Point Cloud Registration on 3DLoMatch (test)
99.8Registration RecallOracle Rigid fitting
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Oracle Rigid fitting2021.11 | 99.8 | — | — | — | 100 | 95 | — | — | — | |
| CoFF2025.05 | 81.6 | — | — | — | 93.6 | 47.4 | — | — | — | |
| MCI-NetSamples=10002025.12 | 79.9 | — | — | — | — | 67.2 | 85.1 | — | — | |
| MCI-NetSamples=50002025.12 | 79.7 | — | — | — | — | 66 | 85.1 | — | — | |
| MCI-NetSamples=25002025.12 | 79.7 | — | — | — | — | 66.1 | 85.1 | — | — | |
| MCI-NetSamples=5002025.12 | 79.6 | — | — | — | — | 68 | 85.1 | — | — | |
| MCI-NetSamples=2502025.12 | 79.5 | — | — | — | — | 68.7 | 85 | — | — | |
| PSRegSamples=50002025.12 | 79.3 | — | — | — | — | 49.9 | 86.4 | — | — | |
| PSRegSamples=25002025.12 | 79.3 | — | — | — | — | 55.5 | 86.6 | — | — | |
| PEALSamples=50002025.12 | 79.2 | — | — | — | — | 49.1 | 87.7 | — | — | |
| PEALSamples=25002025.12 | 79 | — | — | — | — | 54.1 | 87.8 | — | — | |
| PEALSamples=10002025.12 | 78.8 | — | — | — | — | 60.5 | 87.8 | — | — | |
| PSRegSamples=10002025.12 | 78.7 | — | — | — | — | 61.9 | 87.1 | — | — | |
| PSRegSamples=5002025.12 | 78.7 | — | — | — | — | 64.5 | 87.4 | — | — | |
| PEALSamples=5002025.12 | 78.5 | — | — | — | — | 63.6 | 88 | — | — | |
| PSRegSamples=2502025.12 | 78.4 | — | — | — | — | 66.3 | 87.1 | — | — | |
| PEALSamples=2502025.12 | 77.9 | — | — | — | — | 65 | 87.4 | — | — | |
| GeoTransformerEstimator=LGR2022.02 | 77.5 | — | — | — | — | — | — | 8.55 | 2.98 | |
| DCATrSamples=50002025.12 | 76.8 | — | — | — | — | 62.1 | 87.7 | — | — | |
| DCATrSamples=25002025.12 | 76.4 | — | — | — | — | 60.3 | 87.5 | — | — | |
| DCATrSamples=10002025.12 | 75.7 | — | — | — | — | 57.9 | 87.7 | — | — | |
| CMHANet# Samples=50002026.03 | 75.5 | — | — | — | — | 43.7 | 87.7 | — | — | |
| DCATrSamples=5002025.12 | 75.1 | — | — | — | — | 53.3 | 87.2 | — | — | |
| CMHANet# Samples=25002026.03 | 75.1 | — | — | — | — | 47.4 | 87.5 | — | — | |
| GeoTransformer# Samples=50002022.01 | 75 | — | — | — | — | 43.5 | 88.3 | — | — | |
| GeoTransformer# Samples=50002022.02 | 75 | — | — | — | — | 43.5 | 88.3 | — | — | |
| GeoTransSamples=50002025.12 | 75 | — | — | — | — | 43.5 | 88.3 | — | — | |
| GeoTransformer# Samples=25002022.01 | 74.8 | — | — | — | — | 45.3 | 88.6 | — | — | |
| GeoTransformer# Samples=25002022.02 | 74.8 | — | — | — | — | 45.3 | 88.6 | — | — | |
| GeoTransSamples=25002025.12 | 74.8 | — | — | — | — | 45.3 | 88.6 | — | — | |
| RoITrSamples=25002025.12 | 74.8 | — | — | — | — | 54.6 | 89.6 | — | — | |
| RoITrSamples=10002025.12 | 74.8 | — | — | — | — | 55.1 | 89.5 | — | — | |
| CMHANet# Samples=10002026.03 | 74.8 | — | — | — | — | 52.3 | 87.5 | — | — | |
| RoITrSamples=50002025.12 | 74.7 | — | — | — | — | 54.3 | 89.6 | — | — | |
