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SemanticKITTI

Introduced by Jens Behley et al. in SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences1 Jan 2019 archive 2025-07-28

SemanticKITTI is a large-scale outdoor-scene dataset for point cloud semantic segmentation. It is derived from the KITTI Vision Odometry Benchmark which it extends with dense point-wise annotations for the complete 360 field-of-view of the employed automotive LiDAR. The dataset consists of 22 sequences. Overall, the dataset provides 23201 point clouds for training and 20351 for testing.

Source: Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation Image Source: https://github.com/PRBonn/semantic-kitti-api

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 10 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
3D Semantic Segmentation SemanticKITTI LSK3DNet test mIoU 75.6% LSK3DNet: Towards Effective and Efficient 3D Perception... fengzicai/lsk3dnet 45 Compare
3D Semantic Scene Completion SemanticKITTI TALoS mIoU 37.9 TALoS: Enhancing Semantic Scene Completion via Test-time... blue-531/talos 20 Compare
Semi-Supervised Semantic Segmentation SemanticKITTI PLE (Voxel) mIoU (0.5% Labels) 52.2 Learning from Spatio-temporal Correlation for... halbielee/ple 12 Compare
3D Semantic Scene Completion from a single RGB image SemanticKITTI CGFormer mIoU 16.63 Context and Geometry Aware Voxel Transformer for... pkqbajng/cgformer 9 Compare
4D Panoptic Segmentation SemanticKITTI Mask4Former LSTQ 68.4 Mask4Former: Mask Transformer for 4D Panoptic Segmentation YilmazKadir/Mask4Former 7 Compare
Lidar Scene Completion SemanticKITTI LiDiff (refined) Chamfer Distance 0.376 Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion prbonn/lidiff 4 Compare
LIDAR Semantic Segmentation SemanticKITTI AF2S3Net mIOU 70.8% — — 4 Compare
Real-Time 3D Semantic Segmentation SemanticKITTI 3D-MiniNet-tiny Speed (FPS) 98 3D-MiniNet: Learning a 2D Representation from Point... Shathe/3D-MiniNet 4 Compare
Panoptic Segmentation SemanticKITTI P3Former PQ 0.649 Position-Guided Point Cloud Panoptic Segmentation Transformer smartbot-pjlab/p3former 2 Compare
Generalized Zero-Shot Learning SemanticKITTI 3DGenZ HmIoU 17.1 Generative Zero-Shot Learning for Semantic Segmentation... valeoai/3DGenZ 1 Compare

Papers archive 2025-07-28

30 shown of 86 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 669. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
LiDPM: Rethinking Point Diffusion for Lidar Scene Completion 1 2 24 Apr 2025 not harvested
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation 1 1 24 Mar 2025 not harvested
TALoS: Enhancing Semantic Scene Completion via Test-time Adaptation on the Line of Sight 1 1 21 Oct 2024 ran 6 of 17 samples (11 unverified; 17 pointer-only for licence)
Learning from Spatio-temporal Correlation for Semi-Supervised LiDAR Semantic Segmentation 1 3 9 Oct 2024 not harvested
2D Semantic-Guided Semantic Scene Completion 1 1 12 Sep 2024 not harvested
SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds 1 1 16 Jul 2024 ran 5 of 10 samples (5 unverified; 10 pointer-only for licence)
Hierarchical Temporal Context Learning for Camera-based Semantic Scene Completion 1 1 2 Jul 2024 not harvested
Context and Geometry Aware Voxel Transformer for Semantic Scene Completion 1 1 22 May 2024 ran 1 of 1 samples (0 unverified)
LSK3DNet: Towards Effective and Efficient 3D Perception with Large Sparse Kernels 1 1 22 Mar 2024 not harvested
OA-CNNs: Omni-Adaptive Sparse CNNs for 3D Semantic Segmentation 1 1 21 Mar 2024 not harvested
Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion 1 2 20 Mar 2024 ran 4 of 6 samples (2 unverified)
Point Transformer V3: Simpler, Faster, Stronger 3 1 15 Dec 2023 ran 7 of 11 samples (4 unverified)
FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation 2 1 7 Dec 2023 ran 14 of 19 samples (5 unverified; 18 pointer-only for licence)
Mask4Former: Mask Transformer for 4D Panoptic Segmentation 1 1 28 Sep 2023 not harvested
NDC-Scene: Boost Monocular 3D Semantic Scene Completion in Normalized Device Coordinates Space 1 1 26 Sep 2023 ran 5 of 7 samples (2 unverified; 7 pointer-only for licence)
Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences 1 1 18 Sep 2023 not harvested
TFNet: Exploiting Temporal Cues for Fast and Accurate LiDAR Semantic Segmentation 0 1 14 Sep 2023 not harvested
360° from a Single Camera: A Few-Shot Approach for LiDAR Segmentation 0 1 12 Sep 2023 not harvested
UniSeg: A Unified Multi-Modal LiDAR Segmentation Network and the OpenPCSeg Codebase 1 1 11 Sep 2023 ran 6 of 7 samples (1 unverified; 7 pointer-only for licence)
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training 1 1 18 Aug 2023 not harvested
Symphonize 3D Semantic Scene Completion with Contextual Instance Queries 1 2 27 Jun 2023 ran 1 of 8 samples (7 unverified)
OccFormer: Dual-path Transformer for Vision-based 3D Semantic Occupancy Prediction 1 1 11 Apr 2023 ran 1 of 3 samples (2 unverified)
4D Panoptic Segmentation as Invariant and Equivariant Field Prediction 0 1 28 Mar 2023 not harvested
Position-Guided Point Cloud Panoptic Segmentation Transformer 1 1 23 Mar 2023 not harvested
Spherical Transformer for LiDAR-based 3D Recognition 2 1 22 Mar 2023 ran 4 of 13 samples (9 unverified)
Less is More: Reducing Task and Model Complexity for 3D Point Cloud Semantic Segmentation 1 2 20 Mar 2023 ran 0 of 4 samples (4 unverified)
SCPNet: Semantic Scene Completion on Point Cloud 1 1 13 Mar 2023 not harvested
Rethinking Range View Representation for LiDAR Segmentation 0 1 9 Mar 2023 not harvested
OccDepth: A Depth-Aware Method for 3D Semantic Scene Completion 1 1 27 Feb 2023 ran 3 of 6 samples (3 unverified)
VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion 1 1 23 Feb 2023 not harvested

The full list of 86 is in the JSON twin.

Dataset loaders archive 2025-07-28

Pointcept/Pointceptpytorch

1 loader as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

Semi-Supervised Semantic SegmentationPanoptic Segmentation3D Semantic SegmentationGeneralized Zero-Shot Learning3D Semantic Scene CompletionLIDAR Semantic Segmentation3D Semantic Scene Completion from a single RGB imageWeakly supervised Semantic SegmentationReal-Time 3D Semantic Segmentation4D Panoptic SegmentationLidar Scene Completion

License archive 2025-07-28

CC BY-NC-SA 4.0

Modalities archive 2025-07-28

LiDAR

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • SemanticKITTI

1 variant name, as the archive lists them.

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