ResearchBenchmarksImage-to-Point Cloud Registration on 7Scenes (test)Image-to-Point Cloud Registration on 7Scenes (test)Follow49.5Inlier RatioAngle-I2P44.40445.72747.0548.373May 6, 2026Evaluation resultsMethodMethodLinksInlier RatioMean Registration ErrorMean Translation ErrorRegistration Recall (0.1m)Angle-I2P2026.0549.53.2370.07578.5GraphI2P2026.0545.33.090.07576GoMatch2026.05453.1190.07676.2RANSACiterations=0.5kiterations=0.5k2026.0544.63.410.08175.2RANSACiterations=1kiterations=1k2026.0544.63.0930.07575.5