Point Cloud Registration on 3DMatch 2017 (test)
94.3Rotation Acc (5°)Generative FCGF
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Generative FCGFBase Pose Estimator=FCGF, Generative Model=Stable Diffusion2025.12 | 94.3 | 96.7 | 98.1 | 4.5 | 1.4 | 54.3 | 81.5 | 93.1 | 12.5 | 4.7 | 78.2 | 92.9 | 94.6 | 37.7 | 0.4 | |
| Generative FCGFBase Pose Estimator=FCGF, Generative Model=DINOv22025.12 | 91.5 | 94.3 | 95.3 | 8.5 | 1.4 | 53.6 | 79.3 | 91.5 | 18.1 | 4.6 | 77.5 | 91.1 | 92.7 | 41.1 | 0.4 | |
| Generative GeoTransBase Pose Estimator=GeoTrans, Generative Model=Stable Diffusion2025.12 | 91.5 | 94.3 | 96.2 | 7.6 | 1.4 | 61.3 | 82.9 | 90.9 | 17.2 | 3.9 | 81.5 | 90.1 | 92.3 | 37.3 | 0.3 | |
| FCGF2025.12 | 90.4 | 93.7 | 94.8 | 9.4 | 1.4 | 53.4 | 79.3 | 91 | 19.2 | 4.7 | 76.7 | 90.8 | 92.4 | 40.3 | 0.4 | |
| Generative GeoTransBase Pose Estimator=GeoTrans, Generative Model=DINOv22025.12 | 90.2 | 93.2 | 95.2 | 8.9 | 1.4 | 61 | 83.1 | 90.4 | 16.9 | 3.9 | 80.4 | 89.7 | 91.7 | 36.9 | 0.3 | |
| GeoTrans2025.12 | 88.9 | 91.8 | 93.3 | 12 | 1.4 | 59.8 | 81 | 90.1 | 24.6 | 4 | 79.2 | 89 | 90.6 | 53.3 | 0.3 | |
| Generative PredatorBase Pose Estimator=Predator, Generative Model=Stable Diffusion2025.12 | 88.6 | 94.6 | 97 | 5.9 | 1.9 | 45.7 | 74.5 | 89.1 | 15.7 | 5.5 | 73.3 | 88.3 | 90.9 | 40.4 | 0.4 | |
| Generative PredatorBase Pose Estimator=Predator, Generative Model=DINOv22025.12 | 88.1 | 94.8 | 96.9 | 6.2 | 1.8 | 44.7 | 73.9 | 88.4 | 15.5 | 5.6 | 72.4 | 87.7 | 90.8 | 33.1 | 0.4 | |
| RoITr2025.12 | 86.3 | 91.1 | 93.8 | 11.1 | 1.6 | 51.2 | 77.4 | 89.1 | 20.5 | 4.9 | 75.2 | 88.5 | 90.6 | 50.1 | 0.4 | |
| RegTR2025.12 | 86.2 | 92.1 | 97.2 | 5.7 | 1.6 | 55 | 77.6 | 88.9 | 18.8 | 4.6 | 75.4 | 88.2 | 91.3 | 40 | 0.3 | |
| Predator2025.12 | 85 | 91.5 | 94.2 | 10.5 | 2 | 42.1 | 72.5 | 87.1 | 22.6 | 5.8 | 71.2 | 85.8 | 88.6 | 45 | 0.5 | |
| Lepard2025.12 | 84.3 | 91 | 94.1 | 11.1 | 2.1 | 43.1 | 75.2 | 88.9 | 21.8 | 5.8 | 72.1 | 88.3 | 90.5 | 45.3 | 0.4 | |
| FPFH2025.12 | 69.1 | 82.9 | 91.2 | 15 | 3.1 | 25.8 | 53.9 | 75.1 | 37.4 | 9.1 | 52.5 | 74.2 | 79.2 | 57.6 | 0.9 |