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Semantic Scene Completion on SemanticKITTI (val)

27.003mIoU (Mean IoU)

S3CNet

Updated 4d ago

Evaluation Results

Method	Links
S3CNet 2020.12		27.003	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
SalsaNext 2020.12		17.8	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
VOIC 2025.12		17.42	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
CGFormer + PNAM 2025.12		17.27	65.27	31.9	20.87	16	22.7	34.11	23.71	569	294	8.36	26.63	11.42	38.91	264	437	0	9.08	11.78	7.66	44.33
CGFormer + VLGM 2025.12		17.21	65.52	32.31	20.79	13	23.27	34.33	22.33	524	301	7.81	26.69	10.73	39.29	270	412	0	8.95	11.93	7.82	43.2
CGFormer + 3D U-Net 2025.12		17.17	65.29	32.14	20.26	13	23.11	33.99	22.39	528	311	8.22	26.84	11.17	38.99	265	405	0	8.93	11.93	7.84	43.53
HTCL-S 2024.07		17.13	63.7	32.48	23.27	0.14	24.13	34.3	20.72	3.99	2.8	11.99	26.96	8.79	37.73	2.56	2.3	0	11.22	11.49	6.95	45.51
CGFormer 2024.05		16.87	65.51	32.31	20.82	0.16	23.52	34.32	19.44	4.61	2.71	7.67	26.93	8.83	39.54	2.38	4.08	0	9.2	10.67	7.84	45.99
CGFormer 2025.12		16.87	65.51	32.31	20.82	16	23.52	34.32	19.44	461	271	7.67	26.93	8.83	39.54	238	408	0	9.2	10.67	7.84	45.99
DBLIDARNet 2020.12		16.82	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
Symphonies 2023.06		14.89	56.37	27.58	15.28	0.95	21.64	28.68	20.44	2.54	2.82	13.89	25.72	6.6	30.87	3.52	2.24	0	8.4	9.57	5.76	41.92
Symphonize 2024.05		14.89	56.37	27.58	15.28	0.95	21.64	28.68	20.44	2.54	2.82	13.89	25.72	6.6	30.87	3.52	2.24	0	8.4	9.57	5.76	41.92
Symphonize 2025.12		14.89	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
Symphonize 2025.12		14.89	56.37	27.58	15.28	95	21.64	28.68	20.44	254	282	13.89	25.72	6.6	30.87	352	224	0	8.4	9.57	5.76	41.92
HDUNet 2020.12		14.86	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
HASSC-T 2024.05		14.74	55.3	29.6	25.9	11.3	23.1	23	2.9	1.9	1.5	4.9	24.8	9.8	26.5	1.4	3	0	14.3	7	7.1	44.58
H2GFormer-T 2024.05		14.29	57	29.37	21.74	0.34	20.51	28.21	6.8	0.95	0.91	9.32	27.44	7.8	36.26	1.15	0.1	0	7.98	9.88	5.81	44.69
H2GFormer-S 2024.05		13.73	56.08	29.12	17.83	0.45	19.74	28.21	10	0.5	0.47	7.39	26.25	6.8	34.42	1.54	2.88	0	7.24	7.88	4.68	44.57
H2GFormer-S 2025.12		13.73	56.08	29.12	17.83	45	19.74	28.21	10	50	47	7.39	26.25	6.8	34.42	154	288	0	7.24	7.88	4.68	44.57
HASSC-S 2024.05		13.48	57.05	28.25	15.9	1.04	19.05	27.23	9.91	0.92	0.86	5.61	25.48	6.15	32.94	2.8	4.71	0	6.58	7.68	4.05	44.82
