| ScanNet v2 (val) | G2P | mIoU78.4 | | 171 | 2d ago |
| ScanNet v2 (test) | PointNet++ | mIoU3,390 | | 110 | 3d ago |
| ScanNet (test) | Mix3D | mIoU78.2 | | 105 | 3d ago |
| ScanNet (val) | OneFormer3D | mIoU76.6 | | 100 | 3d ago |
| ScanNet v1 (test) | PointNet++ | mAcc97.8 | | 72 | 3d ago |
| SemanticKITTI (val) | LinK | mIoU67.5 | | 54 | 3d ago |
| S3DIS (S0, S1) | Seg-PN | mIoU (S0)67.63 | | 40 | 3d ago |
| nuScenes (val) | Flash3D | mIoU81.5 | | 37 | 3d ago |
| ScanNet (S0) | Seg-PN | mIoU67 | | 36 | 3d ago |
| nuScenes (test) | SphereFormer | mIoU81.9 | | 36 | 3d ago |
| nuScenes Day to Night (target) | | mIoU 3D69.8 | | 34 | 3d ago |
| S3DIS Area 5 (test) | Contrastive Scene Contexts | mIoU (%)72.2 | | 32 | 2d ago |
| nuScenes Lidar-Seg (val) | EPMF | mIoU80.6 | | 28 | 3d ago |
| ScanNet20 v2 (test) | PTv3 + PPT (Ours) | mIoU79.8 | | 24 | 3d ago |
| VirtualKITTI to SemanticKITTI target (test) | | mIoU80.1 | | 22 | 3d ago |
| nuScenes-Lidarseg USA to Singapore target (test) | | mIoU79.6 | | 22 | 3d ago |
| A2D2 to SemanticKITTI (target) | | mIoU73.6 | | 22 | 3d ago |
| 3D-OVS | LangSplat | Bed99.2 | | 20 | 3d ago |
| ScanNet B10/N9 | | hIoU69.9 | | 20 | 2d ago |
| ScanNet B12 N7 | | hIoU6,850 | | 20 | 2d ago |
| S3DIS | Hou et al. | mIoU72.2 | | 20 | 3d ago |
| ScanNet online benchmark | MkNet-SV+Ours | mIoU69.1 | | 19 | 3d ago |
| S3DIS (B6/N6) | | hIoU65.4 | | 19 | 2d ago |
| S3DIS (B8/N4) | XMask3D | hIoU4,680 | | 19 | 2d ago |
| S3DIS (Area 5 test (Fold #1)) | Virtual Multi-view Fusion | mIoU65.38 | | 19 | 3d ago |
