Multi-view Registration on ScanNet (test)
19.7Rotation Error (< 3°)EIGSE3
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| EIGSE3Pose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 19.7 | 24.4 | 32.3 | 49.3 | 56.9 | 53.6 | 48 | 11.2 | 19.7 | 30.5 | 45.7 | 56.7 | 1.03 | 0.94 | |
| L1-IRLSPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 38.1 | 44.2 | 48.8 | 55.7 | 56.5 | 53.9 | 47.1 | 18.5 | 30.4 | 40.7 | 47.8 | 54.4 | 1.14 | 1.07 | |
| EIGSE3Pose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 40.8 | 46.3 | 51.9 | 61.2 | 65.7 | 40.6 | 37.1 | 23.9 | 38.5 | 51 | 59.3 | 66.1 | 0.88 | 0.84 | |
| RotAvgPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 44.1 | 49.8 | 52.8 | 56.5 | 57.3 | 53.1 | 44 | 28.2 | 40.8 | 48.6 | 51.9 | 56.1 | 1.13 | 1.05 | |
| L1-IRLSPose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 46.3 | 54.2 | 61.6 | 64.3 | 66.8 | 41.8 | 34 | 24.1 | 38.5 | 48.3 | 55.6 | 60.9 | 1.05 | 1.01 | |
| LITSPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49]2023.04 | 47.4 | 58.4 | 70.5 | 78.3 | 79.7 | 27.6 | — | 29.6 | 47.5 | 66.7 | 73.3 | 77.6 | 0.56 | — | |
| LMVRPose Graph=Full, #Pair=13920, Pairwise registration algorithm=LMVR internal pipeline2023.04 | 48.3 | 53.6 | 58.9 | 63.2 | 64 | 48.1 | 33.7 | 34.5 | 49.1 | 58.5 | 61.6 | 63.9 | 0.83 | 0.55 | |
| RotAvgPose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 50.2 | 60.1 | 65.3 | 66.8 | 68.8 | 38.5 | 31.6 | 31.8 | 49 | 58.8 | 63.3 | 65.6 | 0.96 | 0.83 | |
| LITSPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 52.8 | 67.1 | 74.9 | 77.9 | 79.5 | 26.8 | 27.9 | 29.4 | 51.1 | 68.9 | 75 | 77 | 0.68 | 0.66 | |
| LITSPose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 54.3 | 69.4 | 75.6 | 78.5 | 80.3 | 24.9 | 19.9 | 31.4 | 54.4 | 72.3 | 76.7 | 79.6 | 0.65 | 0.56 | |
| HARAPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 54.9 | 64.3 | 71.3 | 74.1 | 74.2 | 32.1 | 29.2 | 35.8 | 54.4 | 66.3 | 69.7 | 72.9 | 0.87 | 0.75 | |
| HARAPose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49], Selected frames and pairwise transformations=same as ours2023.04 | 55.7 | 63.7 | 69 | 70.8 | 72.1 | 34.7 | 31.3 | 35.2 | 53.6 | 65.4 | 68.6 | 71.7 | 0.86 | 0.71 | |
| SGHRPose Graph=Full, #Pair=13920, Pairwise registration algorithm=YOHO [49]2023.04 | 57.2 | 68.5 | 75.1 | 78.1 | 78.8 | 26.4 | 19.5 | 39.4 | 61.5 | 72 | 75.2 | 77.6 | 0.7 | 0.59 | |
| SGHRPose Graph=Ours, #Pair=6004, Pairwise registration algorithm=YOHO [49]2023.04 | 59.1 | 73.1 | 80.8 | 82.5 | 83 | 21.7 | 19 | 39.9 | 64.1 | 76.7 | 79 | 81.9 | 0.56 | 0.49 | |
| SGHRPose Graph=Pruned [21], #Pair=13920, Pairwise registration algorithm=YOHO [49]2023.04 | 59.4 | 71.9 | 80 | 82.1 | 82.6 | 21.7 | 19.1 | 39.9 | 63 | 74.3 | 77.6 | 80.2 | 0.64 | 0.47 |