# Cross-Dataset Semantic Segmentation Performance Analysis: Unifying NIST Point Cloud City Datasets for 3D Deep Learning

arXiv: https://arxiv.org/abs/2508.00822 · HTML: https://mlsanity.com/paper/2508.00822/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 17 references that are in the map.
- First posted on arXiv 1 Aug 2025.

## Builds on (most cited first, 7 of 7)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [Joint 2D-3D-Semantic Data for Indoor Scene Understanding](https://mlsanity.com/paper/1702.01105/) (2017)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training](https://mlsanity.com/paper/2308.09718/) (2023)

## Built on by (most cited first, 1 of 1)

- [INSIGHT: Indoor Scene Intelligence from Geometric-Semantic Hierarchy Transfer for Public~Safety](https://mlsanity.com/paper/2604.23095/) (2026)

## Abstract (arXiv)

This study analyzes semantic segmentation performance across heterogeneously labeled point-cloud datasets relevant to public safety applications, including pre-incident planning systems derived from lidar scans. Using NIST's Point Cloud City dataset (Enfield and Memphis collections), we investigate challenges in unifying differently labeled 3D data. Our methodology employs a graded schema with the KPConv architecture, evaluating performance through IoU metrics on safety-relevant features. Results indicate performance variability: geometrically large objects (e.g. stairs, windows) achieve higher segmentation performance, suggesting potential for navigational context, while smaller safety-critical features exhibit lower recognition rates. Performance is impacted by class imbalance and the limited geometric distinction of smaller objects in typical lidar scans, indicating limitations in detecting certain safety-relevant features using current point-cloud methods. Key identified challenges include insufficient labeled data, difficulties in unifying class labels across datasets, and the need for standardization. Potential directions include automated labeling and multi-dataset learning strategies. We conclude that reliable point-cloud semantic segmentation for public safety necessitates standardized annotation protocols and improved labeling techniques to address data heterogeneity and the detection of small, safety-critical elements.