T. Hackel, N. Savinov, L. Ladicky, J. Wegner, K. Schindler, and M. Pollefeys. (2017)cite arxiv:1704.03847Comment: Accepted to ISPRS Annals. The benchmark website is available at http://www.semantic3d.net/ . The baseline code is available at https://github.com/nsavinov/semantic3dnet.