| CMHANet# Samples=5002026.03 | 74.6 | — | — | — | — | 55.6 | 87.5 | — | — | |
| CMHANet# Samples=2502026.03 | 74.6 | — | — | — | — | 58.3 | 87.4 | — | — | |
| FCGF# Samples=50002026.03 | 74.4 | — | — | — | — | 21.4 | 76.6 | — | — | |
| GeoTransformer# Samples=10002022.01 | 74.2 | — | — | — | — | 46.2 | 88.8 | — | — | |
| GeoTransformer# Samples=10002022.02 | 74.2 | — | — | — | — | 46.2 | 88.8 | — | — | |
| GeoTransSamples=10002025.12 | 74.2 | — | — | — | — | 46.2 | 88.8 | — | — | |
| RoITrSamples=5002025.12 | 74.2 | — | — | — | — | 55.2 | 89.4 | — | — | |
| Cross-PCRSamples=5002025.12 | 74.2 | — | — | — | — | 65.9 | 83.1 | — | — | |
| GeoTransformer# Samples=5002022.01 | 74.1 | — | — | — | — | 52.9 | 88.6 | — | — | |
| GeoTransformer# Samples=5002022.02 | 74.1 | — | — | — | — | 52.9 | 88.6 | — | — | |
| GeoTransSamples=5002025.12 | 74.1 | — | — | — | — | 52.9 | 88.6 | — | — | |
| Cross-PCRSamples=10002025.12 | 74.1 | — | — | — | — | 65.9 | 83.1 | — | — | |
| Cross-PCRSamples=2502025.12 | 74.1 | — | — | — | — | 65.9 | 83.4 | — | — | |
| GeoTransformer2025.05 | 74 | — | — | — | 88.3 | 43.5 | — | — | — | |
| SIRA-PCRSamples=25002025.12 | 73.9 | — | — | — | — | 49 | 89 | — | — | |
| Cross-PCRSamples=25002025.12 | 73.9 | — | — | — | — | 65.9 | 83.3 | — | — | |
| Diff-RegSamples=25002025.12 | 73.8 | — | — | — | — | 9.6 | 69.6 | — | — | |
| DCATrSamples=2502025.12 | 73.7 | — | — | — | — | 48.4 | 87.4 | — | — | |
| Cross-PCRSamples=50002025.12 | 73.7 | — | — | — | — | 65.9 | 83.5 | — | — | |
| RoITrSamples=2502025.12 | 73.6 | — | — | — | — | 55.3 | 89.3 | — | — | |
| GeoTransformer# Samples=2502022.01 | 73.5 | — | — | — | — | 57.7 | 88.3 | — | — | |
| GeoTransformer# Samples=2502022.02 | 73.5 | — | — | — | — | 57.7 | 88.3 | — | — | |
| GeoTransSamples=2502025.12 | 73.5 | — | — | — | — | 57.7 | 88.3 | — | — | |
| SIRA-PCRSamples=50002025.12 | 73.5 | — | — | — | — | 43.3 | 88.8 | — | — | |
| SIRA-PCRSamples=5002025.12 | 73.4 | — | — | — | — | 58.8 | 88.6 | — | — | |
| SIRA-PCRSamples=10002025.12 | 73 | — | — | — | — | 55.9 | 88.9 | — | — | |
| GCNet# Samples=50002022.01 | 71.9 | — | — | — | — | 31.8 | 84.5 | — | — | |
| GCNet# Samples=25002022.01 | 71.4 | — | — | — | — | 33.3 | 84.8 | — | — | |
| SIRA-PCRSamples=2502025.12 | 71.1 | — | — | — | — | 60.7 | 87.7 | — | — | |
| GCNet# Samples=10002022.01 | 70.6 | — | — | — | — | 33.5 | 85 | — | — | |
| FCGF# Samples=25002026.03 | 70.4 | — | — | — | — | 20 | 75.4 | — | — | |
| VBRegFeature=Predator, Number of points=50002023.04 | 69.9 | — | — | — | — | — | — | — | — | |
| VBRegFeature=Predator, Number of points=25002023.04 | 69.8 | — | — | — | — | — | — | — | — | |
| SC2_PCRFeature=Predator, Number of points=50002023.04 | 69.5 | — | — | — | — | — | — | — | — | |
