LIDAR Semantic Segmentation

Benchmarks archive 2025-07-28

6 leaderboard tables shown for this task, 6 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

10 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Most implemented papers archive 2025-07-28

30 shown of 74 papers with code (129 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• Attention Is All You Need
  12 Jun 2017 595 repositories listed Syntology ran 600 of 946 samples · 346 unverified · 451 pointer-only (licence)
  The dominant sequence transduction models are based on complex recurrent or convolutional neural networks in an encoder-decoder configuration.
• SSD: Single Shot MultiBox Detector
  8 Dec 2015 221 repositories listed Syntology ran 19 of 131 samples · 112 unverified · 5 pointer-only (licence)
  Experimental results on the PASCAL VOC, MS COCO, and ILSVRC datasets confirm that SSD has comparable accuracy to methods that utilize an additional object proposal step and is much faster, while providing a unified…
• KPConv: Flexible and Deformable Convolution for Point Clouds
  18 Apr 2019 10 repositories listed Syntology ran 5 of 12 samples · 7 unverified · 3 pointer-only (licence)
  Furthermore, these locations are continuous in space and can be learned by the network.
• RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds
  25 Nov 2019 9 repositories listed Syntology ran 1 of 4 samples · 3 unverified
  We study the problem of efficient semantic segmentation for large-scale 3D point clouds.
• Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution
  31 Jul 2020 6 repositories listed Syntology ran 0 of 3 samples · 3 unverified
  Self-driving cars need to understand 3D scenes efficiently and accurately in order to drive safely.
• 3D Semantic Segmentation with Submanifold Sparse Convolutional Networks
  28 Nov 2017 6 repositories listed Syntology ran 3 of 3 samples · 0 unverified · 3 pointer-only (licence)
  Submanifold sparse convolutional networks
• LENet: Lightweight And Efficient LiDAR Semantic Segmentation Using Multi-Scale Convolution Attention
  11 Jan 2023 4 repositories listed
  LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene.
• PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation
  31 Mar 2020 4 repositories listed Syntology ran 9 of 11 samples · 2 unverified · 1 pointer-only (licence)
  The need for fine-grained perception in autonomous driving systems has resulted in recently increased research on online semantic segmentation of single-scan LiDAR.
• Point Transformer V3: Simpler, Faster, Stronger
  15 Dec 2023 3 repositories listed Syntology ran 7 of 11 samples · 4 unverified
  This paper is not motivated to seek innovation within the attention mechanism.
• CENet: Toward Concise and Efficient LiDAR Semantic Segmentation for Autonomous Driving
  26 Jul 2022 3 repositories listed Syntology ran 0 of 1 samples · 1 unverified
  Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation.
• CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation
  21 Apr 2022 3 repositories listed Syntology ran 1 of 4 samples · 3 unverified
  LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms.
• Scribble-Supervised LiDAR Semantic Segmentation
  16 Mar 2022 3 repositories listed
  Densely annotating LiDAR point clouds remains too expensive and time-consuming to keep up with the ever growing volume of data.
• Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation
  4 Aug 2020 3 repositories listed
  A straightforward solution to tackle the issue of 3D-to-2D projection is to keep the 3D representation and process the points in the 3D space.
• Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weather
  2 Jul 2024 2 repositories listed
  Motivated by this issue, we identified key factors of adverse weather and conducted a toy experiment to pinpoint the main causes of performance degradation: (1) Geometric perturbation due to refraction caused by fog or…
• FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation
  7 Dec 2023 2 repositories listed Syntology ran 14 of 19 samples · 5 unverified · 18 pointer-only (licence)
  LiDAR segmentation has become a crucial component of advanced autonomous driving systems.
• Spherical Transformer for LiDAR-based 3D Recognition
  22 Mar 2023 2 repositories listed Syntology ran 4 of 13 samples · 9 unverified
  In this work, we study the varying-sparsity distribution of LiDAR points and present SphereFormer to directly aggregate information from dense close points to the sparse distant ones.
• Point Transformer V2: Grouped Vector Attention and Partition-based Pooling
  11 Oct 2022 2 repositories listed
  In this work, we analyze the limitations of the Point Transformer and propose our powerful and efficient Point Transformer V2 model with novel designs that overcome the limitations of previous work.
• PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds
  30 Jul 2022 2 repositories listed Syntology ran 3 of 10 samples · 7 unverified
  The first is scene-level swapping which exchanges point cloud sectors of two LiDAR scans that are cut along the azimuth axis.
• CoSMix: Compositional Semantic Mix for Domain Adaptation in 3D LiDAR Segmentation
  20 Jul 2022 2 repositories listed
  We propose a new approach of sample mixing for point cloud UDA, namely Compositional Semantic Mix (CoSMix), the first UDA approach for point cloud segmentation based on sample mixing.
• LaserMix for Semi-Supervised LiDAR Semantic Segmentation
  30 Jun 2022 2 repositories listed
  Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods.
• Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation
  19 Nov 2020 2 repositories listed
  However, we found that in the outdoor point cloud, the improvement obtained in this way is quite limited.
• RangeNet++: Fast and Accurate LiDAR Semantic Segmentation
  4 Nov 2019 2 repositories listed
  Perception in autonomous vehicles is often carried out through a suite of different sensing modalities.
• Beyond One Shot, Beyond One Perspective: Cross-View and Long-Horizon Distillation for Better LiDAR Representations
  7 Jul 2025 1 repository listed
  In this work, we propose LiMA, a novel long-term image-to-LiDAR Memory Aggregation framework that explicitly captures longer range temporal correlations to enhance LiDAR representation learning.
• NUC-Net: Non-uniform Cylindrical Partition Network for Efficient LiDAR Semantic Segmentation
  30 May 2025 1 repository listed
  Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on cartesian/cylindrical coordinates.
• DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation
  24 Mar 2025 1 repository listed
  Vision foundation models (VFMs) trained on large-scale image datasets provide high-quality features that have significantly advanced 2D visual recognition.
• SynthmanticLiDAR: A Synthetic Dataset for Semantic Segmentation on LiDAR Imaging
  31 Jan 2025 1 repository listed
  In this work, we present a modified CARLA simulator designed with LiDAR semantic segmentation in mind, with new classes, more consistent object labeling with their counterparts from real datasets such as SemanticKITTI,…
• 3DLabelProp: Geometric-Driven Domain Generalization for LiDAR Semantic Segmentation in Autonomous Driving
  24 Jan 2025 1 repository listed
  This work addresses the challenge by proposing a geometry-based approach, leveraging the sequential structure of LiDAR sensors, which sets it apart from the learning-based methods commonly found in the literature.
• PC-BEV: An Efficient Polar-Cartesian BEV Fusion Framework for LiDAR Semantic Segmentation
  19 Dec 2024 1 repository listed
  Extensive evaluation on the SemanticKITTI and nuScenes datasets provides compelling evidence that our method outperforms previous multiview fusion approaches in terms of both performance and inference speed,…
• CLOUDSPAM: Contrastive Learning On Unlabeled Data for Segmentation and Pre-Training Using Aggregated Point Clouds and MoCo
  26 Oct 2024 1 repository listed
  However, this merging is not a straightforward procedure due to the variety of size and number of points in the point clouds of these datasets.
• Learning from Spatio-temporal Correlation for Semi-Supervised LiDAR Semantic Segmentation
  9 Oct 2024 1 repository listed
  Additionally, we employ a dual-branch structure to mitigate performance degradation caused by data imbalance.

Syntology lines on 13 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.