Point Cloud Registration on 3DLoMatch (low-overlap)
75.4Registration RecallGeoTR
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| GeoTR2023.12 | 75.4 | — | — | 44.7 | — | — | 88.7 | |
| RoITr2023.12 | 74.8 | — | — | 54.3 | — | — | 89.6 | |
| Diff-PCR2023.12 | 73.39 | — | — | 22.54 | — | — | 80.59 | |
| Lepard2023.12 | 70.63 | — | — | 27.83 | — | — | 84.22 | |
| Predator2023.12 | 62.4 | — | — | 26.7 | — | — | 78.6 | |
| MACDescriptor=FCGF, Time(s)=1.1812024.03 | 59.85 | 3.5 | 9.75 | — | — | — | — | |
| SC2-PCRDescriptor=FCGF, Time(s)=0.7202024.03 | 58.73 | 3.8 | 10.44 | — | — | — | — | |
| FastMACDescriptor=FCGF, Sampling ratio=50%, Time(s)=0.2712024.03 | 58.23 | 3.8 | 10.81 | — | — | — | — | |
| PointDSCDescriptor=FCGF, Time(s)=0.1402024.03 | 56.2 | 3.87 | 10.48 | — | — | — | — | |
| FastMACDescriptor=FCGF, Sampling ratio=20%, Mode=real-time, Time(s)=0.0512024.03 | 55.25 | 3.84 | 10.71 | — | — | — | — | |
| TEASER++Descriptor=FCGF, Time(s)=0.0302024.03 | 46.76 | 4.12 | 12.89 | — | — | — | — | |
| FCGF2023.12 | 45.8 | — | — | 21.4 | — | — | 60.9 | |
| DGRDescriptor=FCGF, Time(s)=1.2202024.03 | 43.8 | 4.17 | 10.82 | — | — | — | — | |
| MACDescriptor=FPFH, Time(s)=1.1812024.03 | 40.88 | 3.66 | 9.45 | — | — | — | — | |
| D3Feat2023.12 | 40.2 | — | — | 13.2 | — | — | 69.3 | |
| SC2-PCRDescriptor=FPFH, Time(s)=0.7202024.03 | 38.57 | 4.03 | 10.31 | — | — | — | — | |
| FastMACDescriptor=FPFH, Sampling ratio=50%, Time(s)=0.2712024.03 | 38.46 | 4.04 | 10.47 | — | — | — | — | |
| TEASER++Descriptor=FPFH, Time(s)=0.0302024.03 | 35.15 | 4.38 | 10.96 | — | — | — | — | |
| FastMACDescriptor=FPFH, Sampling ratio=20%, Mode=real-time, Time(s)=0.0512024.03 | 34.31 | 4.12 | 10.82 | — | — | — | — | |
| PointDSCDescriptor=FPFH, Time(s)=0.1402024.03 | 20.38 | 4.04 | 10.25 | — | — | — | — | |
| DGRDescriptor=FPFH, Time(s)=1.2202024.03 | 19.88 | 5.07 | 13.53 | — | — | — | — | |
| RANSAC-4MDescriptor=FCGF, Time(s)=86.302024.03 | 10.44 | 6.91 | 15.14 | — | — | — | — | |
| RANSAC-1MDescriptor=FCGF, Time(s)=19.602024.03 | 9.77 | 7.01 | 14.87 | — | — | — | — | |
| RANSAC-1MDescriptor=FPFH, Time(s)=19.602024.03 | 0.67 | 10.27 | 15.06 | — | — | — | — | |
| RANSAC-4MDescriptor=FPFH, Time(s)=86.302024.03 | 0.45 | 10.39 | 20.03 | — | — | — | — | |
| C-GenReg2026.04 | — | 14.57 | 45.49 | — | — | — | — | |
| GeoTransformer2026.04 | — | 21.1 | 53.46 | — | — | — | — |