82	0.729 72	0.668 90	0.647 88	0.597 67	0.766 84	0.414 78	0.680 76	0.520 75	0.525 66	0.946 59	0.432 72	0.215 73	0.493 86	0.599 79	0.638 71	0.617 97	0.570 64	0.897 44	0.806 58	0.605 65
Li Jiang, Hengshuang Zhao, Shu Liu, Xiaoyong Shen, Chi-Wing Fu, Jiaya Jia: Hierarchical Point-Edge Interaction Network for Point Cloud Semantic Segmentation. ICCV 2019
SPH3D-GCN	0.610 83	0.858 23	0.772 43	0.489 105	0.532 85	0.792 74	0.404 82	0.643 85	0.570 63	0.507 74	0.935 82	0.414 83	0.046 110	0.510 80	0.702 65	0.602 81	0.705 73	0.549 78	0.859 77	0.773 83	0.534 89
Huan Lei, Naveed Akhtar, and Ajmal Mian: Spherical Kernel for Efficient Graph Convolution on 3D Point Clouds. TPAMI 2020
AttAN	0.609 84	0.760 57	0.667 91	0.649 87	0.521 87	0.793 72	0.457 57	0.648 83	0.528 73	0.434 92	0.947 56	0.401 86	0.153 98	0.454 91	0.721 61	0.648 66	0.717 67	0.536 85	0.904 37	0.765 85	0.485 98
Gege Zhang, Qinghua Ma, Licheng Jiao, Fang Liu and Qigong Sun: AttAN: Attention Adversarial Networks for 3D Point Cloud Semantic Segmentation. IJCAI2020
wsss-transformer	0.600 85	0.634 91	0.743 64	0.697 71	0.601 66	0.781 77	0.437 73	0.585 92	0.493 83	0.446 87	0.933 87	0.394 87	0.011 112	0.654 39	0.661 74	0.603 80	0.733 62	0.526 87	0.832 83	0.761 87	0.480 99

LAP-D	0.594 86	0.720 75	0.692 84	0.637 93	0.456 97	0.773 82	0.391 88	0.730 65	0.587 53	0.445 89	0.940 76	0.381 90	0.288 36	0.434 94	0.453 95	0.591 85	0.649 90	0.581 62	0.777 91	0.749 91	0.610 61

DPC	0.592 87	0.720 75	0.700 78	0.602 97	0.480 93	0.762 87	0.380 91	0.713 71	0.585 56	0.437 90	0.940 76	0.369 92	0.288 36	0.434 94	0.509 90	0.590 87	0.639 95	0.567 68	0.772 93	0.755 89	0.592 71
Francis Engelmann, Theodora Kontogianni, Bastian Leibe: Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds. ICRA 2020
CCRFNet	0.589 88	0.766 56	0.659 95	0.683 74	0.470 96	0.740 92	0.387 89	0.620 88	0.490 84	0.476 80	0.922 94	0.355 95	0.245 63	0.511 79	0.511 89	0.571 90	0.643 93	0.493 94	0.872 68	0.762 86	0.600 67

ROSMRF	0.580 89	0.772 51	0.707 74	0.681 75	0.563 79	0.764 85	0.362 93	0.515 101	0.465 92	0.465 84	0.936 81	0.427 78	0.207 75	0.438 92	0.577 81	0.536 93	0.675 84	0.486 95	0.723 99	0.779 79	0.524 92

SD-DETR	0.576 90	0.746 63	0.609 104	0.445 109	0.517 88	0.643 104	0.366 92	0.714 70	0.456 94	0.468 83	0.870 106	0.432 72	0.264 55	0.558 68	0.674 69	0.586 88	0.688 79	0.482 96	0.739 97	0.733 94	0.537 88

SQN_0.1%	0.569 91	0.676 84	0.696 81	0.657 83	0.497 89	0.779 80	0.424 75	0.548 97	0.515 77	0.376 97	0.902 103	0.422 80	0.357 8	0.379 99	0.456 94	0.596 84	0.659 88	0.544 80	0.685 102	0.665 105	0.556 84

TextureNet	0.566 92	0.672 86	0.664 92	0.671 79	0.494 91	0.719 94	0.445 66	0.678 78	0.411 102	0.396 95	0.935 82	0.356 94	0.225 68	0.412 96	0.535 85	0.565 91	0.636 96	0.464 98	0.794 90	0.680 102	0.568 78
Jingwei Huang, Haotian Zhang, Li Yi, Thomas Funkerhouser, Matthias Niessner, Leonidas Guibas: TextureNet: Consistent Local Parametrizations for Learning from High-Resolution Signals on Meshes. CVPR
DVVNet	0.562 93	0.648 88	0.700 78	0.770 52	0.586 72	0.687 98	0.333 97	0.650 82	0.514 78	0.475 81	0.906 100	0.359 93	0.223 70	0.340 101	0.442 96	0.422 104	0.668 86	0.501 91	0.708 100	0.779 79	0.534 89

Pointnet++ & Feature	0.557 94	0.735 68	0.661 94	0.686 73	0.491 92	0.744 91	0.392 86	0.539 98	0.451 95	0.375 98	0.946 59	0.376 91	0.205 77	0.403 97	0.356 101	0.553 92	0.643 93	0.497 92	0.824 86	0.756 88	0.515 93

GMLPs	0.538 95	0.495 106	0.693 83	0.647 88	0.471 95	0.793 72	0.300 100	0.477 102	0.505 80	0.358 100	0.903 102	0.327 98	0.081 107	0.472 89	0.529 87	0.448 102	0.710 68	0.509 88	0.746 95	0.737 93	0.554 85

PanopticFusion-label	0.529 96	0.491 107	0.688 87	0.604 96	0.386 102	0.632 105	0.225 110	0.705 74	0.434 99	0.293 106	0.815 108	0.348 96	0.241 64	0.499 84	0.669 70	0.507 95	0.649 90	0.442 104	0.796 89	0.602 109	0.561 81
Gaku Narita, Takashi Seno, Tomoya Ishikawa, Yohsuke Kaji: PanopticFusion: Online Volumetric Semantic Mapping at the Level of Stuff and Things. IROS 2019 (to appear)
subcloud_weak	0.516 97	0.676 84	0.591 107	0.609 94	0.442 98	0.774 81	0.335 96	0.597 89	0.422 101	0.357 101	0.932 88	0.341 97	0.094 106	0.298 103	0.528 88	0.473 100	0.676 83	0.495 93	0.602 108	0.721 97	0.349 109

Online SegFusion	0.515 98	0.607 96	0.644 98	0.579 99	0.434 99	0.630 106	0.353 94	0.628 87	0.440 97	0.410 93	0.762 112	0.307 100	0.167 93	0.520 77	0.403 99	0.516 94	0.565 100	0.447 102	0.678 103	0.701 99	0.514 94
Davide Menini, Suryansh Kumar, Martin R. Oswald, Erik Sandstroem, Cristian Sminchisescu, Luc van Gool: A Real-Time Learning Framework for Joint 3D Reconstruction and Semantic Segmentation. Robotics and Automation Letters Submission
3DMV, FTSDF	0.501 99	0.558 101	0.608 105	0.424 111	0.478 94	0.690 97	0.246 106	0.586 91	0.468 90	0.450 86	0.911 98	0.394 87	0.160 96	0.438 92	0.212 108	0.432 103	0.541 106	0.475 97	0.742 96	0.727 95	0.477 100

