ResearchBenchmarksI2P registration on TUM 31 (Freiburg_03)I2P registration on TUM 31 (Freiburg_03)Follow39.3Inlier Ratio (IR)Hg-I2P31.08433.21735.3537.483Mar 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 cm2026.0339.366.60.0471.198MATRFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0333.554.80.0511.31Top-I2PFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0331.460.30.051.294