# Point Cloud Registration on 3DMatch Origin v1

Source: [Point Cloud Registration on 3DMatch Origin v1](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-origin-v1>)

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

Data updated: 2026-02-26T06:01:48.426Z

Evaluation of 3D Point Cloud Registration performance using the 3DMatch Origin v1 dataset, focusing on Feature Matching Recall and Registration Recall.

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 Origin v1 |
| Metric | Registration Recall |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 13 of 13 |
| 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

- [Registration Recall](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-origin-v1.md?metric=Registration%20Recall>): Higher is better; unit: PERCENT.

- [Feature Matching Recall](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-origin-v1.md?metric=Feature%20Matching%20Recall>): Higher is better; unit: PERCENT.

- [Inlier Ratio](<https://www.sota2.com/research/sota/point-cloud-registration-on-3dmatch-origin-v1.md?metric=Inlier%20Ratio>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Registration Recall | Result date | Report paper |
| --- | --- | --- | --- |
| YOHO-O | 90.8 | Not recorded | 68fa6d131e209131cea377bc |
| YOHO-C | 90.5 | Not recorded | 68fa6d131e209131cea377bc |
| YOHO-O | 90.3 | Not recorded | 68fa6d131e209131cea377bc |
| YOHO-C | 90.1 | Not recorded | 68fa6d131e209131cea377bc |
| Predator | 89 | Not recorded | 68fa6d131e209131cea377bc |
| SpinNet | 88.6 | Not recorded | 68fa6d131e209131cea377bc |
| EPN | 88.2 | Not recorded | 68fa6d131e209131cea377bc |
| FCGF | 85.1 | Not recorded | 68fa6d131e209131cea377bc |
| LMVD | 82.5 | Not recorded | 68fa6d131e209131cea377bc |
| D3Feat | 81.6 | Not recorded | 68fa6d131e209131cea377bc |
| PerfectMatch | 78.4 | Not recorded | 68fa6d131e209131cea377bc |
| RelativeNet | 77.7 | Not recorded | 68fa6d131e209131cea377bc |

### YOHO-O

Registration Recall: 90.8. Result ID: 698f7a9b3a6c314849f910e9.

[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-C

Registration Recall: 90.5. Result ID: 698f7a9b3a6c314849f910e7.

[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

Registration Recall: 90.3. Result ID: 698f7a9b3a6c314849f910e8.

[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":"0.1k"}. This record does not assert independent reproduction.

### YOHO-C

Registration Recall: 90.1. Result ID: 698f7a9b3a6c314849f910e6.

[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":"0.1k"}. This record does not assert independent reproduction.

### Predator

Registration Recall: 89. Result ID: 698f7a9b3a6c314849f910e4.

[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.

### SpinNet

Registration Recall: 88.6. Result ID: 698f7a9b3a6c314849f910e3.

[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

Registration Recall: 88.2. Result ID: 698f7a9b3a6c314849f910e2.

[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.

### FCGF

Registration Recall: 85.1. Result ID: 698f7a9b3a6c314849f910df.

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

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

### LMVD

Registration Recall: 82.5. Result ID: 698f7a9b3a6c314849f910e1.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa67331e209131cea14b19.md>)

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

### D3Feat

Registration Recall: 81.6. Result ID: 698f7a9b3a6c314849f910e0.

[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

Registration Recall: 78.4. Result ID: 698f7a9b3a6c314849f910de.

[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.

### RelativeNet

Registration Recall: 77.7. Result ID: 698f7a9b3a6c314849f910dd.

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

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a31e209131cea0b76e.md>)

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

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