Geometric Registration on KITTI
0.16RTEHg-I2P† (Ours)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Hg-I2P† (Ours)Fine-tuned=true, LiDAR scans=multiple scans2026.03 | 0.16 | 0.485 | — | |
| Hg-I2P (Ours)Fine-tuned=true, LiDAR scans=single scan2026.03 | 0.172 | 0.502 | — | |
| CMR-AgentVenue=IROS 2024, Fine-tuned=true2026.03 | 0.195 | 0.589 | — | |
| ImCorrVenue=CVPR 2025, Fine-tuned=true2026.03 | 0.2 | 1.24 | — | |
| Self-supervised Point Set Local DescriptorsKeypoint Detector=ISS, Avg #Iter=59602020.03 | 0.215 | 0.51 | 93.5 | |
| CGFKeypoint Detector=ISS, Avg #Iter=74422020.03 | 0.233 | 0.69 | 87.81 | |
| 3DFeatNet DescKeypoint Detector=ISS, Avg #Iter=8311, source=own experiments2020.03 | 0.246 | 0.627 | 93.5 | |
| 3DFeatNet DescKeypoint Detector=3DFeatNet Kpt, Avg #Iter=3798, source=fetched from [7]2020.03 | 0.258 | 0.57 | 95.97 | |
| Self-supervised Point Set Local DescriptorsKeypoint Detector=3DFeatNet Kpt, Avg #Iter=37322020.03 | 0.258 | 0.57 | 95.44 | |
| USCKeypoint Detector=ISS, Avg #Iter=78732020.03 | 0.262 | 0.83 | 78.24 | |
| 3DFeatNet DescKeypoint Detector=3DFeatNet Kpt, Avg #Iter=4394, source=own experiments2020.03 | 0.264 | 0.599 | 95.58 | |
| 3DMatchKeypoint Detector=ISS, Avg #Iter=72922020.03 | 0.283 | 0.79 | 89.12 | |
| CoFiI2PVenue=RAL 2024, Fine-tuned=true2026.03 | 0.29 | 1.14 | — | |
| GraphI2PVenue=CVPR 2025, Fine-tuned=true2026.03 | 0.32 | 1.65 | — | |
| FPFHKeypoint Detector=ISS, Avg #Iter=74622020.03 | 0.325 | 1.08 | 58.59 | |
| SIKeypoint Detector=ISS, Avg #Iter=92192020.03 | 0.358 | 1.17 | 55.92 | |
| CorrI2PVenue=TCSVT 2022, Fine-tuned=true2026.03 | 0.74 | 2.07 | — | |
| VP2P-matchVenue=NeurIPS 2023, Fine-tuned=true2026.03 | 0.75 | 3.29 | — | |
| UMERegRobust2024.08 | 1.53 | 2.08 | — | |
| GLASSType=Image-to-Point2026.03 | 1.54 | 2.11 | — | |
| RetrI2PType=Image-to-Point2026.03 | 1.61 | 3.16 | — | |
| FreeRegType=Image-to-Point2026.03 | 1.78 | 2.89 | — | |
| GCL2024.08 | 1.81 | 3.46 | — | |
| 2D3D-MATRType=Image-to-Point2026.03 | 1.86 | 2.59 | — | |
| CFI2PType=Image-to-Point2026.03 | 1.95 | 2.63 | — | |
| VP2PType=Image-to-Point2026.03 | 2.05 | 4.01 | — | |
| GeoTrans2024.08 | 2.27 | 3.13 | — | |
| Predator2024.08 | 2.59 | 3.32 | — | |
| CoFiNet2024.08 | 3.75 | 4.26 | — | |
| CorrI2PType=Image-to-Point2026.03 | 4.24 | 6.47 | — | |
| vpc + GeoTransformerType=Point-to-Point2026.03 | 4.27 | 8.67 | — | |
| FCGF2024.08 | 4.33 | 5.67 | — | |
| vpc + HunterType=Point-to-Point2026.03 | 4.59 | 6.23 | — | |
| DeepI2P(2D)Type=Image-to-Point2026.03 | 5.15 | 9.14 | — | |
| KISS-MatcherAugmentation=Raw2026.05 | — | — | 54.55 | |
| KISS-MatcherAugmentation=+ PCA [48]2026.05 | — | — | 55.64 | |
| KISS-MatcherAugmentation=+ TULIP [42]2026.05 | — | — | 65.09 | |
| KISS-MatcherAugmentation=+ POLI2026.05 | — | — | 60.73 | |
| TEASERAugmentation=Raw2026.05 | — | — | 64.36 | |
| TEASERAugmentation=+ PCA [48]2026.05 | — | — | 63.09 | |
| TEASERAugmentation=+ TULIP [42]2026.05 | — | — | 71.82 | |
| TEASERAugmentation=+ POLI2026.05 | — | — | 79.09 |