PCNN	0.498 100	0.559 100	0.644 98	0.560 101	0.420 101	0.711 96	0.229 108	0.414 103	0.436 98	0.352 102	0.941 74	0.324 99	0.155 97	0.238 108	0.387 100	0.493 96	0.529 107	0.509 88	0.813 88	0.751 90	0.504 95

Weakly-Openseg v3	0.489 101	0.749 62	0.664 92	0.646 90	0.496 90	0.559 110	0.122 113	0.577 93	0.257 113	0.364 99	0.805 109	0.198 111	0.096 105	0.510 80	0.496 92	0.361 108	0.563 101	0.359 111	0.777 91	0.644 106	0.532 91

3DMV	0.484 102	0.484 108	0.538 109	0.643 91	0.424 100	0.606 109	0.310 98	0.574 94	0.433 100	0.378 96	0.796 110	0.301 101	0.214 74	0.537 75	0.208 109	0.472 101	0.507 110	0.413 107	0.693 101	0.602 109	0.539 87
Angela Dai, Matthias Niessner: 3DMV: Joint 3D-Multi-View Prediction for 3D Semantic Scene Segmentation. ECCV'18
PointCNN with RGB	0.458 103	0.577 99	0.611 103	0.356 113	0.321 110	0.715 95	0.299 102	0.376 107	0.328 109	0.319 104	0.944 68	0.285 103	0.164 94	0.216 111	0.229 106	0.484 98	0.545 105	0.456 100	0.755 94	0.709 98	0.475 101
Yangyan Li, Rui Bu, Mingchao Sun, Baoquan Chen: PointCNN. NeurIPS 2018
FCPN	0.447 104	0.679 83	0.604 106	0.578 100	0.380 103	0.682 99	0.291 103	0.106 113	0.483 87	0.258 111	0.920 95	0.258 107	0.025 111	0.231 110	0.325 102	0.480 99	0.560 103	0.463 99	0.725 98	0.666 104	0.231 113
Dario Rethage, Johanna Wald, Jürgen Sturm, Nassir Navab, Federico Tombari: Fully-Convolutional Point Networks for Large-Scale Point Clouds. ECCV 2018
DGCNN_reproduce	0.446 105	0.474 109	0.623 101	0.463 107	0.366 105	0.651 102	0.310 98	0.389 106	0.349 107	0.330 103	0.937 79	0.271 105	0.126 102	0.285 104	0.224 107	0.350 110	0.577 99	0.445 103	0.625 106	0.723 96	0.394 105
Yue Wang, Yongbin Sun, Ziwei Liu, Sanjay E. Sarma, Michael M. Bronstein, Justin M. Solomon: Dynamic Graph CNN for Learning on Point Clouds. TOG 2019
PNET2	0.442 106	0.548 103	0.548 108	0.597 98	0.363 106	0.628 107	0.300 100	0.292 108	0.374 104	0.307 105	0.881 105	0.268 106	0.186 86	0.238 108	0.204 110	0.407 105	0.506 111	0.449 101	0.667 104	0.620 108	0.462 103

SurfaceConvPF	0.442 106	0.505 105	0.622 102	0.380 112	0.342 108	0.654 101	0.227 109	0.397 105	0.367 105	0.276 108	0.924 92	0.240 108	0.198 82	0.359 100	0.262 104	0.366 106	0.581 98	0.435 105	0.640 105	0.668 103	0.398 104
Hao Pan, Shilin Liu, Yang Liu, Xin Tong: Convolutional Neural Networks on 3D Surfaces Using Parallel Frames.
Tangent Convolutions	0.438 108	0.437 111	0.646 97	0.474 106	0.369 104	0.645 103	0.353 94	0.258 110	0.282 111	0.279 107	0.918 97	0.298 102	0.147 101	0.283 105	0.294 103	0.487 97	0.562 102	0.427 106	0.619 107	0.633 107	0.352 108
Maxim Tatarchenko, Jaesik Park, Vladlen Koltun, Qian-Yi Zhou: Tangent convolutions for dense prediction in 3d. CVPR 2018
3DWSSS	0.425 109	0.525 104	0.647 96	0.522 102	0.324 109	0.488 113	0.077 114	0.712 72	0.353 106	0.401 94	0.636 114	0.281 104	0.176 89	0.340 101	0.565 83	0.175 114	0.551 104	0.398 108	0.370 114	0.602 109	0.361 107

SPLAT Net	0.393 110	0.472 110	0.511 110	0.606 95	0.311 111	0.656 100	0.245 107	0.405 104	0.328 109	0.197 112	0.927 91	0.227 110	0.000 115	0.001 115	0.249 105	0.271 113	0.510 108	0.383 110	0.593 109	0.699 100	0.267 111
Hang Su, Varun Jampani, Deqing Sun, Subhransu Maji, Evangelos Kalogerakis, Ming-Hsuan Yang, Jan Kautz: SPLATNet: Sparse Lattice Networks for Point Cloud Processing. CVPR 2018
ScanNet+FTSDF	0.383 111	0.297 113	0.491 111	0.432 110	0.358 107	0.612 108	0.274 104	0.116 112	0.411 102	0.265 109	0.904 101	0.229 109	0.079 108	0.250 106	0.185 111	0.320 111	0.510 108	0.385 109	0.548 110	0.597 112	0.394 105

PointNet++	0.339 112	0.584 98	0.478 112	0.458 108	0.256 113	0.360 114	0.250 105	0.247 111	0.278 112	0.261 110	0.677 113	0.183 112	0.117 103	0.212 112	0.145 113	0.364 107	0.346 114	0.232 114	0.548 110	0.523 113	0.252 112
Charles R. Qi, Li Yi, Hao Su, Leonidas J. Guibas: pointnet++: deep hierarchical feature learning on point sets in a metric space.
SSC-UNet	0.308 113	0.353 112	0.290 114	0.278 114	0.166 114	0.553 111	0.169 112	0.286 109	0.147 114	0.148 114	0.908 99	0.182 113	0.064 109	0.023 114	0.018 115	0.354 109	0.363 112	0.345 112	0.546 112	0.685 101	0.278 110

ScanNet	0.306 114	0.203 114	0.366 113	0.501 103	0.311 111	0.524 112	0.211 111	0.002 115	0.342 108	0.189 113	0.786 111	0.145 114	0.102 104	0.245 107	0.152 112	0.318 112	0.348 113	0.300 113	0.460 113	0.437 114	0.182 114
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, Matthias Nießner: ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes. CVPR'17
ERROR	0.054 115	0.000 115	0.041 115	0.172 115	0.030 115	0.062 115	0.001 115	0.035 114	0.004 115	0.051 115	0.143 115	0.019 115	0.003 114	0.041 113	0.050 114	0.003 115	0.054 115	0.018 115	0.005 115	0.264 115	0.082 115

This table lists the benchmark results for the 3D semantic instance scenario.

