2D-3D Registration on RGB-D Scenes v2
92.5Registration RecallUniCorrn
Evaluation results
| Method | Links | ||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| UniCorrnstage=22026.05 | 92.5 | 83.6 | 97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLASSScene=Scene.122026.03 | 92.2 | 54.3 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flow-I2PScene=Scene.112026.03 | 90 | 49.6 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLASSScene=Scene.112026.03 | 87.5 | 51.4 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diff-Reg2026.05 | 87.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLASSScene=Mean2026.03 | 83.3 | 45.4 | 93.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLASSScene=Scene.132026.03 | 82.5 | 42.8 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeRegScene=Scene.112026.03 | 74.2 | 36.6 | 91.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3DnetScene=Scene.132026.03 | 74.2 | 43.8 | 92.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CA-I2PScene=Scene.122026.03 | 73.5 | 40.6 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeRegScene=Scene.122026.03 | 72.5 | 34.5 | 93.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GLASSScene=Scene.142026.03 | 71.2 | 33.1 | 85.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flow-I2PScene=Mean2026.03 | 68.4 | 40.1 | 93.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CA-I2PScene=Scene.112026.03 | 68.1 | 38.6 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flow-I2PScene=Scene.122026.03 | 65.9 | 44 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATRScene=Scene.112026.03 | 63.9 | 32.8 | 98.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CA-I2PScene=Scene.132026.03 | 63.9 | 38.9 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3DnetScene=Mean2026.03 | 63.4 | 35.1 | 94.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3Dnet2026.05 | 63.4 | 35.1 | 94.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CA-I2PScene=Mean2026.03 | 63.3 | 35.5 | 93.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flow-I2PScene=Scene.142026.03 | 63 | 30.4 | 78.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3DnetScene=Scene.122026.03 | 60.8 | 32.7 | 99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3DnetScene=Scene.142026.03 | 60.2 | 27.4 | 85.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATRScene=Scene.132026.03 | 58.8 | 39.2 | 88.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| B2-3DnetScene=Scene.112026.03 | 58.3 | 36.4 | 100 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeRegScene=Mean2026.03 | 57.3 | 30.9 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeReg2026.05 | 57.3 | 30.9 | 82 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATRScene=Mean2026.03 | 56.4 | 32.4 | 90.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATR2026.05 | 56.4 | 32.4 | 90.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Flow-I2PScene=Scene.132026.03 | 54.8 | 36.5 | 94.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeRegScene=Scene.132026.03 | 54.5 | 34.2 | 93.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATRScene=Scene.122026.03 | 53.9 | 34.4 | 98 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATRScene=Scene.142026.03 | 49.1 | 23.3 | 77.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CA-I2PScene=Scene.142026.03 | 47.8 | 24 | 82.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3DScene=Scene.112026.03 | 44.4 | 17.7 | 86.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3DScene=Scene.122026.03 | 41.2 | 8.5 | 30.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-NetScene=Scene.132026.03 | 41.2 | 17 | 82.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3DScene=Scene.122026.03 | 41.2 | 19.4 | 89.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-NetScene=Scene.112026.03 | 40.3 | 9.7 | 48.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-NetScene=Scene.122026.03 | 40.2 | 12.8 | 65.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-NetScene=Mean2026.03 | 38.4 | 12.2 | 59.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3D2026.05 | 38.4 | 15.7 | 59.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3DScene=Scene.132026.03 | 37.1 | 11.8 | 51.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-NetScene=Scene.142026.03 | 31.9 | 9.3 | 41.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3DScene=Mean2026.03 | 30.4 | 8.1 | 27.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3D2026.05 | 30.4 | 8.1 | 27.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3DScene=Mean2026.03 | 30.2 | 15.7 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| P2-Net2026.05 | 30.2 | 12.2 | 65.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FreeRegScene=Scene.142026.03 | 27.9 | 18.2 | 49.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3DScene=Scene.112026.03 | 26.5 | 6.8 | 11.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3DScene=Scene.132026.03 | 21.6 | 17.2 | 63.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FCGF-2D3DScene=Scene.142026.03 | 16.8 | 5.4 | 15.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator-2D3DScene=Scene.142026.03 | 13.7 | 8.4 | 24.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| 2D3D-MATR2026.05 | — | — | — | 32.8 | 34.4 | 39.2 | 23.3 | 32.4 | 98.6 | 98 | 88.7 | 77.9 | 90.8 | 63.9 | 53.9 | 58.8 | 49.1 | 56.4 | |
| B2-3Dnet2026.05 | — | — | — | 36.4 | 32.7 | 43.8 | 27.4 | 35.1 | 100 | 99 | 92.8 | 85.8 | 94.4 | 58.3 | 60.8 | 74.2 | 60.2 | 63.4 | |
| CA-I2P2026.05 | — | — | — | 38.6 | 40.6 | 38.9 | 24 | 35.5 | 100 | 100 | 91.8 | 82.7 | 93.6 | 68.1 | 73.5 | 63.9 | 47.8 | 63.3 | |
| Diff2-I2P2026.05 | — | — | — | — | — | — | — | 36.9 | — | — | — | — | 77.1 | — | — | — | — | 60.5 | |
| FCGF-2D3D2026.05 | — | — | — | 6.8 | 8.5 | 11.8 | 5.4 | 8.1 | 11.1 | 30.4 | 51.5 | 15.5 | 27.1 | 26.5 | 41.2 | 37.1 | 16.8 | 30.4 | |
| Flow-I2P2026.05 | — | — | — | 49.6 | 44 | 36.5 | 30.4 | 40.1 | 100 | 100 | 94.5 | 78.7 | 93.3 | 90 | 65.9 | 54.8 | 63 | 68.4 | |
| FS-I2P2026.05 | — | — | — | 50.4 | 49.7 | 40.4 | 31.2 | 42.9 | 100 | 100 | 92.8 | 85 | 94.4 | 71.1 | 81.4 | 70.9 | 68.1 | 72.9 | |
| FS-I2PFeature extractor=Dino v22026.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | 90.3 | 89.2 | 91.8 | 73.9 | 86.3 | |
| P2-Net2026.05 | — | — | — | 9.7 | 12.8 | 17 | 9.3 | 12.2 | 48.6 | 65.7 | 82.5 | 41.6 | 59.6 | 40.3 | 40.2 | 41.2 | 31.9 | 38.4 | |
| Predator-2D3D2026.05 | — | — | — | 17.7 | 19.4 | 17.2 | 8.4 | 15.7 | 86.1 | 89.2 | 63.9 | 24.3 | 65.9 | 44.4 | 41.2 | 21.6 | 13.7 | 30.2 |