# Point Cloud Registration on 3DMatch and 3DLoMatch (test)

Source: [Point Cloud Registration on 3DMatch and 3DLoMatch (test)](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-and-3dlomatch-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:11:21.167Z

Evaluation of 3D point cloud registration performance across both the 3DMatch and 3DLoMatch test sets, focusing on computational timing metrics such as time per point cloud (t1) and total time (T).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Point Cloud Registration |
| Dataset (including any stated split) | 3DMatch and 3DLoMatch (test) |
| Metric | t2 (s/pcp) |
| Unit | TIME |
| Direction | Lower is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [t2 (s/pcp)](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-and-3dlomatch-test.md?metric=t2%20(s%2Fpcp)>): Lower is better; unit: TIME.

- [t1 (s/pc)](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-and-3dlomatch-test.md?metric=t1%20(s%2Fpc)>): Lower is better; unit: TIME.

- [Total Time (min)](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-and-3dlomatch-test.md?metric=Total%20Time%20(min)>): Lower is better; unit: TIME.

## Recorded results

| Method | t2 (s/pcp) | Result date | Report paper |
| --- | --- | --- | --- |
| YOHO-C | 0.056 | Not recorded | 68fa6d131e209131cea377bc |
| YOHO-O | 0.167 | Not recorded | 68fa6d131e209131cea377bc |
| D3Feat | 0.351 | Not recorded | 68fa6d131e209131cea377bc |
| PerfectMatch | 0.368 | Not recorded | 68fa6d131e209131cea377bc |
| FCGF | 0.384 | Not recorded | 68fa6d131e209131cea377bc |
| SpinNet | 0.413 | Not recorded | 68fa6d131e209131cea377bc |
| EPN | 0.437 | Not recorded | 68fa6d131e209131cea377bc |
| Predator | 1.221 | Not recorded | 68fa6d131e209131cea377bc |

### YOHO-C

t2 (s/pcp): 0.056. Result ID: 698f7a9b3a6c314849f910d4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Implementation](<https://hpwang-whu.github.io/YOHO/>)

Recorded evaluation configuration: {"#Iters":"1k"}. This record does not assert independent reproduction.

### YOHO-O

t2 (s/pcp): 0.167. Result ID: 698f7a9b3a6c314849f910d5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Implementation](<https://hpwang-whu.github.io/YOHO/>)

Recorded evaluation configuration: {"#Iters":"1k"}. This record does not assert independent reproduction.

### D3Feat

t2 (s/pcp): 0.351. Result ID: 698f7a9b3a6c314849f910d0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa67201e209131cea1477f.md>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

### PerfectMatch

t2 (s/pcp): 0.368. Result ID: 698f7a9b3a6c314849f910ce.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66cc1e209131cea125d6.md>)

[Implementation](<https://github.com/zgojcic/3DSmoothNet>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

### FCGF

t2 (s/pcp): 0.384. Result ID: 698f7a9b3a6c314849f910cf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

### SpinNet

t2 (s/pcp): 0.413. Result ID: 698f7a9b3a6c314849f910d2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b11e209131cea23726.md>)

[Implementation](<https://github.com/QingyongHu/SpinNet>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

### EPN

t2 (s/pcp): 0.437. Result ID: 698f7a9b3a6c314849f910d1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69b21e209131cea23855.md>)

[Implementation](<https://github.com/nintendops/EPN_PointCloud>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

### Predator

t2 (s/pcp): 1.221. Result ID: 698f7a9b3a6c314849f910d3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6d131e209131cea377bc.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a7e1e209131cea28a0a.md>)

[Implementation](<https://www.sota2.com/overlappredator.github.io>)

Recorded evaluation configuration: {"#Iters":"50k"}. This record does not assert independent reproduction.

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