Method	avg ap	bathtub	bed	bookshelf	cabinet	chair	counter	curtain	desk	door	otherfurniture	picture	refrigerator	shower curtain	sink	sofa	table	toilet	window

Spherical Mask(CtoF)	0.616 1	0.946 5	0.654 8	0.555 4	0.434 8	0.769 4	0.271 8	0.604 8	0.447 4	0.505 4	0.549 1	0.698 2	0.716 2	0.775 12	0.480 7	0.747 3	0.575 7	0.925 9	0.436 4

SIM3D	0.610 2	0.852 13	0.623 12	0.553 5	0.421 11	0.768 5	0.305 5	0.673 4	0.441 6	0.462 13	0.536 7	0.710 1	0.745 1	0.803 6	0.442 14	0.727 7	0.558 11	0.913 12	0.448 2

ExtMask3D	0.598 3	0.852 13	0.692 4	0.433 26	0.461 5	0.791 1	0.264 9	0.488 31	0.493 1	0.508 3	0.528 10	0.594 9	0.706 4	0.791 7	0.483 5	0.734 6	0.595 2	0.911 14	0.437 3

MAFT	0.596 4	0.889 11	0.721 1	0.448 19	0.460 6	0.768 6	0.251 10	0.558 18	0.408 7	0.504 5	0.539 5	0.616 6	0.618 8	0.858 3	0.482 6	0.684 15	0.551 12	0.931 8	0.450 1

UniPerception	0.588 5	0.963 3	0.667 6	0.493 11	0.472 4	0.750 10	0.229 13	0.528 24	0.468 3	0.498 7	0.542 4	0.643 4	0.530 18	0.661 33	0.463 11	0.695 14	0.599 1	0.972 1	0.420 5

MG-Former	0.587 6	0.852 13	0.639 10	0.454 18	0.393 16	0.758 9	0.338 2	0.572 14	0.480 2	0.527 2	0.491 16	0.671 3	0.527 19	0.867 1	0.485 4	0.601 26	0.590 5	0.938 7	0.390 9

InsSSM	0.586 7	1.000 1	0.593 15	0.440 22	0.480 2	0.771 2	0.345 1	0.437 35	0.444 5	0.495 8	0.548 3	0.579 12	0.621 7	0.720 23	0.409 18	0.712 9	0.593 3	0.960 3	0.395 7

Queryformer	0.583 8	0.926 7	0.702 2	0.393 32	0.504 1	0.733 16	0.276 7	0.527 25	0.373 12	0.479 9	0.534 8	0.533 18	0.697 5	0.720 24	0.436 16	0.745 4	0.592 4	0.958 4	0.363 16

PBNet	0.573 9	0.926 7	0.575 20	0.619 1	0.472 3	0.736 14	0.239 12	0.487 32	0.383 11	0.459 14	0.506 13	0.533 17	0.585 10	0.767 13	0.404 19	0.717 8	0.559 10	0.969 2	0.381 12
W.Zhao, Y.Yan, C.Yang, J.Ye,X.Yang,K.Huang: Divide and Conquer: 3D Instance Segmentation With Point-Wise Binarization. ICCV 2023
TST3D	0.569 10	0.778 22	0.675 5	0.598 2	0.451 7	0.727 17	0.280 6	0.476 34	0.395 8	0.472 10	0.457 23	0.583 10	0.580 12	0.777 9	0.462 13	0.735 5	0.547 14	0.919 11	0.333 23

Mask3D	0.566 11	0.926 7	0.597 14	0.408 29	0.420 12	0.737 13	0.239 11	0.598 10	0.386 10	0.458 15	0.549 1	0.568 15	0.716 2	0.601 39	0.480 7	0.646 19	0.575 7	0.922 10	0.364 15
Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, Bastian Leibe: Mask3D for 3D Semantic Instance Segmentation. ICRA 2023
OneFormer3D	0.566 11	0.781 21	0.697 3	0.562 3	0.431 9	0.770 3	0.331 3	0.400 41	0.373 13	0.529 1	0.504 14	0.568 14	0.475 24	0.732 21	0.470 9	0.762 1	0.550 13	0.871 30	0.379 13
Maxim Kolodiazhnyi, Anna Vorontsova, Anton Konushin, Danila Rukhovich: OneFormer3D: One Transformer for Unified Point Cloud Segmentation.
ISBNet	0.559 13	0.939 6	0.655 7	0.383 35	0.426 10	0.763 8	0.180 16	0.534 23	0.386 9	0.499 6	0.509 12	0.621 5	0.427 34	0.704 27	0.467 10	0.649 18	0.571 9	0.948 5	0.401 6
Tuan Duc Ngo, Binh-Son Hua, Khoi Nguyen: ISBNet: a 3D Point Cloud Instance Segmentation Network with Instance-aware Sampling and Box-aware Dynamic Convolution. CVPR 2023
GraphCut	0.552 14	1.000 1	0.611 13	0.438 23	0.392 17	0.714 18	0.139 19	0.598 11	0.327 16	0.389 18	0.510 11	0.598 8	0.427 35	0.754 16	0.463 12	0.761 2	0.588 6	0.903 17	0.329 24

SPFormer	0.549 15	0.745 25	0.640 9	0.484 12	0.395 15	0.739 12	0.311 4	0.566 16	0.335 15	0.468 11	0.492 15	0.555 16	0.478 23	0.747 18	0.436 15	0.712 10	0.540 15	0.893 22	0.343 22
Sun Jiahao, Qing Chunmei, Tan Junpeng, Xu Xiangmin: Superpoint Transformer for 3D Scene Instance Segmentation. AAAI 2023 [Oral]
EV3D	0.548 16	0.963 3	0.514 34	0.499 9	0.408 14	0.765 7	0.184 15	0.537 22	0.309 18	0.463 12	0.479 17	0.602 7	0.580 13	0.679 29	0.510 1	0.629 23	0.497 21	0.898 21	0.358 20

DKNet	0.532 17	0.815 18	0.624 11	0.517 7	0.377 19	0.749 11	0.107 21	0.509 28	0.304 19	0.437 16	0.475 18	0.581 11	0.539 16	0.775 11	0.339 24	0.640 21	0.506 18	0.901 18	0.385 11
Yizheng Wu, Min Shi, Shuaiyuan Du, Hao Lu, Zhiguo Cao, Weicai Zhong: 3D Instances as 1D Kernels. ECCV 2022
IPCA-Inst	0.520 18	0.889 11	0.551 24	0.548 6	0.418 13	0.665 28	0.064 30	0.585 12	0.260 27	0.277 32	0.471 20	0.500 19	0.644 6	0.785 8	0.369 20	0.591 29	0.511 16	0.878 27	0.362 17

SoftGroup++	0.513 19	0.704 31	0.578 19	0.398 31	0.363 25	0.704 19	0.061 31	0.647 5	0.297 24	0.378 21	0.537 6	0.343 22	0.614 9	0.828 5	0.295 29	0.710 12	0.505 20	0.875 29	0.394 8

