Point Cloud Registration on 3DMatch
95.8Registration Recall (RR)ODIN
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ODIN2024.03 | 95.8 | 3.15 | 0.108 | — | — | — | — | — | — | — | — | — | — | |
| MT-PCRMethod category=Correspondence-based, Source=Ours2025.06 | 95.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CASTMethod category=Correspondence-based, Source=NIPS’252025.06 | 95.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PARENet2026.07 | 95 | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGASA# Samples=50002026.03 | 94.6 | — | — | — | 87.9 | — | — | — | — | 98.2 | — | — | — | |
| IGASA# Samples=25002026.03 | 94.5 | — | — | — | 87.8 | — | — | — | — | 97.8 | — | — | — | |
| IGASA# Samples=10002026.03 | 94.5 | — | — | — | 87.9 | — | — | — | — | 97.8 | — | — | — | |
| DiffusionPCRMethod category=Correspondence-based, Source=arXiv’24, Samples=10002025.06 | 94.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGASA# Samples=5002026.03 | 94.4 | — | — | — | 87.9 | — | — | — | — | 97.9 | — | — | — | |
| PEALMethod category=Correspondence-based, Source=CVPR’23, Samples=50002025.06 | 94.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionPCRMethod category=Correspondence-based, Source=arXiv’24, Samples=50002025.06 | 94.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| IGASA# Samples=2502026.03 | 94.3 | — | — | — | 87.9 | — | — | — | — | 97.8 | — | — | — | |
| DiffusionPCRMethod category=Correspondence-based, Source=arXiv’24, Samples=25002025.06 | 94.3 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Diff-PCR2023.12 | 94.25 | — | — | — | 55.61 | — | — | — | — | 97.41 | — | — | — | |
| PEAL2024.03 | 94.1 | 4.23 | 0.152 | — | — | — | — | — | — | — | — | — | — | |
| PEALMethod category=Correspondence-based, Source=CVPR’23, Samples=25002025.06 | 94.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALMethod category=Correspondence-based, Source=CVPR’23, Samples=10002025.06 | 94.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| HunterDescriptor=FCGF2025.02 | 94.05 | 1.86 | 6.54 | 82.55 | — | — | 0.59 | 88.01 | 1,203.88 | — | — | — | — | |
| Probabilistic Self-Update PCR2026.04 | 94.013 | 2.139 | 6.913 | — | — | 92.736 | 0.176 | — | — | — | 0.049 | 0.044 | 91.719 | |
| DiffusionPCRMethod category=Correspondence-based, Source=arXiv’24, Samples=5002025.06 | 94 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RegorDescriptor=FCGF2025.02 | 93.96 | 1.75 | 6.14 | 87.48 | — | — | 0.36 | 263.81 | 2,620.3 | — | — | — | — | |
| SIRA-PCR# Samples=25002026.03 | 93.9 | — | — | — | 78.3 | — | — | — | — | 98.4 | — | — | — | |
| SIRA-PCR# Samples=10002026.03 | 93.9 | — | — | — | 83.7 | — | — | — | — | 98.4 | — | — | — | |
| PEALMethod category=Correspondence-based, Source=CVPR’23, Samples=5002025.06 | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRMethod category=Correspondence-based, Source=ICCV’23, Samples=25002025.06 | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRMethod category=Correspondence-based, Source=ICCV’23, Samples=10002025.06 | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionPCRMethod category=Correspondence-based, Source=arXiv’24, Samples=2502025.06 | 93.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Lepard2023.12 | 93.9 | — | — | — | 57.61 | — | — | — | — | 97.95 | — | — | — | |
| MACDescriptor=FCGF2025.02 | 93.72 | 2.07 | 6.52 | — | — | — | 0.95 | — | — | — | — | — | — | |
| SIRA-PCR# Samples=50002026.03 | 93.6 | — | — | — | 70.8 | — | — | — | — | 98.2 | — | — | — | |
| SIRA-PCRMethod category=Correspondence-based, Source=ICCV’23, Samples=50002025.06 | 93.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PEALMethod category=Correspondence-based, Source=CVPR’23, Samples=2502025.06 | 93.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGU-PCRMethod category=Correspondence-based, Source=TIM’25, Samples=50002025.06 | 93.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PointDSCDescriptor=FCGF2021.03 | 93.28 | 2.06 | 6.55 | 79.1 | 86.54 | 82.35 | 0.09 | — | — | — | — | — | — | |