HASSC-S 2025.12		13.48	57.05	28.25	15.9	104	19.05	27.23	9.91	92	86	5.61	25.48	6.15	32.94	280	471	0	6.58	7.68	4.05	44.82
OccFormer 2023.06		13.46	58.85	26.88	19.61	0.31	14.4	25.09	25.53	0.81	1.19	8.52	19.63	3.93	32.62	2.78	2.82	0	5.61	4.26	2.86	36.5
OccFormer 2023.12		13.46	58.84	26.88	19.61	0.31	14.4	25.09	25.53	0.81	1.19	8.52	19.63	3.93	32.63	2.78	2.82	0	5.61	4.26	2.86	36.5
OccFormer 2024.04		13.46	58.85	26.88	19.61	0.31	14.4	25.09	25.53	0.81	1.19	8.52	19.63	3.93	32.62	2.78	2.82	0	5.61	4.26	2.86	36.5
OccFormer 2024.05		13.46	58.85	26.88	19.61	0.31	14.4	25.09	25.53	0.81	1.19	8.52	19.63	3.93	32.62	2.78	2.82	0	5.61	4.26	2.86	36.5
OccFormer 2025.12		13.46	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
OccFormer 2025.12		13.46	58.85	26.88	19.61	31	14.4	25.09	25.53	81	119	8.52	19.63	3.93	32.62	278	282	0	5.61	4.26	2.86	36.5
Symphonies 2023.12		13.44	55.78	26.77	14.57	0.19	18.76	27.23	15.99	1.44	2.28	9.52	24.5	4.32	28.49	3.19	8.09	0	6.18	8.99	5.39	41.44
VoxFormer-T 2024.05		13.35	53.57	26.52	19.69	0.42	19.54	26.54	7.26	1.28	0.56	7.81	26.1	6.1	33.06	1.93	1.97	0	7.31	9.15	4.94	44.15
VoxFormer-T 2024.07		13.35	53.57	26.52	19.69	0.42	19.54	26.54	8.1	1.28	0.56	7.81	26.1	6.1	33.06	1.93	1.97	0	7.31	9.15	4.94	44.15
VoxFormer 2025.12		13.35	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
DepthSSC 2024.05		13.28	55.38	27.04	18.76	0.92	19.23	25.94	6.02	0.35	1.16	7.5	26.37	4.52	30.19	2.58	6.32	0	8.46	7.42	4.09	45.84
DepthSSC 2025.12		13.28	55.38	27.04	18.76	92	19.23	25.94	6.02	35	116	7.5	26.37	4.52	30.19	258	632	0	8.46	7.42	4.09	45.84
SPOT-Occ 2026.02		13.27	59.33	28.46	21.04	1.26	15.19	26.42	16.1	1.08	1.59	11.88	18.97	303	31.57	1.82	1.16	0	661	4.1	2.56	36.4
OctreeOcc 2023.12		13.12	55.13	26.74	18.68	0.65	18.69	28.07	16.43	0.64	0.71	6.03	25.26	4.89	32.47	2.25	2.57	0	4.01	3.72	2.36	44.71
SparseOcc 2024.04		13.12	59.59	29.68	20.44	0.47	15.41	24.03	18.07	0.78	0.89	8.94	18.89	3.46	31.06	3.68	0.62	0	6.73	3.89	2.6	36.48
SSv2 2020.12		12.94	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
NDC-Scene 2023.09		12.7	59.2	28.24	21.42	1.67	14.94	26.26	14.75	1.67	2.37	7.73	19.09	3.51	31.04	3.6	2.74	0	6.65	4.53	2.73	-
NDC-Scene 2023.06		12.7	59.2	28.24	21.42	1.67	14.94	26.26	14.75	1.67	2.37	7.73	19.09	3.51	31.04	3.6	2.74	0	6.65	4.53	2.73	37.24
IAMSSC 2024.05		12.45	54.55	25.85	16.02	0.7	17.38	26.26	8.74	0.6	0.15	5.06	24.63	4.95	30.13	1.32	3.46	0.01	6.86	6.35	3.56	44.29
IAMSSC 2025.12		12.45	54.55	25.85	16.02	70	17.38	26.26	8.74	60	15	5.06	24.63	4.95	30.13	132	346	0.01	6.86	6.35	3.56	44.29
