# Serialized Point Mamba: A Serialized Point Cloud Mamba Segmentation Model

arXiv: https://arxiv.org/abs/2407.12319 · HTML: https://mlsanity.com/paper/2407.12319/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Placed in Point clouds, detection and remote sensing, one of 10 directions in State-space sequence models (S4, Mamba).
- Builds on 36 of its 40 references that are in the map.
- First posted on arXiv 17 Jul 2024.

## Placed in

- State-space sequence models (S4, Mamba) / [Point clouds, detection and remote sensing](https://mlsanity.com/ssm/point-clouds-detection-and-remote-sensing/)

## Builds on (most cited first, 30 of 36)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Efficiently Modeling Long Sequences with Structured State Spaces](https://mlsanity.com/paper/2111.00396/) (2021)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [Vision Mamba: Efficient Visual Representation Learning with Bidirectional State Space Model](https://mlsanity.com/paper/2401.09417/) (2024)
- [Efficient Transformers: A Survey](https://mlsanity.com/paper/2009.06732/) (2020)
- [Simplified State Space Layers for Sequence Modeling](https://mlsanity.com/paper/2208.04933/) (2022)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [PCT: Point cloud transformer](https://mlsanity.com/paper/2012.09688/) (2020)
- [PointConv: Deep Convolutional Networks on 3D Point Clouds](https://mlsanity.com/paper/1811.07246/) (2018)
- [Point-BERT: Pre-training 3D Point Cloud Transformers with Masked Point Modeling](https://mlsanity.com/paper/2111.14819/) (2021)
- [Bidirectional LSTM-CRF Models for Sequence Tagging](https://mlsanity.com/paper/1508.01991/) (2015)
- [Hungry Hungry Hippos: Towards Language Modeling with State Space Models](https://mlsanity.com/paper/2212.14052/) (2022)
- [PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies](https://mlsanity.com/paper/2206.04670/) (2022)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Resurrecting Recurrent Neural Networks for Long Sequences](https://mlsanity.com/paper/2303.06349/) (2023)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [PointGroup: Dual-Set Point Grouping for 3D Instance Segmentation](https://mlsanity.com/paper/2004.01658/) (2020)
- [VM-UNet: Vision Mamba UNet for Medical Image Segmentation](https://mlsanity.com/paper/2402.02491/) (2024)
- [It's Raw! Audio Generation with State-Space Models](https://mlsanity.com/paper/2202.09729/) (2022)
- [PointMamba: A Simple State Space Model for Point Cloud Analysis](https://mlsanity.com/paper/2402.10739/) (2024)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding](https://mlsanity.com/paper/2304.06906/) (2023)
- [OctFormer: Octree-based Transformers for 3D Point Clouds](https://mlsanity.com/paper/2305.03045/) (2023)

## Built on by (most cited first, 4 of 4)

- [A Survey on Mamba Architecture for Vision Applications](https://mlsanity.com/paper/2502.07161/) (2025)
- [Rethinking Metrics and Diffusion Architecture for 3D Point Cloud Generation](https://mlsanity.com/paper/2511.05308/) (2025)
- [A Survey on Deep Learning Architectures for Point Cloud Classification and Segmentation](https://mlsanity.com/paper/2605.17131/) (2026)
- [HybridTM: Combining Transformer and Mamba for 3D Semantic Segmentation](https://mlsanity.com/paper/2507.18575/) (2025)

## Abstract (arXiv)

Point cloud segmentation is crucial for robotic visual perception and environmental understanding, enabling applications such as robotic navigation and 3D reconstruction. However, handling the sparse and unordered nature of point cloud data presents challenges for efficient and accurate segmentation. Inspired by the Mamba model's success in natural language processing, we propose the Serialized Point Cloud Mamba Segmentation Model (Serialized Point Mamba), which leverages a state-space model to dynamically compress sequences, reduce memory usage, and enhance computational efficiency. Serialized Point Mamba integrates local-global modeling capabilities with linear complexity, achieving state-of-the-art performance on both indoor and outdoor datasets. This approach includes novel techniques such as staged point cloud sequence learning, grid pooling, and Conditional Positional Encoding, facilitating effective segmentation across diverse point cloud tasks. Our method achieved 76.8 mIoU on Scannet and 70.3 mIoU on S3DIS. In Scannetv2 instance segmentation, it recorded 40.0 mAP. It also had the lowest latency and reasonable memory use, making it the SOTA among point semantic segmentation models based on mamba.