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Table 1 Semantic segmentation results on the Oakland dataset

From: Pseudo-labelling-aided semantic segmentation on sparsely annotated 3D point clouds

Method Overall accuracy (%) Average F-score (%) Per-class F-scores(%)
    Foliage Wire Pole Ground Façade
Pointwise [1] 79.8 49.9 82.2 4.3 4.3 91.4 67.5
CRF-reg [22] 96.0 66.2 93.6 32.0 11.9 99.0 94.5
Seg-aided [17] 96.6 68.4 93.7 46.5 8.7 99.5 93.9
Supervised baseline 88.1 55.9 75.7 7.9 16.5 98.3 81.3
Ours no kdist 91.2 62.7 82.2 10.3 36.8 98.4 85.9
Ours with kdist 96.6 74.2 92.0 40.2 46.2 99.3 93.3