# 3D Point Matching on 3DMatch Indoor scenes (SUN3D, 7-scenes)

Source: [3D Point Matching on 3DMatch Indoor scenes (SUN3D, 7-scenes)](<https://www.sota2.com/research/sota/3d-point-matching-on-3dmatch-indoor-scenes-sun3d-7-scenes>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:01:11.357Z

Evaluation of 3D point matching performance on the 3DMatch Indoor scenes dataset (including SUN3D and 7-scenes subsets), typically measured using recall and precision.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 3D Point Matching |
| Dataset (including any stated split) | 3DMatch Indoor scenes (SUN3D, 7-scenes) |
| Metric | Recall |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Recall](<https://www.sota2.com/research/sota/3d-point-matching-on-3dmatch-indoor-scenes-sun3d-7-scenes.md?metric=Recall>): Higher is better; unit: PERCENT.

- [Precision](<https://www.sota2.com/research/sota/3d-point-matching-on-3dmatch-indoor-scenes-sun3d-7-scenes.md?metric=Precision>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Recall | Result date | Report paper |
| --- | --- | --- | --- |
| PPFNet | 71 | Not recorded | 68fa640f1e209131cea0273c |
| 3DMatch | 67 | Not recorded | 68fa640f1e209131cea0273c |
| 3DMatch-2K | 63 | Not recorded | 68fa640f1e209131cea0273c |
| CGF | 56 | Not recorded | 68fa640f1e209131cea0273c |
| PointNet | 48 | Not recorded | 68fa640f1e209131cea0273c |
| USC | 43 | Not recorded | 68fa640f1e209131cea0273c |
| FPFH | 40 | Not recorded | 68fa640f1e209131cea0273c |
| Spin Images | 34 | Not recorded | 68fa640f1e209131cea0273c |
| SHOT | 27 | Not recorded | 68fa640f1e209131cea0273c |

### PPFNet

Recall: 71. Result ID: 698c0b17f729bc7f68e7fa04.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### 3DMatch

Recall: 67. Result ID: 698c0b17f729bc7f68e7fa02.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63381e209131ce9fd86c.md>)

[Implementation](<http://3dmatch.cs.princeton.edu/>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### 3DMatch-2K

Recall: 63. Result ID: 698c0b17f729bc7f68e7fa03.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63381e209131ce9fd86c.md>)

[Implementation](<http://3dmatch.cs.princeton.edu/>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### CGF

Recall: 56. Result ID: 698c0b17f729bc7f68e7fa01.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa63a51e209131cea000ec.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### PointNet

Recall: 48. Result ID: 698c0b17f729bc7f68e7fa00.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa634f1e209131ce9fe019.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### USC

Recall: 43. Result ID: 698c0b17f729bc7f68e7f9ff.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### FPFH

Recall: 40. Result ID: 698c0b17f729bc7f68e7f9fe.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### Spin Images

Recall: 34. Result ID: 698c0b17f729bc7f68e7f9fc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

### SHOT

Recall: 27. Result ID: 698c0b17f729bc7f68e7f9fd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa640f1e209131cea0273c.md>)

Recorded evaluation configuration: {"RANSAC":true,"aggregation":"Average across 8 scenes"}. This record does not assert independent reproduction.

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