SSTNet	0.506 20	0.738 28	0.549 25	0.497 10	0.316 30	0.693 22	0.178 17	0.377 44	0.198 33	0.330 23	0.463 22	0.576 13	0.515 20	0.857 4	0.494 2	0.637 22	0.457 25	0.943 6	0.290 33
Zhihao Liang, Zhihao Li, Songcen Xu, Mingkui Tan, Kui Jia: Instance Segmentation in 3D Scenes using Semantic Superpoint Tree Networks. ICCV2021
DANCENET	0.504 21	0.926 7	0.579 16	0.472 14	0.367 22	0.626 38	0.165 18	0.432 36	0.221 29	0.408 17	0.449 25	0.411 20	0.564 14	0.746 19	0.421 17	0.707 13	0.438 28	0.846 38	0.288 34

SoftGroup	0.504 21	0.667 38	0.579 17	0.372 37	0.381 18	0.694 21	0.072 27	0.677 2	0.303 20	0.387 19	0.531 9	0.319 26	0.582 11	0.754 15	0.318 25	0.643 20	0.492 22	0.907 16	0.388 10
Thang Vu, Kookhoi Kim, Tung M. Luu, Xuan Thanh Nguyen, Chang D. Yoo: SoftGroup for 3D Instance Segmentaiton on Point Clouds. CVPR 2022 [Oral]
TD3D	0.489 23	0.852 13	0.511 35	0.434 24	0.322 29	0.735 15	0.101 24	0.512 27	0.355 14	0.349 22	0.468 21	0.283 30	0.514 21	0.676 32	0.268 34	0.671 16	0.510 17	0.908 15	0.329 25
Maksim Kolodiazhnyi, Anna Vorontsova, Anton Konushin, Danila Rukhovich: Top-Down Beats Bottom-Up in 3D Instance Segmentation. WACV 2024
OccuSeg+instance	0.486 24	0.802 20	0.536 27	0.428 27	0.369 21	0.702 20	0.205 14	0.331 49	0.301 21	0.379 20	0.474 19	0.327 23	0.437 29	0.862 2	0.485 3	0.601 27	0.394 36	0.846 40	0.273 37
Lei Han, Tian Zheng, Lan Xu, Lu Fang: OccuSeg: Occupancy-aware 3D Instance Segmentation. CVPR2020
TopoSeg	0.479 25	0.704 31	0.564 21	0.467 16	0.366 23	0.633 36	0.068 28	0.554 19	0.262 26	0.328 24	0.447 26	0.323 24	0.534 17	0.722 22	0.288 31	0.614 24	0.482 23	0.912 13	0.358 19

DualGroup	0.469 26	0.815 18	0.552 23	0.398 30	0.374 20	0.683 24	0.130 20	0.539 21	0.310 17	0.327 25	0.407 29	0.276 31	0.447 28	0.535 43	0.342 23	0.659 17	0.455 26	0.900 20	0.301 29

SSEC	0.465 27	0.667 38	0.578 18	0.502 8	0.362 26	0.641 35	0.035 40	0.605 7	0.291 25	0.323 26	0.451 24	0.296 28	0.417 38	0.677 31	0.245 38	0.501 47	0.506 19	0.900 19	0.366 14

HAIS	0.457 28	0.704 31	0.561 22	0.457 17	0.364 24	0.673 25	0.046 39	0.547 20	0.194 34	0.308 27	0.426 27	0.288 29	0.454 27	0.711 25	0.262 35	0.563 37	0.434 30	0.889 24	0.344 21
Shaoyu Chen, Jiemin Fang, Qian Zhang, Wenyu Liu, Xinggang Wang: Hierarchical Aggregation for 3D Instance Segmentation. ICCV 2021
DD-UNet+Group	0.436 29	0.630 46	0.508 38	0.480 13	0.310 32	0.624 40	0.065 29	0.638 6	0.174 35	0.256 36	0.384 33	0.194 43	0.428 32	0.759 14	0.289 30	0.574 34	0.400 34	0.849 37	0.291 32
H. Liu, R. Liu, K. Yang, J. Zhang, K. Peng, R. Stiefelhagen: HIDA: Towards Holistic Indoor Understanding for the Visually Impaired via Semantic Instance Segmentation with a Wearable Solid-State LiDAR Sensor. ICCVW 2021
INS-Conv-instance	0.435 30	0.716 30	0.495 40	0.355 39	0.331 27	0.689 23	0.102 23	0.394 43	0.208 32	0.280 30	0.395 31	0.250 34	0.544 15	0.741 20	0.309 27	0.536 43	0.391 37	0.842 43	0.258 41

Mask-Group	0.434 31	0.778 22	0.516 32	0.471 15	0.330 28	0.658 29	0.029 42	0.526 26	0.249 28	0.256 35	0.400 30	0.309 27	0.384 42	0.296 59	0.368 21	0.575 33	0.425 31	0.877 28	0.362 18
Min Zhong, Xinghao Chen, Xiaokang Chen, Gang Zeng, Yunhe Wang: MaskGroup: Hierarchical Point Grouping and Masking for 3D Instance Segmentation. ICME 2022
Box2Mask	0.433 32	0.741 26	0.463 45	0.433 25	0.283 35	0.625 39	0.103 22	0.298 54	0.125 44	0.260 34	0.424 28	0.322 25	0.472 25	0.701 28	0.363 22	0.711 11	0.309 53	0.882 25	0.272 39
Julian Chibane, Francis Engelmann, Tuan Anh Tran, Gerard Pons-Moll: Box2Mask: Weakly Supervised 3D Semantic Instance Segmentation Using Bounding Boxes. ECCV 2022
RPGN	0.428 33	0.630 46	0.508 37	0.367 38	0.249 42	0.658 30	0.016 50	0.673 3	0.131 42	0.234 39	0.383 34	0.270 32	0.434 30	0.748 17	0.274 33	0.609 25	0.406 33	0.842 42	0.267 40
Shichao Dong, Guosheng Lin, Tzu-Yi Hung: Learning Regional Purity for Instance Segmentation on 3D Point Clouds. ECCV 2022
DENet	0.413 34	0.741 26	0.520 29	0.237 50	0.284 34	0.523 49	0.097 25	0.691 1	0.138 39	0.209 49	0.229 51	0.238 37	0.390 40	0.707 26	0.310 26	0.448 54	0.470 24	0.892 23	0.310 27

PointGroup	0.407 35	0.639 45	0.496 39	0.415 28	0.243 44	0.645 34	0.021 47	0.570 15	0.114 45	0.211 47	0.359 36	0.217 41	0.428 33	0.660 34	0.256 36	0.562 38	0.341 45	0.860 33	0.291 31
Li Jiang, Hengshuang Zhao, Shaoshuai Shi, Shu Liu, Chi-Wing Fu, Jiaya Jia: PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation. CVPR 2020 [oral]
CSC-Pretrained	0.405 36	0.738 28	0.465 44	0.331 43	0.205 48	0.655 31	0.051 35	0.601 9	0.092 49	0.211 48	0.329 39	0.198 42	0.459 26	0.775 10	0.195 45	0.524 45	0.400 35	0.878 26	0.184 50

