Model card for spvcnn-30gmacs.semantickitti.mit-han-lab

An SPVCNN point cloud segmentation model (sparse point-voxel convolution). Trained on SemanticKITTI.

Model Details

• Model Type: Point cloud semantic segmentation
• Model Stats:
  • Params (M): 5.4
  • Input channels: 4
  • Classes: 19
  • Features: 48
• Dataset: SemanticKITTI
• Metrics: mIoU 60.7 (reference 60.7)
• Paper: Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution
• Converted from: mit-han-lab/spvnas (MIT)
• Library: torch-pointcloud

Install

pip install torch-pointcloud

This checkpoint also needs torchsparse, which needs a build matching your torch and CUDA: see the installation guide.

Usage

import torch
import torch_pointcloud as tp
from torch_pointcloud.utils.data import collate

model, info = tp.create_model(
    "spvcnn-30gmacs.semantickitti.mit-han-lab",
    task="segmentation",
    pretrained=True,
    return_info=True,
)
model = model.cuda().eval()  # GPU-only kernels

# synthetic sample with the keys a dataset provides
num_points = 8192
sample = {
    "pos": torch.randn(num_points, 3),
    "intensity": torch.rand(num_points, 1),
    "segment": torch.zeros(num_points, dtype=torch.long),
    "instance": torch.zeros(num_points, dtype=torch.long),
}
data = info["transform"](sample)
data = collate([data])
data = {key: value.cuda() for key, value in data.items()}

with torch.no_grad():
    logits = model(data.get("x"), data["pos"], data["batch"])

Feature extraction

with torch.no_grad():
    features = model.forward_features(data.get("x"), data["pos"], data["batch"])

model.reset_classifier(num_classes=0)
with torch.no_grad():
    features = model(data.get("x"), data["pos"], data["batch"])  # (N, 48)

Citation

@inproceedings{tang2020spvnas,
  title   = {Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution},
  author  = {Haotian Tang and Zhijian Liu and Shengyu Zhao and Yujun Lin and Ji Lin and Hanrui Wang and Song Han},
  booktitle = {ECCV},
  year    = {2020}
}

@inproceedings{behley2019semantickitti,
  title   = {SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences},
  author  = {Jens Behley and Martin Garbade and Andres Milioto and Jan Quenzel and Sven Behnke and Cyrill Stachniss and Juergen Gall},
  booktitle = {ICCV},
  year    = {2019}
}

@software{dujardin2026pytorchpointcloud,
  author  = {Arthur Dujardin},
  title   = {PyTorch PointCloud},
  year    = {2026},
  doi     = {10.5281/zenodo.22159632},
  url     = {https://github.com/arthurdjn/pytorch-pointcloud},
}