| SC2-PCRDescriptor=FCGF2025.02 | 93.16 | 2.11 | 6.44 | 80.17 | — | — | 0.11 | 87.24 | 1,140.85 | — | — | — | — | |
| BUFFERMethod category=Correspondence-based, Source=CVPR’232025.06 | 92.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| BUFFER2026.07 | 92.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGU-PCRMethod category=Correspondence-based, Source=TIM’25, Samples=25002025.06 | 92.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| VBRegDescriptor=FCGF2025.02 | 92.77 | 2.24 | 6.82 | 79.92 | — | — | 1.02 | 86.3 | 690.38 | — | — | — | — | |
| SIRA-PCR# Samples=5002026.03 | 92.7 | — | — | — | 85.9 | — | — | — | — | 98.5 | — | — | — | |
| SIRA-PCRMethod category=Correspondence-based, Source=ICCV’23, Samples=5002025.06 | 92.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGU-PCRMethod category=Correspondence-based, Source=TIM’25, Samples=10002025.06 | 92.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| FastMACDescriptor=FCGF2025.02 | 92.67 | 2 | 6.47 | — | — | — | 0.27 | — | — | — | — | — | — | |
| PointDSCDescriptor=FCGF2025.02 | 92.61 | 2.1 | 6.48 | 78.37 | — | — | 0.22 | 85.88 | 1,174.62 | — | — | — | — | |
| GeoTr.2024.03 | 92.5 | 7.04 | 0.194 | — | — | — | — | — | — | — | — | — | — | |
| OIF-Net# Samples=50002026.03 | 92.4 | — | — | — | 62.3 | — | — | — | — | 98.1 | — | — | — | |
| SIRA-PCR# Samples=2502026.03 | 92.4 | — | — | — | 87.4 | — | — | — | — | 98.5 | — | — | — | |
| OIF-NetMethod category=Correspondence-based, Source=NIPS’22, Samples=50002025.06 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SIRA-PCRMethod category=Correspondence-based, Source=ICCV’23, Samples=2502025.06 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGU-PCRMethod category=Correspondence-based, Source=TIM’25, Samples=5002025.06 | 92.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RANSAC-100k refineDescriptor=FCGF, Iterations=100k, Post-refinement=true2021.03 | 92.3 | 2.17 | 6.76 | 78.38 | 85.3 | 81.43 | 5.51 | — | — | — | — | — | — | |
| GeoTR2023.12 | 92.3 | — | — | — | 72.7 | — | — | — | — | 98.1 | — | — | — | |
| TEAR2026.04 | 92.145 | 1.764 | 6.169 | — | — | 88.613 | 0.64 | — | — | — | 0.045 | 0.044 | 85.681 | |
| OIF-NetMethod category=Correspondence-based, Source=NIPS’22, Samples=5002025.06 | 92.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GC-RANSAC-100kDescriptor=FCGF, Iterations=100k2021.03 | 92.05 | 2.33 | 7.11 | 64.46 | 93.39 | 75.69 | 0.47 | — | — | — | — | — | — | |
| MAGSC2026.04 | 92.008 | 2.139 | 6.725 | — | — | 87.898 | 3.782 | — | — | — | 0.049 | 0.045 | 84.544 | |
| CoFiNet# Samples=50002026.03 | 92 | — | — | — | 49.8 | — | — | — | — | 98.1 | — | — | — | |
| GeoTransformer# Samples=50002026.03 | 92 | — | — | — | 71.9 | — | — | — | — | 97.9 | — | — | — | |
| GeoTransformer# Samples=2502026.03 | 92 | — | — | — | 85.1 | — | — | — | — | 97.6 | — | — | — | |
| REGTRMethod category=Correspondence-based, Source=CVPR’222025.06 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformerMethod category=Correspondence-based, Source=TPAMI’23, Samples=50002025.06 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformer2026.07 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ours2026.07 | 92 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAC++2026.04 | 91.958 | 2.072 | 6.687 | — | — | 88.374 | 3.808 | — | — | — | 0.048 | 0.044 | 85.431 | |
| RegTR2024.03 | 91.9 | 5.31 | 0.17 | — | — | — | — | — | — | — | — | — | — | |
| OIF-Net# Samples=25002026.03 | 91.9 | — | — | — | 65.2 | — | — | — | — | 98.1 | — | — | — | |