PE	0.396 37	0.667 38	0.467 43	0.446 21	0.243 43	0.624 41	0.022 46	0.577 13	0.106 46	0.219 42	0.340 37	0.239 36	0.487 22	0.475 50	0.225 40	0.541 42	0.350 43	0.818 45	0.273 38
Biao Zhang, Peter Wonka: Point Cloud Instance Segmentation using Probabilistic Embeddings. CVPR 2021
Dyco3D	0.395 38	0.642 44	0.518 31	0.447 20	0.259 41	0.666 27	0.050 36	0.251 59	0.166 36	0.231 40	0.362 35	0.232 38	0.331 45	0.535 42	0.229 39	0.587 30	0.438 29	0.850 35	0.317 26
Tong He; Chunhua Shen; Anton van den Hengel: DyCo3D: Robust Instance Segmentation of 3D Point Clouds through Dynamic Convolution. CVPR2021
OSIS	0.392 39	0.778 22	0.530 28	0.220 52	0.278 36	0.567 46	0.083 26	0.330 50	0.299 22	0.270 33	0.310 42	0.143 49	0.260 49	0.624 37	0.277 32	0.568 36	0.361 41	0.865 32	0.301 28

AOIA	0.387 40	0.704 31	0.515 33	0.385 34	0.225 47	0.669 26	0.005 57	0.482 33	0.126 43	0.181 52	0.269 48	0.221 40	0.426 36	0.478 49	0.218 41	0.592 28	0.371 39	0.851 34	0.242 43

SSEN	0.384 41	0.852 13	0.494 41	0.192 53	0.226 46	0.648 33	0.022 45	0.398 42	0.299 23	0.277 31	0.317 41	0.231 39	0.194 56	0.514 46	0.196 43	0.586 31	0.444 27	0.843 41	0.184 49
Dongsu Zhang, Junha Chun, Sang Kyun Cha, Young Min Kim: Spatial Semantic Embedding Network: Fast 3D Instance Segmentation with Deep Metric Learning. Arxiv
Mask3D_evaluation	0.382 42	0.593 48	0.520 30	0.390 33	0.314 31	0.600 42	0.018 49	0.287 57	0.151 38	0.281 29	0.387 32	0.169 47	0.429 31	0.654 35	0.172 49	0.578 32	0.384 38	0.670 56	0.278 36

PCJC	0.375 43	0.704 31	0.542 26	0.284 47	0.197 50	0.649 32	0.006 54	0.426 37	0.138 40	0.242 37	0.304 43	0.183 46	0.388 41	0.629 36	0.141 56	0.546 41	0.344 44	0.738 51	0.283 35

ClickSeg_Instance	0.366 44	0.654 42	0.375 49	0.184 54	0.302 33	0.592 44	0.050 37	0.300 53	0.093 48	0.283 28	0.277 45	0.249 35	0.426 37	0.615 38	0.299 28	0.504 46	0.367 40	0.832 44	0.191 48

SphereSeg	0.357 45	0.651 43	0.411 47	0.345 40	0.264 40	0.630 37	0.059 32	0.289 56	0.212 30	0.240 38	0.336 38	0.158 48	0.305 46	0.557 40	0.159 52	0.455 53	0.341 46	0.726 53	0.294 30

3D-MPA	0.355 46	0.457 58	0.484 42	0.299 45	0.277 37	0.591 45	0.047 38	0.332 47	0.212 31	0.217 43	0.278 44	0.193 44	0.413 39	0.410 53	0.195 44	0.574 35	0.352 42	0.849 36	0.213 46
Francis Engelmann, Martin Bokeloh, Alireza Fathi, Bastian Leibe, Matthias Nießner: 3D-MPA: Multi Proposal Aggregation for 3D Semantic Instance Segmentation. CVPR 2020
NeuralBF	0.353 47	0.593 48	0.511 36	0.375 36	0.264 39	0.597 43	0.008 52	0.332 48	0.160 37	0.229 41	0.274 47	0.000 70	0.206 53	0.678 30	0.155 53	0.485 49	0.422 32	0.816 46	0.254 42
Weiwei Sun, Daniel Rebain, Renjie Liao, Vladimir Tankovich, Soroosh Yazdani, Kwang Moo Yi, Andrea Tagliasacchi: NeuralBF: Neural Bilateral Filtering for Top-down Instance Segmentation on Point Clouds. WACV 2023
RWSeg	0.348 48	0.475 55	0.456 46	0.320 44	0.275 38	0.476 51	0.020 48	0.491 30	0.056 56	0.212 46	0.320 40	0.261 33	0.302 47	0.520 44	0.182 47	0.557 39	0.285 55	0.867 31	0.197 47

GICN	0.341 49	0.580 50	0.371 50	0.344 41	0.198 49	0.469 52	0.052 34	0.564 17	0.093 47	0.212 45	0.212 53	0.127 51	0.347 44	0.537 41	0.206 42	0.525 44	0.329 48	0.729 52	0.241 44

One_Thing_One_Click	0.326 50	0.472 56	0.361 51	0.232 51	0.183 51	0.555 47	0.000 63	0.498 29	0.038 58	0.195 50	0.226 52	0.362 21	0.168 57	0.469 51	0.251 37	0.553 40	0.335 47	0.846 39	0.117 58
Zhengzhe Liu, Xiaojuan Qi, Chi-Wing Fu: One Thing One Click: A Self-Training Approach for Weakly Supervised 3D Semantic Segmentation. CVPR 2021
Occipital-SCS	0.320 51	0.679 37	0.352 52	0.334 42	0.229 45	0.436 53	0.025 43	0.412 40	0.058 54	0.161 57	0.240 50	0.085 53	0.262 48	0.496 48	0.187 46	0.467 51	0.328 49	0.775 47	0.231 45

Sparse R-CNN	0.292 52	0.704 31	0.213 62	0.153 56	0.154 53	0.551 48	0.053 33	0.212 60	0.132 41	0.174 54	0.274 46	0.070 55	0.363 43	0.441 52	0.176 48	0.424 56	0.234 57	0.758 49	0.161 54