VoxFormer 2023.06		12.35	54.76	26.35	15.5	0.7	17.65	25.79	5.63	0.59	0.51	3.77	24.39	5.08	29.96	1.78	3.32	0	7.64	7.11	4.18	44.02
VoxFormer 2023.12		12.35	54.76	26.35	15.5	0.7	17.65	25.79	5.63	0.59	0.51	3.77	24.39	5.08	29.96	1.78	3.32	0	7.64	7.11	4.18	44.02
VoxFormer-S 2024.05		12.35	54.76	26.35	15.5	0.7	17.65	25.79	5.63	0.59	0.51	3.77	24.39	5.08	29.96	1.78	3.32	0	7.64	7.11	4.18	44.02
VoxFormer-S 2024.07		12.35	54.76	26.35	15.5	0.7	17.65	25.79	7.26	0.59	0.51	3.77	24.39	5.08	29.96	1.78	3.32	0	7.64	7.11	4.18	44.02
VoxFormer-S 2025.12		12.35	54.76	26.35	15.5	70	17.65	25.79	5.63	59	51	3.77	24.39	5.08	29.96	178	332	0	7.64	7.11	4.18	44.02
SparseOcc† 2026.02		12.21	59.67	28.06	13.23	0.14	15.33	25.12	9.22	0.68	1.49	8.64	19.01	351	30.93	2.29	1.21	0	659	4.24	2.67	35.92
PointSeg 2020.12		12.04	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
MonoScene + PNAM 2025.12		11.51	56.27	26.71	14.65	145	13.48	23.11	11.38	40	73	3.59	17.08	2.96	29.45	295	169	0	6.2	3.84	2.69	36.44
MonoScene 2023.09		11.5	57.47	27.05	15.72	0.87	14.24	23.55	7.83	0.2	0.77	3.59	18.12	2.57	30.76	1.79	1.03	0	6.39	4.11	2.48	-
MonoScene 2024.07		11.5	57.47	27.05	15.72	0.87	14.24	23.55	7.83	0.2	0.77	3.59	18.12	2.57	30.76	1.79	1.03	0	6.39	4.11	2.48	37.12
MonoScene + VLGM 2025.12		11.49	56.48	26.64	14.35	142	13.55	22.76	12.45	44	71	3.12	16.44	2.97	29.5	304	164	0	6.28	3.85	2.65	35.62
MonoScene + 3D U-Net 2025.12		11.47	56.24	26.63	14.95	142	13.11	23.46	10.95	41	87	3.69	16.75	2.73	29.57	298	164	0	6.19	3.77	2.62	35.7
TPVFormer 2023.06		11.36	56.5	25.87	20.6	0.85	13.88	23.81	8.08	0.36	0.05	4.35	16.92	2.26	30.38	0.51	0.89	0	5.94	3.14	1.52	35.61
TPVFormer 2023.12		11.36	56.5	25.87	20.6	0.85	13.88	23.81	8.08	0.36	0.05	4.35	16.92	2.26	30.38	0.51	0.89	0	5.94	3.14	1.52	35.61
TPVFormer 2024.04		11.36	56.5	25.87	20.6	0.85	13.88	23.81	8.08	0.36	0.05	4.35	16.92	2.26	30.38	0.51	0.89	0	5.94	3.14	1.52	35.61
TPVFormer 2024.05		11.36	56.5	25.87	20.6	0.85	13.88	23.81	8.08	0.36	0.05	4.35	16.92	2.26	30.38	0.51	0.89	0	5.94	3.14	1.52	35.61
TPVFormer 2026.02		11.36	56.5	25.87	20.6	0.85	13.88	23.81	8.08	0.36	0.05	4.35	16.92	226	30.38	0.51	0.89	0	594	3.14	1.52	35.61
TPVFormer 2025.12		11.36	56.5	25.87	20.6	85	13.88	23.81	8.08	36	5	4.35	16.92	2.26	30.38	51	89	0	5.94	3.14	1.52	35.61
MonoScene 2023.06		11.08	56.52	26.72	14.27	0.46	14.09	23.26	6.98	0.61	0.45	1.48	17.89	2.81	29.64	1.86	1.2	0	5.84	4.14	2.25	36.86
MonoScene 2023.12		11.08	56.52	26.72	14.27	0.46	14.09	23.26	6.98	0.61	0.45	1.48	17.89	2.81	29.64	1.86	1.2	0	5.84	4.14	2.25	36.86
