Feature Matching on ETH dataset (test)
22.8FMR (Gazebo Summer)3DMatch
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| 3DMatchParam. (Mb)=13.42020.11 | 22.8 | 8.3 | 13.9 | 22.4 | 16.9 | |
| FCGFParam. (Mb)=33.482020.11 | 22.8 | 10 | 14.8 | 16.8 | 16.1 | |
| FCGFArchitecture=U-Net deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 22.8 | 10 | 14.8 | 16.8 | 16.1 | |
| CGFParam. (Mb)=1.862020.11 | 37.5 | 13.8 | 10.4 | 19.2 | 20.2 | |
| FPFH2020.11 | 38.6 | 14.2 | 14.8 | 20.8 | 22.1 | |
| FPFHArchitecture=Classical, UDGE=false, tau_1=10 cm, tau_2=0.052021.03 | 38.6 | 14.2 | 14.8 | 20.8 | 22.1 | |
| D3FeatParam. (Mb)=13.42, Selection Strategy=rand2020.11 | 45.7 | 23.9 | 13 | 22.4 | 26.2 | |
| MS-SVConv(1)Architecture=U-Net deep, UDGE=false, Variant=Radius=1, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 58.2 | 23.2 | 27 | 31.2 | 34.9 | |
| 3DSmoothNetArchitecture=Patch based deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 62.8 | 76.9 | 66.3 | 78.8 | 72.1 | |
| SHOT2020.11 | 73.9 | 45.7 | 60.9 | 64 | 61.1 | |
| SHOTArchitecture=Classical, UDGE=false, tau_1=10 cm, tau_2=0.052021.03 | 73.9 | 45.7 | 60.9 | 64 | 61.1 | |
| LMVDParam. (Mb)=2.662020.11 | 85.3 | 72 | 84 | 78.3 | 79.9 | |
| D3FeatParam. (Mb)=13.42, Selection Strategy=pred2020.11 | 85.9 | 63 | 49.6 | 48 | 61.6 | |
| D3FeatArchitecture=U-Net deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 85.9 | 63 | 49.6 | 48 | 61.6 | |
| MS-SVConv(1)Architecture=U-Net deep, UDGE=true, Variant=Radius=1, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 86.4 | 90 | 85.2 | 90.4 | 88 | |
| MS-SVConv(3)Architecture=U-Net deep, UDGE=false, Variant=Radius=3, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 89.3 | 68.1 | 63.5 | 65.6 | 71.8 | |
| MultiViewArchitecture=Patch based deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 89.5 | 85.9 | 81.3 | 95.1 | 92.3 | |
| DIPArchitecture=Patch based deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 90.8 | 88.6 | 96.5 | 95.2 | 92.8 | |
| PerfectMatchParam. (Mb)=3.262020.11 | 91.3 | 84.1 | 67.8 | 72.8 | 79 | |
| SpinNetParam. (Mb)=2.162020.11 | 92.9 | 91.7 | 92.2 | 94.4 | 92.8 | |
| SpinNetArchitecture=Patch based deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 92.9 | 91.7 | 92.2 | 94.4 | 92.8 | |
| MS-SVConv(3)Architecture=U-Net deep, UDGE=true, Variant=Radius=3, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 95.7 | 100 | 100 | 100 | 98.9 | |
| GeDIArchitecture=Patch based deep, UDGE=false, Pre-trained on=indoor 3DMatch, tau_1=10 cm, tau_2=0.052021.03 | 98.9 | 96.5 | 97.4 | 100 | 98.2 |