MTML	0.282 53	0.577 51	0.380 48	0.182 55	0.107 59	0.430 54	0.001 60	0.422 38	0.057 55	0.179 53	0.162 56	0.070 56	0.229 51	0.511 47	0.161 50	0.491 48	0.313 50	0.650 59	0.162 52
Jean Lahoud, Bernard Ghanem, Marc Pollefeys, Martin R. Oswald: 3D Instance Segmentation via Multi-task Metric Learning. ICCV 2019 [oral]
SALoss-ResNet	0.262 54	0.667 38	0.335 53	0.067 63	0.123 57	0.427 55	0.022 44	0.280 58	0.058 53	0.216 44	0.211 54	0.039 59	0.142 59	0.519 45	0.106 60	0.338 60	0.310 52	0.721 54	0.138 55
Zhidong Liang, Ming Yang, Hao Li, Chunxiang Wang: 3D Instance Embedding Learning With a Structure-Aware Loss Function for Point Cloud Segmentation. IEEE Robotics and Automation Letters (IROS2020)
MASC	0.254 55	0.463 57	0.249 61	0.113 57	0.167 52	0.412 57	0.000 62	0.374 45	0.073 50	0.173 55	0.243 49	0.130 50	0.228 52	0.368 55	0.160 51	0.356 58	0.208 58	0.711 55	0.136 56
Chen Liu, Yasutaka Furukawa: MASC: Multi-scale Affinity with Sparse Convolution for 3D Instance Segmentation.
3D-BoNet	0.253 56	0.519 53	0.324 56	0.251 49	0.137 56	0.345 62	0.031 41	0.419 39	0.069 51	0.162 56	0.131 58	0.052 57	0.202 55	0.338 57	0.147 55	0.301 63	0.303 54	0.651 58	0.178 51
Bo Yang, Jianan Wang, Ronald Clark, Qingyong Hu, Sen Wang, Andrew Markham, Niki Trigoni: Learning Object Bounding Boxes for 3D Instance Segmentation on Point Clouds. NeurIPS 2019 Spotlight
SPG_WSIS	0.251 57	0.380 60	0.274 59	0.289 46	0.144 54	0.413 56	0.000 63	0.311 51	0.065 52	0.113 59	0.130 59	0.029 62	0.204 54	0.388 54	0.108 59	0.459 52	0.311 51	0.769 48	0.127 57

SegGroup_ins	0.246 58	0.556 52	0.335 54	0.062 65	0.115 58	0.490 50	0.000 63	0.297 55	0.018 62	0.186 51	0.142 57	0.083 54	0.233 50	0.216 61	0.153 54	0.469 50	0.251 56	0.744 50	0.083 61
An Tao, Yueqi Duan, Yi Wei, Jiwen Lu, Jie Zhou: SegGroup: Seg-Level Supervision for 3D Instance and Semantic Segmentation. TIP 2022
PanopticFusion-inst	0.214 59	0.250 65	0.330 55	0.275 48	0.103 60	0.228 68	0.000 63	0.345 46	0.024 60	0.088 61	0.203 55	0.186 45	0.167 58	0.367 56	0.125 57	0.221 66	0.112 68	0.666 57	0.162 53
Gaku Narita, Takashi Seno, Tomoya Ishikawa, Yohsuke Kaji: PanopticFusion: Online Volumetric Semantic Mapping at the Level of Stuff and Things. IROS 2019 (to appear)
UNet-backbone	0.161 60	0.519 53	0.259 60	0.084 59	0.059 62	0.325 64	0.002 58	0.093 65	0.009 64	0.077 63	0.064 62	0.045 58	0.044 66	0.161 63	0.045 62	0.331 61	0.180 60	0.566 60	0.033 70

3D-SIS	0.161 60	0.407 59	0.155 67	0.068 62	0.043 66	0.346 61	0.001 59	0.134 62	0.005 65	0.088 60	0.106 61	0.037 60	0.135 61	0.321 58	0.028 66	0.339 59	0.116 67	0.466 63	0.093 60
Ji Hou, Angela Dai, Matthias Niessner: 3D-SIS: 3D Semantic Instance Segmentation of RGB-D Scans. CVPR 2019
R-PointNet	0.158 62	0.356 61	0.173 65	0.113 58	0.140 55	0.359 58	0.012 51	0.023 68	0.039 57	0.134 58	0.123 60	0.008 66	0.089 62	0.149 64	0.117 58	0.221 65	0.128 65	0.563 61	0.094 59

Region-18class	0.146 63	0.175 69	0.321 57	0.080 60	0.062 61	0.357 59	0.000 63	0.307 52	0.002 67	0.066 64	0.044 64	0.000 70	0.018 68	0.036 69	0.054 61	0.447 55	0.133 63	0.472 62	0.060 65

SemRegionNet-20cls	0.121 64	0.296 63	0.203 63	0.071 61	0.058 63	0.349 60	0.000 63	0.150 61	0.019 61	0.054 66	0.034 67	0.017 65	0.052 64	0.042 68	0.013 69	0.209 67	0.183 59	0.371 64	0.057 66

Hier3D	0.117 65	0.222 67	0.161 66	0.054 67	0.027 68	0.289 65	0.000 63	0.124 63	0.001 69	0.079 62	0.061 63	0.027 63	0.141 60	0.240 60	0.005 70	0.310 62	0.129 64	0.153 70	0.081 62
Tan: HCFS3D: Hierarchical Coupled Feature Selection Network for 3D Semantic and Instance Segmentation.
3D-BEVIS	0.117 65	0.250 65	0.308 58	0.020 69	0.009 71	0.269 67	0.006 55	0.008 69	0.029 59	0.037 69	0.014 70	0.003 68	0.036 67	0.147 65	0.042 64	0.381 57	0.118 66	0.362 65	0.069 64
Cathrin Elich, Francis Engelmann, Jonas Schult, Theodora Kontogianni, Bastian Leibe: 3D-BEVIS: Birds-Eye-View Instance Segmentation.
tmp	0.113 67	0.333 62	0.151 68	0.056 66	0.053 64	0.344 63	0.000 63	0.105 64	0.016 63	0.049 67	0.035 66	0.020 64	0.053 63	0.048 67	0.013 68	0.183 69	0.173 61	0.344 67	0.054 67

Sem_Recon_ins	0.098 68	0.295 64	0.187 64	0.015 70	0.036 67	0.213 69	0.005 56	0.038 67	0.003 66	0.056 65	0.037 65	0.036 61	0.015 69	0.051 66	0.044 63	0.209 68	0.098 69	0.354 66	0.071 63

ASIS	0.085 69	0.037 70	0.080 70	0.066 64	0.047 65	0.282 66	0.000 63	0.052 66	0.002 68	0.047 68	0.026 68	0.001 69	0.046 65	0.194 62	0.031 65	0.264 64	0.140 62	0.167 69	0.047 69

Sgpn_scannet	0.049 70	0.023 71	0.134 69	0.031 68	0.013 70	0.144 70	0.006 53	0.008 70	0.000 70	0.028 70	0.017 69	0.003 67	0.009 71	0.000 70	0.021 67	0.122 70	0.095 70	0.175 68	0.054 68

MaskRCNN 2d->3d Proj	0.022 71	0.185 68	0.000 71	0.000 71	0.015 69	0.000 71	0.000 61	0.006 71	0.000 70	0.010 71	0.006 71	0.107 52	0.012 70	0.000 70	0.002 71	0.027 71	0.004 71	0.022 71	0.001 71

Method	avg iou	bathtub	bed	bookshelf	cabinet	chair	counter	curtain	desk	door	floor	otherfurniture	picture	refrigerator	shower curtain	sink	sofa	table	toilet	wall	window

