3D Point Cloud Registration on KITTI (test)
5.77RTE Avg (cm)IMFNet
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| IMFNet2021.11 | 5.77 | 0.27 | 0.37 | 0.01 | 99.28 | |
| FCGF2021.11 | 6.47 | 6.07 | 0.23 | 0.23 | 98.92 | |
| PREDATOR2021.11 | 6.8 | — | 0.27 | — | 99.8 | |
| D3Feat2021.11 | 6.9 | 0.3 | 0.24 | 0.06 | 99.81 | |
| VBRegDescriptor=FPFH2023.04 | 7.17 | — | 0.32 | — | 98.92 | |
| PointDSCDescriptor=FPFH2023.04 | 7.27 | — | 0.58 | — | 98.2 | |
| SC2_PCRDescriptor=FPFH2023.04 | 9.09 | — | 0.39 | — | 97.84 | |
| SpinNet2021.11 | 9.88 | 0.5 | 0.47 | 0.09 | 99.1 | |
| IMFNetTrained on=3DMatch, RANSAC iterations=400K2021.11 | 10.3 | 0.68 | 0.7 | 0.05 | 99.46 | |
| TEASER++Descriptor=FCGF2023.04 | 12.48 | — | 0.84 | — | 83.24 | |
| TEASER++Descriptor=FPFH2023.04 | 14.85 | — | 1.04 | — | 64.14 | |
| SMDescriptor=FPFH2023.04 | 15.01 | — | 0.66 | — | 75.5 | |
| SpinNetTrained on=3DMatch, RANSAC iterations=50K2021.11 | 15.6 | 1.89 | 0.98 | 0.63 | 81.44 | |
| SMDescriptor=FCGF2023.04 | 19.88 | — | 0.5 | — | 96.58 | |
| SC2_PCRDescriptor=FCGF2023.04 | 20.66 | — | 0.33 | — | 97.48 | |
| PointDSCDescriptor=FCGF2023.04 | 20.88 | — | 0.47 | — | 97.66 | |
| VBRegDescriptor=FCGF2023.04 | 20.91 | — | 0.32 | — | 98.02 | |
| IMFNetTrained on=3DMatch, RANSAC iterations=50K2021.11 | 21.9 | 3.1 | 1.94 | 0.3 | 85.59 | |
| FGRDescriptor=FCGF2023.04 | 22.3 | — | 0.38 | — | 96.58 | |
| RANSACDescriptor=FCGF2023.04 | 22.61 | — | 0.28 | — | 97.66 | |
| DGRDescriptor=FCGF2023.04 | 23.28 | — | 0.43 | — | 95.14 | |
| RANSACDescriptor=FPFH2023.04 | 25.88 | — | 1.22 | — | 89.37 | |
| FCGFTrained on=3DMatch, RANSAC iterations=50K2021.11 | 27.1 | 5.58 | 1.61 | 1.51 | 24.19 | |
| D3FeatTrained on=3DMatch, RANSAC iterations=50K2021.11 | 31.6 | 10.1 | 1.44 | 1.35 | 36.76 | |
| DGRDescriptor=FPFH2023.04 | 34.74 | — | 1.67 | — | 73.69 | |
| FGRDescriptor=FPFH2023.04 | 47.18 | — | 1.69 | — | 1.26 |