3D Point Cloud Registration on ETH (test)
92FMR (tc=0.1m, tr=0.2m)SpinNet
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| SpinNetT(min)=62.6, RANSAC iterations=50k2021.09 | 92 | 14.3 | 93.4 | 99.4 | 23.2 | 96 | — | — | — | |
| PerfectMatchT(min)=53.7, RANSAC iterations=50k2021.09 | 79.2 | 13.3 | 83.5 | 96.8 | 19.7 | 86.4 | — | — | — | |
| YOHO-CT(min)=4.6, RANSAC iterations=1k2021.09 | 71.1 | 10.6 | 87.1 | 96.8 | 26.8 | 96.8 | — | — | — | |
| YOHO-OT(min)=6.2, RANSAC iterations=1k2021.09 | 71.1 | 10.6 | 74.1 | 96.8 | 26.8 | 94.7 | — | — | — | |
| D3FeatT(min)=4.1, RANSAC iterations=50k2021.09 | 59.1 | 7.9 | 55.2 | 63.3 | 18.2 | 59.1 | — | — | — | |
| FCGFT(min)=5.2, RANSAC iterations=50k2021.09 | 47.3 | 5.5 | 48.2 | 59 | 16.7 | 52.2 | — | — | — | |
| PredatorT(min)=16.7, RANSAC iterations=50k2021.09 | 25.4 | 3.7 | 52.3 | 65.6 | 11.1 | 74.7 | — | — | — | |
| BaselineVoxel Resolution (VR)=60cm, Rotation Threshold (τ_r)=5°, Translation Threshold (t_r)=30cm, Note=Implements greedy grid search2022.11 | — | — | — | — | — | — | 78.4 | 0.355 | 1.706 | |
| DIPTraining dataset=3DMatch2022.11 | — | — | — | — | — | — | 62.41 | 1.94 | 14.716 | |
| FCGF+PointDSCTraining dataset=3DMatch2022.11 | — | — | — | — | — | — | 2.81 | 0.573 | 23.426 | |
| FCGF+YOHO-CVariant=C, Training dataset=3DMatch2022.11 | — | — | — | — | — | — | 84.85 | 1.95 | 16.176 | |
| FCGF+YOHO-OVariant=O, Training dataset=3DMatch2022.11 | — | — | — | — | — | — | 79.94 | 2.167 | 16.112 | |
| GeoTransformerTraining dataset=3DMatch2022.11 | — | — | — | — | — | — | 4.91 | 0.71 | 21.162 | |
| SpinNetTraining dataset=3DMatch2022.11 | — | — | — | — | — | — | 73.07 | 1.205 | 5.352 |