Virtual MVFusion (R)	0.745 1	0.861 1	0.839 1	0.881 1	0.672 2	0.512 1	0.422 17	0.898 1	0.723 1	0.714 1	0.954 2	0.454 1	0.509 1	0.773 1	0.895 1	0.756 1	0.820 1	0.653 1	0.935 1	0.891 1	0.728 1
Abhijit Kundu, Xiaoqi Yin, Alireza Fathi, David Ross, Brian Brewington, Thomas Funkhouser, Caroline Pantofaru: Virtual Multi-view Fusion for 3D Semantic Segmentation. ECCV 2020
BPNet_2D	0.670 2	0.822 3	0.795 3	0.836 2	0.659 3	0.481 2	0.451 13	0.769 4	0.656 3	0.567 4	0.931 3	0.395 6	0.390 5	0.700 4	0.534 4	0.689 10	0.770 2	0.574 3	0.865 9	0.831 3	0.675 5
Wenbo Hu, Hengshuang Zhao, Li Jiang, Jiaya Jia and Tien-Tsin Wong: Bidirectional Projection Network for Cross Dimension Scene Understanding. CVPR 2021 (Oral)
MVF-GNN（2D）	0.636 3	0.606 14	0.794 4	0.434 16	0.688 1	0.337 8	0.464 12	0.798 3	0.632 5	0.589 3	0.908 8	0.420 2	0.329 12	0.743 2	0.594 2	0.738 2	0.676 5	0.527 4	0.906 2	0.818 6	0.715 3

CU-Hybrid-2D Net	0.636 3	0.825 2	0.820 2	0.179 23	0.648 4	0.463 3	0.549 2	0.742 7	0.676 2	0.628 2	0.961 1	0.420 2	0.379 6	0.684 8	0.381 18	0.732 3	0.723 3	0.599 2	0.827 16	0.851 2	0.634 7

CMX	0.613 5	0.681 8	0.725 12	0.502 12	0.634 6	0.297 18	0.478 10	0.830 2	0.651 4	0.537 7	0.924 4	0.375 7	0.315 14	0.686 7	0.451 14	0.714 5	0.543 21	0.504 6	0.894 7	0.823 5	0.688 4

DMMF_3d	0.605 6	0.651 9	0.744 10	0.782 3	0.637 5	0.387 4	0.536 3	0.732 8	0.590 7	0.540 6	0.856 21	0.359 11	0.306 15	0.596 14	0.539 3	0.627 20	0.706 4	0.497 8	0.785 21	0.757 19	0.476 22

EMSANet	0.600 7	0.716 4	0.746 9	0.395 18	0.614 9	0.382 5	0.523 4	0.713 11	0.571 11	0.503 10	0.922 6	0.404 5	0.397 4	0.655 9	0.400 16	0.626 21	0.663 6	0.469 13	0.900 4	0.827 4	0.577 14
Seichter, Daniel and Fischedick, Söhnke and Köhler, Mona and Gross, Horst-Michael: EMSANet: Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments. IJCNN 2022
MCA-Net	0.595 8	0.533 20	0.756 8	0.746 4	0.590 10	0.334 10	0.506 7	0.670 15	0.587 8	0.500 12	0.905 10	0.366 10	0.352 9	0.601 13	0.506 8	0.669 16	0.648 9	0.501 7	0.839 15	0.769 15	0.516 21

RFBNet	0.592 9	0.616 11	0.758 7	0.659 5	0.581 11	0.330 11	0.469 11	0.655 18	0.543 14	0.524 8	0.924 4	0.355 13	0.336 11	0.572 17	0.479 10	0.671 14	0.648 9	0.480 10	0.814 19	0.814 7	0.614 10

FAN_NV_RVC	0.586 10	0.510 21	0.764 6	0.079 26	0.620 8	0.330 11	0.494 8	0.753 5	0.573 9	0.556 5	0.884 16	0.405 4	0.303 16	0.718 3	0.452 13	0.672 13	0.658 7	0.509 5	0.898 5	0.813 8	0.727 2

DCRedNet	0.583 11	0.682 7	0.723 13	0.542 11	0.510 20	0.310 15	0.451 13	0.668 16	0.549 13	0.520 9	0.920 7	0.375 7	0.446 2	0.528 20	0.417 15	0.670 15	0.577 18	0.478 11	0.862 10	0.806 9	0.628 9

MIX6D_RVC	0.582 12	0.695 5	0.687 17	0.225 21	0.632 7	0.328 13	0.550 1	0.748 6	0.623 6	0.494 15	0.890 14	0.350 15	0.254 23	0.688 6	0.454 12	0.716 4	0.597 17	0.489 9	0.881 8	0.768 16	0.575 15

SSMA	0.577 13	0.695 5	0.716 15	0.439 14	0.563 14	0.314 14	0.444 15	0.719 9	0.551 12	0.503 10	0.887 15	0.346 16	0.348 10	0.603 12	0.353 20	0.709 6	0.600 15	0.457 14	0.901 3	0.786 11	0.599 13
Abhinav Valada, Rohit Mohan, Wolfram Burgard: Self-Supervised Model Adaptation for Multimodal Semantic Segmentation. International Journal of Computer Vision, 2019
DMMF	0.567 14	0.623 10	0.767 5	0.238 20	0.571 13	0.347 6	0.413 19	0.719 9	0.472 20	0.418 22	0.895 13	0.357 12	0.260 22	0.696 5	0.523 7	0.666 17	0.642 11	0.437 18	0.895 6	0.793 10	0.603 12

UNIV_CNP_RVC_UE	0.566 15	0.569 19	0.686 19	0.435 15	0.524 17	0.294 19	0.421 18	0.712 12	0.543 14	0.463 17	0.872 17	0.320 17	0.363 8	0.611 11	0.477 11	0.686 11	0.627 12	0.443 17	0.862 10	0.775 14	0.639 6

EMSAFormer	0.564 16	0.581 16	0.736 11	0.564 10	0.546 16	0.219 23	0.517 5	0.675 14	0.486 19	0.427 21	0.904 11	0.352 14	0.320 13	0.589 15	0.528 5	0.708 7	0.464 24	0.413 22	0.847 14	0.786 11	0.611 11

SN_RN152pyrx8_RVC	0.546 17	0.572 17	0.663 21	0.638 7	0.518 18	0.298 17	0.366 24	0.633 21	0.510 17	0.446 19	0.864 19	0.296 20	0.267 19	0.542 19	0.346 21	0.704 8	0.575 19	0.431 19	0.853 13	0.766 17	0.630 8

UDSSEG_RVC	0.545 18	0.610 13	0.661 22	0.588 8	0.556 15	0.268 21	0.482 9	0.642 20	0.572 10	0.475 16	0.836 23	0.312 18	0.367 7	0.630 10	0.189 23	0.639 19	0.495 23	0.452 15	0.826 17	0.756 20	0.541 17

segfomer with 6d	0.542 19	0.594 15	0.687 17	0.146 24	0.579 12	0.308 16	0.515 6	0.703 13	0.472 20	0.498 13	0.868 18	0.369 9	0.282 17	0.589 15	0.390 17	0.701 9	0.556 20	0.416 21	0.860 12	0.759 18	0.539 19