| RoITr# Samples=50002026.03 | 91.9 | — | — | — | 82.6 | — | — | — | — | 98 | — | — | — | |
| OIF-NetMethod category=Correspondence-based, Source=NIPS’22, Samples=25002025.06 | 91.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrMethod category=Correspondence-based, Source=CVPR’23, Samples=50002025.06 | 91.9 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITr2023.12 | 91.9 | — | — | — | 82.6 | — | — | — | — | 98 | — | — | — | |
| CoFiNet# Samples=25002026.03 | 91.8 | — | — | — | 51.2 | — | — | — | — | 98.3 | — | — | — | |
| CoFiNet# Samples=10002026.03 | 91.8 | — | — | — | 51.9 | — | — | — | — | 98.1 | — | — | — | |
| GeoTransformer# Samples=25002026.03 | 91.8 | — | — | — | 75.2 | — | — | — | — | 97.9 | — | — | — | |
| OIF-Net# Samples=10002026.03 | 91.8 | — | — | — | 66.8 | — | — | — | — | 97.9 | — | — | — | |
| RoITr# Samples=10002026.03 | 91.8 | — | — | — | 83 | — | — | — | — | 97.9 | — | — | — | |
| GeoTransformerMethod category=Correspondence-based, Source=TPAMI’23, Samples=25002025.06 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformerMethod category=Correspondence-based, Source=TPAMI’23, Samples=10002025.06 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OIF-NetMethod category=Correspondence-based, Source=NIPS’22, Samples=10002025.06 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrMethod category=Correspondence-based, Source=CVPR’23, Samples=10002025.06 | 91.8 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Predator2023.12 | 91.8 | — | — | — | 58 | — | — | — | — | 96.7 | — | — | — | |
| SC2-PCR++2026.04 | 91.712 | 2.055 | 6.593 | — | — | 87.813 | 0.389 | — | — | — | 0.048 | 0.044 | 84.607 | |
| RoITr# Samples=25002026.03 | 91.7 | — | — | — | 82.8 | — | — | — | — | 98 | — | — | — | |
| RoITrMethod category=Correspondence-based, Source=CVPR’23, Samples=25002025.06 | 91.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RANSAC-100kDescriptor=FCGF, Iterations=100k2021.03 | 91.5 | 2.49 | 7.54 | 78.38 | 85.3 | 81.43 | 5.5 | — | — | — | — | — | — | |
| SGU-PCRMethod category=Correspondence-based, Source=TIM’25, Samples=2502025.06 | 91.5 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CoFiNet# Samples=5002026.03 | 91.4 | — | — | — | 52.2 | — | — | — | — | 98.2 | — | — | — | |
| GeoTransformer# Samples=5002026.03 | 91.4 | — | — | — | 82.2 | — | — | — | — | 97.9 | — | — | — | |
| OIF-Net# Samples=5002026.03 | 91.4 | — | — | — | 67.1 | — | — | — | — | 98.4 | — | — | — | |
| RoITr# Samples=5002026.03 | 91.4 | — | — | — | 83 | — | — | — | — | 98 | — | — | — | |
| GeoTransformerMethod category=Correspondence-based, Source=TPAMI’23, Samples=5002025.06 | 91.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RoITrMethod category=Correspondence-based, Source=CVPR’23, Samples=5002025.06 | 91.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DGRDescriptor=FCGF2021.03 | 91.3 | 2.4 | 7.48 | 67.47 | 78.94 | 72.76 | 1.36 | — | — | — | — | — | — | |
| CoFiNet# Samples=2502026.03 | 91.2 | — | — | — | 52.2 | — | — | — | — | 98.3 | — | — | — | |
| FeatSync# Samples=5002026.03 | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GeoTransformerMethod category=Correspondence-based, Source=TPAMI’23, Samples=2502025.06 | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OIF-NetMethod category=Correspondence-based, Source=NIPS’22, Samples=2502025.06 | 91.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GC-RANSAC2026.04 | 91.136 | 2.211 | 7.09 | — | — | 88.015 | 0.576 | — | — | — | 0.05 | 0.046 | 85.457 | |
| GeoTransformer# Samples=10002026.03 | 91.1 | — | — | — | 76 | — | — | — | — | 97.9 | — | — | — | |
| FeatSync# Samples=2502026.03 | 91.1 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OIF-Net# Samples=2502026.03 | 91 | — | — | — | 67.5 | — | — | — | — | 98.4 | — | — | — |