ResearchBenchmarksI2P registration on TUM 31 (Freiburg_01)I2P registration on TUM 31 (Freiburg_01)Follow38Inlier Ratio (IR)Hg-I2P30.30432.30234.336.298Mar 30, 2026Evaluation resultsMethodMethodLinksInlier Ratio (IR)Registration Recall (RR)Registration Translation Error (RTE)Registration Rotation Error (RRE)Hg-I2PFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.033868.10.0351.147MATRFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0331.959.50.0371.238Top-I2PFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0330.665.50.0361.179