FuseNet	0.535 20	0.570 18	0.681 20	0.182 22	0.512 19	0.290 20	0.431 16	0.659 17	0.504 18	0.495 14	0.903 12	0.308 19	0.428 3	0.523 21	0.365 19	0.676 12	0.621 14	0.470 12	0.762 22	0.779 13	0.541 17
Caner Hazirbas, Lingni Ma, Csaba Domokos, Daniel Cremers: FuseNet: Incorporating Depth into Semantic Segmentation via Fusion-based CNN Architecture. ACCV 2016
AdapNet++	0.503 21	0.613 12	0.722 14	0.418 17	0.358 26	0.337 8	0.370 23	0.479 24	0.443 22	0.368 24	0.907 9	0.207 23	0.213 25	0.464 24	0.525 6	0.618 22	0.657 8	0.450 16	0.788 20	0.721 23	0.408 25
Abhinav Valada, Rohit Mohan, Wolfram Burgard: Self-Supervised Model Adaptation for Multimodal Semantic Segmentation. International Journal of Computer Vision, 2019
3DMV (2d proj)	0.498 22	0.481 24	0.612 23	0.579 9	0.456 22	0.343 7	0.384 21	0.623 22	0.525 16	0.381 23	0.845 22	0.254 22	0.264 21	0.557 18	0.182 24	0.581 24	0.598 16	0.429 20	0.760 23	0.661 25	0.446 24
Angela Dai, Matthias Niessner: 3DMV: Joint 3D-Multi-View Prediction for 3D Semantic Scene Segmentation. ECCV'18
MSeg1080_RVC	0.485 23	0.505 22	0.709 16	0.092 25	0.427 23	0.241 22	0.411 20	0.654 19	0.385 26	0.457 18	0.861 20	0.053 26	0.279 18	0.503 22	0.481 9	0.645 18	0.626 13	0.365 24	0.748 24	0.725 22	0.529 20
John Lambert, Zhuang Liu, Ozan Sener, James Hays, Vladlen Koltun: MSeg: A Composite Dataset for Multi-domain Semantic Segmentation. CVPR 2020
ILC-PSPNet	0.475 24	0.490 23	0.581 24	0.289 19	0.507 21	0.067 26	0.379 22	0.610 23	0.417 24	0.435 20	0.822 25	0.278 21	0.267 19	0.503 22	0.228 22	0.616 23	0.533 22	0.375 23	0.820 18	0.729 21	0.560 16

Enet (reimpl)	0.376 25	0.264 26	0.452 26	0.452 13	0.365 24	0.181 24	0.143 26	0.456 25	0.409 25	0.346 25	0.769 26	0.164 24	0.218 24	0.359 25	0.123 26	0.403 26	0.381 26	0.313 26	0.571 25	0.685 24	0.472 23
Re-implementation of Adam Paszke, Abhishek Chaurasia, Sangpil Kim, Eugenio Culurciello: ENet: A Deep Neural Network Architecture for Real-Time Semantic Segmentation.
ScanNet (2d proj)	0.330 26	0.293 25	0.521 25	0.657 6	0.361 25	0.161 25	0.250 25	0.004 26	0.440 23	0.183 26	0.836 23	0.125 25	0.060 26	0.319 26	0.132 25	0.417 25	0.412 25	0.344 25	0.541 26	0.427 26	0.109 26
Angela Dai, Angel X. Chang, Manolis Savva, Maciej Halber, Thomas Funkhouser, Matthias Nießner: ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes. CVPR'17

Presenting the ScanNet200 Benchmark

ScanNet200 Benchmark

ScanNet200 3D Semantic Label Benchmark

ScanNet200 3D Semantic Instance Benchmark

ScanNet Benchmark

3D Semantic Label Benchmark

3D Semantic Instance Benchmark

2D Semantic Label Benchmark

2D Semantic Instance Benchmark

Scene Type Classification Benchmark

Method	avg ap	bathtub	bed	bookshelf	cabinet	chair	counter	curtain	desk	door	otherfurniture	picture	refrigerator	shower curtain	sink	sofa	table	toilet	window

EMSANet (Instance)	0.241 1	0.401 1	0.439 1	0.085 1	0.242 1	0.220 1	0.081 1	0.289 2	0.117 2	0.121 1	0.182 1	0.126 1	0.346 1	0.181 2	0.181 2	0.358 1	0.156 1	0.675 2	0.131 1
Seichter, Daniel and Fischedick, Söhnke and Köhler, Mona and Gross, Horst-Michael: EMSANet: Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments. IJCNN 2022
UniDet_RVC	0.205 2	0.381 2	0.323 3	0.037 3	0.226 3	0.177 3	0.063 2	0.277 3	0.120 1	0.067 3	0.131 3	0.074 3	0.317 2	0.080 3	0.235 1	0.289 3	0.141 3	0.678 1	0.080 3

FKNet	0.204 3	0.334 3	0.358 2	0.038 2	0.234 2	0.184 2	0.025 3	0.318 1	0.042 4	0.088 2	0.141 2	0.053 4	0.300 3	0.207 1	0.171 3	0.292 2	0.149 2	0.636 3	0.109 2

MaskRCNN_ScanNet	0.119 4	0.129 4	0.212 4	0.002 4	0.112 4	0.148 4	0.014 4	0.205 4	0.044 3	0.066 4	0.078 4	0.095 2	0.142 4	0.030 4	0.128 4	0.139 4	0.080 4	0.459 4	0.057 4
Re-implementation of Kaiming He, Georgia Gkioxari, Piotr Dollár, Ross Girshick: Mask R-CNN. ICCV'17

Method	avg recall	apartment	bathroom	bedroom / hotel	bookstore / library	conference room	copy/mail room	hallway	kitchen	laundry room	living room / lounge	misc	office	storage / basement / garage

LAST-PCL-type	0.780 1	0.250 3	1.000 1	1.000 1	1.000 1	1.000 1	1.000 1	0.500 2	1.000 1	0.500 2	0.889 1	0.000 2	1.000 1	1.000 1
Yanmin Wu, Qiankun Gao, Renrui Zhang, and Jian Zhang: Language-Assisted 3D Scene Understanding. arxiv23.12
multi-task	0.700 2	0.500 1	1.000 1	0.882 3	0.500 3	1.000 1	1.000 1	0.500 2	1.000 1	1.000 1	0.778 2	0.000 2	0.938 2	0.000 3
Shengyu Huang, Mikhail Usvyatsov, Konrad Schindler: Indoor Scene Recognition in 3D. IROS 2020
3DASPP-SCE	0.691 3	0.500 1	0.938 3	0.824 4	1.000 1	1.000 1	0.500 3	1.000 1	0.857 3	0.500 2	0.556 4	0.000 2	0.812 3	0.500 2

SE-ResNeXt-SSMA	0.498 4	0.000 5	0.812 4	0.941 2	0.500 3	0.500 4	0.500 3	0.500 2	0.429 5	0.500 2	0.667 3	0.500 1	0.625 4	0.000 3
Abhinav Valada, Rohit Mohan, Wolfram Burgard: Self-Supervised Model Adaptation for Multimodal Semantic Segmentation. arXiv
resnet50_scannet	0.353 5	0.250 3	0.812 4	0.529 5	0.500 3	0.500 4	0.000 5	0.500 2	0.571 4	0.000 5	0.556 4	0.000 2	0.375 5	0.000 3