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Papers › Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs

Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs

27 Nov 2017CVPR 2018 6arXiv:1711.09869archive 2025-07-28

Loic Landrieu, Martin Simonovsky

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a structure called superpoint graph (SPG), derived from a partition of the scanned scene into geometrically homogeneous elements. SPGs offer a compact yet rich representation of contextual relationships between object parts, which is then exploited by a graph convolutional network. Our framework sets a new state of the art for segmenting outdoor LiDAR scans (+11.9 and +8.8 mIoU points for both Semantic3D test sets), as well as indoor scans (+12.4 mIoU points for the S3DIS dataset).

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Code

loicland/superpoint_graph officialmentioned in papermentioned on GitHubpytorchMIT report
jsgaobiao/superpoint_graph mentioned on GitHubpytorchMIT report

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Tasks

3D Semantic SegmentationSemantic Segmentation

Results from the paper archive 2025-07-28

TaskDatasetModelMetricValueRank at snapshotLeaderboardReport
3D Semantic Segmentation DALES SPG Model size 280K #7 of 9 Archive leaderboard report
3D Semantic Segmentation DALES SPG Overall Accuracy 95.5 #7 of 9 Archive leaderboard report
3D Semantic Segmentation DALES SPG mIoU 60.6 #7 of 9 Archive leaderboard report
3D Semantic Segmentation SemanticKITTI SPGraph test mIoU 17.4% #40 of 45 Archive leaderboard report
3D Semantic Segmentation SensatUrban SPGraph mIoU 37.29 #7 of 8 Archive leaderboard report
Semantic Segmentation S3DIS SPG Mean IoU 62.1 #40 of 54 Archive leaderboard report
Semantic Segmentation S3DIS SPG Number of params 0.290M #40 of 54 Archive leaderboard report
Semantic Segmentation S3DIS SPG Params (M) 0.29 #40 of 54 Archive leaderboard report
Semantic Segmentation S3DIS SPG mAcc 73 #40 of 54 Archive leaderboard report
Semantic Segmentation S3DIS SPG oAcc 85.5 #40 of 54 Archive leaderboard report
Semantic Segmentation S3DIS Area5 SPG Number of params 280K #52 of 61 Archive leaderboard report
Semantic Segmentation S3DIS Area5 SPG mAcc 66.5 #52 of 61 Archive leaderboard report
Semantic Segmentation S3DIS Area5 SPG mIoU 58.04 #52 of 61 Archive leaderboard report
Semantic Segmentation S3DIS Area5 SPG oAcc 86.38 #52 of 61 Archive leaderboard report
Semantic Segmentation Semantic3D SPG mIoU 76.2% #5 of 17 Archive leaderboard report
Semantic Segmentation Semantic3D SPG oAcc 92.9% #5 of 17 Archive leaderboard report
Semantic Segmentation Semantic3D SPG mIoU 73.2% #8 of 17 Archive leaderboard report

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