Industrial3D: A Water-Treatment TLS Point Cloud Dataset and Cross-Paradigm Benchmark for MEP Scene Understanding

arXiv:2603.28660v2 Announce Type: replace Abstract: Automated semantic understanding of dense terrestrial laser scanning (TLS) point clouds is a prerequisite for Scan-to-BIM, digital twin maintenance, and as-built verifcation. Yet for operational industrial mechanical, electrical, and plumbing (MEP) facilities, this challenge remains largely unsolved: water-treatment TLS scans exhibit extreme geometric ambiguity, severe occlusion, and extreme class imbalance that architectural benchmarks such as S3DIS and ScanNet cannot adequately represent. We present Industrial3D, a terrestrial LiDAR dataset with 612.7 million expert-labeled points at 6 mm resolution from 20 room scenes, 13 dataset areas, and 7 operational water treatment facilities. At 6.6x the scale of the closest comparable MEP dataset, Industrial3D provides the largest industrial MEP testbed for within-domain scene understanding. We further establish a cross-paradigm benchmark of nine methods across fully supervised, weakly supervised, unsupervised, and foundation-model settings. The best supervised method reaches 55.74% mIoU, whereas zero-shot Point-SAM reaches 15.79%, a 39.95 percentage-point gap that quantifes unresolved domain transfer for industrial TLS data. Analysis attributes this gap to a dual crisis: 215:1 statistical rarity and cylindrical geometric ambiguity between tail classes and head-class pipes. The dataset, benchmark code, and pre-trained models will be publicly released at https://github.com/pointcloudyc/Industrial3D.