| SC2_PCRFeature=Predator, Number of points=25002023.04 | 69.5 | — | — | — | — | — | — | — | — | |
| D3Feat# Samples=50002026.03 | 69.4 | — | — | — | — | 13.2 | 66.7 | — | — | |
| Lepardvariant=Default2021.11 | 69 | — | — | — | 84.5 | 26 | — | — | — | |
| SpinNet# Samples=50002026.03 | 68.9 | — | — | — | — | 20.5 | 75.3 | — | — | |
| VBRegFeature=Predator, Number of points=10002023.04 | 68.7 | — | — | — | — | — | — | — | — | |
| SC2_PCRFeature=Predator, Number of points=10002023.04 | 68.6 | — | — | — | — | — | — | — | — | |
| PointDSCFeature=Predator, Number of points=50002023.04 | 68.1 | — | — | — | — | — | — | — | — | |
| Lepardvariant=w/o repositioning2021.11 | 68 | — | — | — | 84.2 | 27.8 | — | — | — | |
| YOHO# Samples=25002026.03 | 68 | — | — | — | — | 23.3 | 78.1 | — | — | |
| Lepardvariant=Absolute2021.11 | 67.7 | — | — | — | 84.1 | 29.3 | — | — | — | |
| CoFiNet# Samples=50002022.01 | 67.5 | — | — | — | — | 24.4 | 83.1 | — | — | |
| GCNet# Samples=5002022.01 | 67.5 | — | — | — | — | 31.9 | 85.3 | — | — | |
| CoFiNet# Samples=50002022.02 | 67.5 | — | — | — | — | 24.4 | 83.1 | — | — | |
| CoFiNet2025.05 | 67.5 | — | — | — | 83.1 | 24.4 | — | — | — | |
| YOHO# Samples=50002026.03 | 67.5 | — | — | — | — | 25.9 | 79.4 | — | — | |
| CoFiNet# Samples=50002026.03 | 67.5 | — | — | — | — | 24.4 | 83.1 | — | — | |
| DHVRFeature=Predator, Number of points=25002023.04 | 67.3 | — | — | — | — | — | — | — | — | |
| PointDSCFeature=Predator, Number of points=25002023.04 | 67.3 | — | — | — | — | — | — | — | — | |
| YOHO-O2021.09 | 67.2 | — | — | — | — | — | — | — | — | |
| DHVRFeature=Predator, Number of points=50002023.04 | 67.2 | — | — | — | — | — | — | — | — | |
| FCGF# Samples=10002026.03 | 67.2 | — | — | — | — | 17.2 | 74.2 | — | — | |
| Lepardvariant=Entangled2021.11 | 66.5 | — | — | — | 83.8 | 23.3 | — | — | — | |
| PointDSCFeature=Predator, Number of points=10002023.04 | 66.5 | — | — | — | — | — | — | — | — | |
| YOHO-C2021.09 | 66.4 | — | — | — | — | — | — | — | — | |
| VBRegFeature=Predator, Number of points=5002023.04 | 66.4 | — | — | — | — | — | — | — | — | |
| CoFiNet# Samples=25002022.01 | 66.2 | — | — | — | — | 25.9 | 83.5 | — | — | |
| CoFiNet# Samples=25002022.02 | 66.2 | — | — | — | — | 25.9 | 83.5 | — | — | |
| CoFiNet# Samples=25002026.03 | 66.2 | — | — | — | — | 25.9 | 83.5 | — | — | |
| DHVRFeature=Predator, Number of points=10002023.04 | 66.1 | — | — | — | — | — | — | — | — | |
| YOHO# Samples=25002022.02 | 65.5 | — | — | — | — | 23.3 | 78.1 | — | — | |
| YOHOSamples=25002025.12 | 65.5 | — | — | — | — | 23.3 | 78.1 | — | — | |
| SC2_PCRFeature=Predator, Number of points=5002023.04 | 65.2 | — | — | — | — | — | — | — | — |