MonoScene 2024.04		11.08	56.52	26.72	14.27	0.46	14.09	23.26	6.98	0.61	0.45	1.48	17.89	2.81	29.64	1.86	1.2	0	5.84	4.14	2.25	36.86
MonoScene 2024.05		11.08	56.52	26.72	14.27	0.46	14.09	23.26	6.98	0.61	0.45	1.48	17.89	2.81	29.64	1.86	1.2	0	5.84	4.14	2.25	36.86
MonoScene 2026.02		11.08	56.52	26.72	14.27	0.46	14.09	23.26	6.98	0.61	0.45	1.48	17.89	281	29.64	1.86	1.2	0	584	4.14	2.25	36.86
MonoScene 2025.12		11.08	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-	-
MonoScene 2025.12		11.08	56.52	26.72	14.27	46	14.09	23.26	6.98	61	45	1.48	17.89	2.81	29.64	186	120	0	5.84	4.14	2.25	36.86
JS3C-Net 2023.06		10.31	50.49	23.74	11.94	0.07	15.03	24.65	4.41	0	0	6.15	18.11	4.33	26.86	0.67	0.27	0.2	3.94	3.77	1.45	38.98
JS3C-Net 2023.12		10.31	50.49	23.74	11.94	0.07	15.03	24.65	4.41	0	0	6.15	18.11	4.33	26.86	0.67	0.27	0	3.94	3.77	1.45	38.98
JS3C-Net 2024.04		10.31	50.49	23.74	11.94	0.07	15.03	24.65	4.41	0	0	6.15	18.11	4.33	26.86	0.67	0.27	0	3.94	3.77	1.45	38.98
JS3C-Net* 2026.02		10.31	50.49	23.74	11.94	0.07	15.03	24.65	4.41	0	0	6.15	18.11	433	26.86	0.67	0.27	0	394	3.77	1.45	38.98
AICNet 2023.09		8.31	43.55	20.55	11.97	0.07	12.94	14.71	4.53	0	0	0	15.37	2.9	28.71	0	0	0	2.52	0.06	0	-
AICNet 2023.06		8.31	43.55	20.55	11.97	0.07	12.94	14.71	4.53	0	0	0	15.37	2.9	28.71	0	0	0	2.52	0.06	0	29.59
AICNet 2023.12		8.31	43.55	20.55	11.97	0.07	12.94	14.71	4.53	0	0	0	15.37	2.9	28.71	0	0	0	2.52	0.06	0	29.59
AICNet 2024.04		8.31	43.55	20.55	11.97	0.07	12.94	14.71	4.53	0	0	0	15.37	2.9	28.71	0	0	0	2.52	0.06	0	29.59
AICNet* 2026.02		8.31	43.55	20.55	11.97	0.07	12.94	14.71	4.53	0	0	0	15.37	290	28.71	0	0	0	252	0.06	0	29.59
3DSketch 2023.09		7.5	41.32	21.63	0	0	14.81	18.59	0	0	0	0	19.09	0	26.4	0	0	0	0.73	0	0	-
3DSketch 2023.12		7.5	41.32	21.63	0	0	14.81	18.59	0	0	0	0	19.09	0	26.4	0	0	0	0.73	0	0	33.3
3DSketch 2024.04		7.5	41.32	21.63	0	0	14.81	18.59	0	0	0	0	19.09	0	26.4	0	0	0	0.73	0	0	33.3
3DSketch* 2026.02		7.5	41.32	21.63	0	0	14.81	18.59	0	0	0	0	19.09	0	26.4	0	0	0	73	0	0	33.3
LMSCNet 2023.09		6.7	40.68	18.22	4.38	0	10.31	18.33	0	0	0	0	13.66	0.02	20.54	0	0	0	1.21	0	0	-
LMSCNet 2023.06		6.7	40.68	18.22	4.38	0	10.31	18.33	0	0	0	0	13.66	0.02	20.54	0	0	0	1.21	0	0	28.61
LMSCNet 2023.12		6.7	40.68	18.22	4.38	0	10.31	18.33	0	0	0	0	13.66	0.02	20.54	0	0	0	1.21	0	0	28.61
LMSCNet 2024.04		6.7	40.68	18.22	4.38	0	10.31	18.33	0	0	0	0	13.66	0.02	20.54	0	0	0	1.21	0	0	28.61
LMSCNet* 2026.02		6.7	40.68	18.22	4.38	0	10.31	18.33	0	0	0	0	13.66	2	20.54	0	0	0	121	0	0	28.61