SemanticKITTI

Dataset Information
Modalities
LiDAR
Introduced
2019
License
CC BY-NC-SA 4.0
Homepage
Official Website
Contents

Overview

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

Variants: SemanticKITTI

Associated Benchmarks

This dataset is used in 6 benchmarks:

Recent Benchmark Submissions

Task Model Paper Date
Lidar Scene Completion LiDPM LiDPM: Rethinking Point Diffusion for … 2025-04-24
Lidar Scene Completion LiDPM (refined) LiDPM: Rethinking Point Diffusion for … 2025-04-24
3D Semantic Segmentation DITR DINO in the Room: Leveraging … 2025-03-24
3D Semantic Scene Completion TALoS TALoS: Enhancing Semantic Scene Completion … 2024-10-21
LIDAR Semantic Segmentation SFPNet SFPNet: Sparse Focal Point Network … 2024-07-16
3D Semantic Scene Completion HTCL-S Hierarchical Temporal Context Learning for … 2024-07-02
3D Semantic Segmentation LSK3DNet LSK3DNet: Towards Effective and Efficient … 2024-03-22
3D Semantic Segmentation OA-CNNs OA-CNNs: Omni-Adaptive Sparse CNNs for … 2024-03-21
Lidar Scene Completion LiDiff Scaling Diffusion Models to Real-World … 2024-03-20
Lidar Scene Completion LiDiff (refined) Scaling Diffusion Models to Real-World … 2024-03-20
3D Semantic Segmentation PPT+PTv3 Point Transformer V3: Simpler, Faster, … 2023-12-15
3D Semantic Segmentation FRNet FRNet: Frustum-Range Networks for Scalable … 2023-12-07
4D Panoptic Segmentation Mask4Former Mask4Former: Mask Transformer for 4D … 2023-09-28
LIDAR Semantic Segmentation TFNet TFNet: Exploiting Temporal Cues for … 2023-09-14
3D Semantic Segmentation UniSeg UniSeg: A Unified Multi-Modal LiDAR … 2023-09-11
3D Semantic Segmentation PPT+SparseUNet Towards Large-scale 3D Representation Learning … 2023-08-18
3D Semantic Scene Completion Symphonies (RGB input only) Symphonize 3D Semantic Scene Completion … 2023-06-27
4D Panoptic Segmentation Eq-4D-StOP 4D Panoptic Segmentation as Invariant … 2023-03-28
Panoptic Segmentation P3Former Position-Guided Point Cloud Panoptic Segmentation … 2023-03-23
3D Semantic Segmentation SphereFormer Spherical Transformer for LiDAR-based 3D … 2023-03-22

Research Papers

Recent papers with results on this dataset:

External Links: