Geometric Registration on KITTI Dataset (test)
0.215RTEProposed Descriptor
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Proposed DescriptorKeypoint Detector=ISS2020.03 | 0.215 | 0.51 | 93.5 | 5,960 | — | — | — | |
| CGFKeypoint Detector=ISS, Source=Collected from [7]2020.03 | 0.233 | 0.69 | 87.81 | 7,442 | — | — | — | |
| 3DFeatNet DescKeypoint Detector=ISS, Source=Own experiment2020.03 | 0.246 | 0.627 | 93.5 | 8,311 | — | — | — | |
| 3DFeatNet DescKeypoint Detector=3DFeatNet Kpt, Source=Collected from [7]2020.03 | 0.258 | 0.57 | 95.97 | 3,798 | — | — | — | |
| Proposed DescriptorKeypoint Detector=3DFeatNet Kpt2020.03 | 0.258 | 0.57 | 95.44 | 3,732 | — | — | — | |
| USCKeypoint Detector=ISS, Source=Collected from [7]2020.03 | 0.262 | 0.83 | 78.24 | 7,873 | — | — | — | |
| 3DFeatNet DescKeypoint Detector=3DFeatNet Kpt, Source=Own experiment2020.03 | 0.264 | 0.599 | 95.58 | 4,394 | — | — | — | |
| 3DMatchKeypoint Detector=ISS, Source=Collected from [7]2020.03 | 0.283 | 0.79 | 89.12 | 7,292 | — | — | — | |
| FPFHKeypoint Detector=ISS, Source=Collected from [7]2020.03 | 0.325 | 1.08 | 58.59 | 7,462 | — | — | — | |
| SIKeypoint Detector=ISS, Source=Collected from [7]2020.03 | 0.358 | 1.17 | 55.92 | 9,219 | — | — | — | |
| CorrI2P2022.07 | 0.74 | 2.07 | — | — | — | — | — | |
| Grid Cls. + EPnPClassification=Grid, PnP Algorithm=EPnP2022.07 | 1.07 | 6.48 | — | — | — | — | — | |
| DeepI2P (3D)Projection=3D inverse camera projection2022.07 | 1.27 | 6.26 | — | — | — | — | — | |
| DeepI2P (2D)Projection=2D inverse camera projection2022.07 | 1.46 | 4.27 | — | — | — | — | — | |
| Deep Global RegistrationTime (s)=2.29, Thresholds=0.6m and 5 degrees2020.04 | — | — | — | — | 96.9 | 21.7 | 0.34 | |
| Deep Global Registration + ICPRefinement=ICP, Time (s)=2.51, Thresholds=0.6m and 5 degrees2020.04 | — | — | — | — | 98 | 3.46 | 0.14 | |
| Direct Regression2021.04 | — | — | — | — | — | 494 | 21.98 | |
| FCGFTime (s)=6.382020.04 | — | — | — | — | 98.2 | 10.2 | 0.33 | |
| FGRTime (s)=1.422020.04 | — | — | — | — | 0.2 | 40.7 | 1.02 | |
| Frus. Cls. + Inv.Proj. 2Dvariant=DeepI2P2021.04 | — | — | — | — | — | 328 | 7.56 | |
| Frus. Cls. + Inv.Proj. 3Dvariant=DeepI2P2021.04 | — | — | — | — | — | 317 | 15.52 | |
| Grid Cls. + PnPvariant=DeepI2P2021.04 | — | — | — | — | — | 322 | 10.15 | |
| MonoDepth2 + GT-ICPinitialization=ground truth relative pose2021.04 | — | — | — | — | — | 290 | 12.4 | |
| MonoDepth2 + USIP2021.04 | — | — | — | — | — | 3,040 | 140.6 | |
| RANSACTime (s)=1.372020.04 | — | — | — | — | 34.2 | 25.9 | 1.39 |