ResearchBenchmarksI2P registration on TUM Freiburg_02 31I2P registration on TUM Freiburg_02 31Follow28.6Inlier Ratio (IR)Hg-I2P22.04823.74925.4527.151Mar 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 cm2026.0328.639.40.051.455Top-I2PFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0323.4310.0541.502MATRFine-tuning=False, RR...Fine-tuning=False, RR threshold=10 cm2026.0322.322.30.0521.469